niklas/rcl
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Fix test_rcl_lifecycle (#788)

Browse source 
Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-09-03 13:47:08 -07:00 • committed by Alejandro Hernández Cordero
parent dd62d09042
commit a4e6485313
1 changed files with 154 additions and 120 deletions
Download patch file Download diff file Expand all files Collapse all files

274
rcl_lifecycle/test/test_rcl_lifecycle.cpp
View file

@ -43,53 +43,53 @@ static void * bad_realloc(void *, size_t, void *)
TEST(TestRclLifecycle, lifecycle_state) { TEST(TestRclLifecycle, lifecycle_state) {
rcl_lifecycle_state_t state = rcl_lifecycle_get_zero_initialized_state(); rcl_lifecycle_state_t state = rcl_lifecycle_get_zero_initialized_state();
EXPECT_EQ(state.id, 0u); EXPECT_EQ(0u, state.id);
EXPECT_EQ(state.label, nullptr); EXPECT_EQ(nullptr, state.label);
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
unsigned int expected_id = 42; unsigned int expected_id = 42;
const char expected_label[] = "label"; const char expected_label[] = "label";
rcl_ret_t ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], nullptr); rcl_ret_t ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], nullptr);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_init(&state, expected_id, nullptr, &allocator); ret = rcl_lifecycle_state_init(&state, expected_id, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_init(nullptr, expected_id, &expected_label[0], &allocator); ret = rcl_lifecycle_state_init(nullptr, expected_id, &expected_label[0], &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
rcl_allocator_t bad_allocator = rcl_get_default_allocator(); rcl_allocator_t bad_allocator = rcl_get_default_allocator();
bad_allocator.allocate = bad_malloc; bad_allocator.allocate = bad_malloc;
bad_allocator.reallocate = bad_realloc; bad_allocator.reallocate = bad_realloc;
ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &bad_allocator); ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &bad_allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &allocator); ret = rcl_lifecycle_state_init(&state, expected_id, &expected_label[0], &allocator);
EXPECT_EQ(state.id, expected_id); EXPECT_EQ(expected_id, state.id);
EXPECT_STREQ(state.label, &expected_label[0]); EXPECT_STREQ(&expected_label[0], state.label);
ret = rcl_lifecycle_state_fini(&state, nullptr); ret = rcl_lifecycle_state_fini(&state, nullptr);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
// Already finalized // Already finalized
ret = rcl_lifecycle_state_fini(nullptr, &allocator); ret = rcl_lifecycle_state_fini(nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_lifecycle_state_fini(&state, &allocator); ret = rcl_lifecycle_state_fini(&state, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} }
TEST(TestRclLifecycle, lifecycle_transition) { TEST(TestRclLifecycle, lifecycle_transition) {
rcl_lifecycle_transition_t transition = rcl_lifecycle_get_zero_initialized_transition(); rcl_lifecycle_transition_t transition = rcl_lifecycle_get_zero_initialized_transition();
EXPECT_EQ(transition.id, 0u); EXPECT_EQ(0u, transition.id);
EXPECT_EQ(transition.label, nullptr); EXPECT_EQ(nullptr, transition.label);
EXPECT_EQ(transition.start, nullptr); EXPECT_EQ(nullptr, transition.start);
EXPECT_EQ(transition.goal, nullptr); EXPECT_EQ(nullptr, transition.goal);
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
@ -97,57 +97,57 @@ TEST(TestRclLifecycle, lifecycle_transition) {
// allocated variable // allocated variable
rcl_lifecycle_state_t * start = reinterpret_cast<rcl_lifecycle_state_t *>( rcl_lifecycle_state_t * start = reinterpret_cast<rcl_lifecycle_state_t *>(
allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state)); allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state));
EXPECT_NE(start, nullptr); EXPECT_NE(nullptr, start);
rcl_lifecycle_state_t * end = reinterpret_cast<rcl_lifecycle_state_t *>( rcl_lifecycle_state_t * end = reinterpret_cast<rcl_lifecycle_state_t *>(
allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state)); allocator.allocate(sizeof(rcl_lifecycle_state_t), allocator.state));
EXPECT_NE(end, nullptr); EXPECT_NE(nullptr, end);
const char start_label[] = "start"; const char start_label[] = "start";
const char end_label[] = "end"; const char end_label[] = "end";
*start = rcl_lifecycle_get_zero_initialized_state(); *start = rcl_lifecycle_get_zero_initialized_state();
*end = rcl_lifecycle_get_zero_initialized_state(); *end = rcl_lifecycle_get_zero_initialized_state();
rcl_ret_t ret = rcl_lifecycle_state_init(start, 0u, &start_label[0], &allocator); rcl_ret_t ret = rcl_lifecycle_state_init(start, 0u, &start_label[0], &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_lifecycle_state_init(end, 1u, &end_label[0], &allocator); ret = rcl_lifecycle_state_init(end, 1u, &end_label[0], &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
unsigned int expected_id = 42; unsigned int expected_id = 42;
const char expected_label[] = "label"; const char expected_label[] = "label";
ret = rcl_lifecycle_transition_init( ret = rcl_lifecycle_transition_init(
nullptr, expected_id, nullptr, nullptr, nullptr, nullptr); nullptr, expected_id, nullptr, nullptr, nullptr, nullptr);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_init( ret = rcl_lifecycle_transition_init(
&transition, expected_id, nullptr, nullptr, nullptr, nullptr); &transition, expected_id, nullptr, nullptr, nullptr, nullptr);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_init( ret = rcl_lifecycle_transition_init(
nullptr, expected_id, nullptr, nullptr, nullptr, &allocator); nullptr, expected_id, nullptr, nullptr, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_init( ret = rcl_lifecycle_transition_init(
&transition, expected_id, nullptr, nullptr, nullptr, &allocator); &transition, expected_id, nullptr, nullptr, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_init( ret = rcl_lifecycle_transition_init(
&transition, expected_id, &expected_label[0], nullptr, nullptr, &allocator); &transition, expected_id, &expected_label[0], nullptr, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_fini(&transition, &allocator); ret = rcl_lifecycle_transition_fini(&transition, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_init( ret = rcl_lifecycle_transition_init(
&transition, expected_id, &expected_label[0], start, nullptr, &allocator); &transition, expected_id, &expected_label[0], start, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_fini(&transition, &allocator); ret = rcl_lifecycle_transition_fini(&transition, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcutils_reset_error(); rcutils_reset_error();
start = reinterpret_cast<rcl_lifecycle_state_t *>( start = reinterpret_cast<rcl_lifecycle_state_t *>(
@ -158,60 +158,71 @@ TEST(TestRclLifecycle, lifecycle_transition) {
bad_allocator.reallocate = bad_realloc; bad_allocator.reallocate = bad_realloc;
ret = rcl_lifecycle_transition_init( ret = rcl_lifecycle_transition_init(
&transition, expected_id, &expected_label[0], start, end, &bad_allocator); &transition, expected_id, &expected_label[0], start, end, &bad_allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_init( ret = rcl_lifecycle_transition_init(
&transition, expected_id, &expected_label[0], start, end, &allocator); &transition, expected_id, &expected_label[0], start, end, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
EXPECT_EQ(transition.id, expected_id); EXPECT_EQ(expected_id, transition.id);
EXPECT_STREQ(transition.label, &expected_label[0]); EXPECT_STREQ(&expected_label[0], transition.label);
ret = rcl_lifecycle_transition_fini(nullptr, nullptr); ret = rcl_lifecycle_transition_fini(nullptr, nullptr);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_transition_fini(&transition, nullptr); ret = rcl_lifecycle_transition_fini(&transition, nullptr);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
// Already finalized // Already finalized
ret = rcl_lifecycle_transition_fini(nullptr, &allocator); ret = rcl_lifecycle_transition_fini(nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_lifecycle_transition_fini(&transition, &allocator); ret = rcl_lifecycle_transition_fini(&transition, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} }
TEST(TestRclLifecycle, state_machine) { TEST(TestRclLifecycle, state_machine) {
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine(); rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
EXPECT_EQ(state_machine.current_state, nullptr); EXPECT_EQ(nullptr, state_machine.current_state);
EXPECT_EQ(state_machine.transition_map.states, nullptr); EXPECT_EQ(nullptr, state_machine.transition_map.states);
EXPECT_EQ(state_machine.transition_map.transitions, nullptr); EXPECT_EQ(nullptr, state_machine.transition_map.transitions);
EXPECT_EQ(state_machine.transition_map.states_size, 0u); EXPECT_EQ(0u, state_machine.transition_map.states_size);
EXPECT_EQ(state_machine.transition_map.transitions_size, 0u); EXPECT_EQ(0u, state_machine.transition_map.transitions_size);
rcl_node_t node = rcl_get_zero_initialized_node(); rcl_node_t node = rcl_get_zero_initialized_node();
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_context_t context = rcl_get_zero_initialized_context(); rcl_context_t context = rcl_get_zero_initialized_context();
rcl_node_options_t options = rcl_node_get_default_options(); rcl_node_options_t options = rcl_node_get_default_options();
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{ {
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&options));
});
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options));
});
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str;
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
}); });
ret = rcl_node_init(&node, "node", "namespace", &context, &options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str;
});
const rosidl_message_type_support_t * pn = const rosidl_message_type_support_t * pn =
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent); ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);
const rosidl_service_type_support_t * cs = const rosidl_service_type_support_t * cs =
@ -228,92 +239,84 @@ TEST(TestRclLifecycle, state_machine) {
// Check various arguments are null // Check various arguments are null
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
nullptr, &node, pn, cs, gs, gas, gat, gtg, false, &allocator); nullptr, &node, pn, cs, gs, gas, gat, gtg, false, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, nullptr, pn, cs, gs, gas, gat, gtg, false, &allocator); &state_machine, nullptr, pn, cs, gs, gas, gat, gtg, false, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, nullptr, cs, gs, gas, gat, gtg, false, &allocator); &state_machine, &node, nullptr, cs, gs, gas, gat, gtg, false, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, pn, nullptr, gs, gas, gat, gtg, false, &allocator); &state_machine, &node, pn, nullptr, gs, gas, gat, gtg, false, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, pn, cs, nullptr, gas, gat, gtg, false, &allocator); &state_machine, &node, pn, cs, nullptr, gas, gat, gtg, false, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, pn, cs, gs, nullptr, gat, gtg, false, &allocator); &state_machine, &node, pn, cs, gs, nullptr, gat, gtg, false, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, pn, cs, gs, gas, nullptr, gtg, false, &allocator); &state_machine, &node, pn, cs, gs, gas, nullptr, gtg, false, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, pn, cs, gs, gas, gat, nullptr, false, &allocator); &state_machine, &node, pn, cs, gs, gas, gat, nullptr, false, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, pn, cs, gs, gas, gat, gtg, false, nullptr); &state_machine, &node, pn, cs, gs, gas, gat, gtg, false, nullptr);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
// Everything should be good // Everything should be good
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, pn, cs, gs, gas, gat, gtg, false, &allocator); &state_machine, &node, pn, cs, gs, gas, gat, gtg, false, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// Transition_map is not initialized // Transition_map is not initialized
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error(); rcutils_reset_error();
void * temp_function = state_machine.com_interface.srv_change_state.impl;
state_machine.com_interface.srv_change_state.impl = nullptr;
// get_state service is valid, but not change_state service
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
rcutils_reset_error();
state_machine.com_interface.srv_change_state.impl =
reinterpret_cast<rcl_service_impl_t *>(temp_function);
// Allocate some memory and initialize states and transitions so is_initialized will pass // Allocate some memory and initialize states and transitions so is_initialized will pass
state_machine.transition_map.states_size = 1u; state_machine.transition_map.states_size = 1u;
state_machine.transition_map.states = reinterpret_cast<rcl_lifecycle_state_t *>( state_machine.transition_map.states = reinterpret_cast<rcl_lifecycle_state_t *>(
allocator.allocate( allocator.allocate(
state_machine.transition_map.states_size * sizeof(rcl_lifecycle_state_t), state_machine.transition_map.states_size * sizeof(rcl_lifecycle_state_t),
allocator.state)); allocator.state));
ASSERT_NE(state_machine.transition_map.states, nullptr); ASSERT_NE(nullptr, state_machine.transition_map.states);
state_machine.transition_map.states[0] = rcl_lifecycle_get_zero_initialized_state(); state_machine.transition_map.states[0] = rcl_lifecycle_get_zero_initialized_state();
state_machine.transition_map.transitions_size = 1u; state_machine.transition_map.transitions_size = 1u;
@ -321,55 +324,74 @@ TEST(TestRclLifecycle, state_machine) {
reinterpret_cast<rcl_lifecycle_transition_t *>(allocator.allocate( reinterpret_cast<rcl_lifecycle_transition_t *>(allocator.allocate(
state_machine.transition_map.transitions_size * sizeof(rcl_lifecycle_transition_t), state_machine.transition_map.transitions_size * sizeof(rcl_lifecycle_transition_t),
allocator.state)); allocator.state));
ASSERT_NE(state_machine.transition_map.transitions, nullptr); ASSERT_NE(nullptr, state_machine.transition_map.transitions);
state_machine.transition_map.transitions[0] = rcl_lifecycle_get_zero_initialized_transition(); state_machine.transition_map.transitions[0] = rcl_lifecycle_get_zero_initialized_transition();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_OK); EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_state_machine_is_initialized(&state_machine));
// get_state service is valid, but not change_state service
void * temp_function = state_machine.com_interface.srv_change_state.impl;
state_machine.com_interface.srv_change_state.impl = nullptr;
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_state_machine_is_initialized(&state_machine));
rcutils_reset_error();
state_machine.com_interface.srv_change_state.impl =
reinterpret_cast<rcl_service_impl_t *>(temp_function);
// allocator is nullptr // allocator is nullptr
ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, nullptr); ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, nullptr);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator); ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
state_machine = rcl_lifecycle_get_zero_initialized_state_machine(); state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
// Node is null // Node is null
ret = rcl_lifecycle_state_machine_fini(&state_machine, nullptr, &allocator); ret = rcl_lifecycle_state_machine_fini(&state_machine, nullptr, &allocator);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
} }
TEST(TestRclLifecycle, state_transitions) { TEST(TestRclLifecycle, state_transitions) {
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_state_machine_t state_machine =
rcl_lifecycle_get_zero_initialized_state_machine(); rcl_lifecycle_get_zero_initialized_state_machine();
EXPECT_EQ(state_machine.current_state, nullptr); EXPECT_EQ(nullptr, state_machine.current_state);
EXPECT_EQ(state_machine.transition_map.states, nullptr); EXPECT_EQ(nullptr, state_machine.transition_map.states);
EXPECT_EQ(state_machine.transition_map.transitions, nullptr); EXPECT_EQ(nullptr, state_machine.transition_map.transitions);
EXPECT_EQ(state_machine.transition_map.states_size, 0u); EXPECT_EQ(0u, state_machine.transition_map.states_size);
EXPECT_EQ(state_machine.transition_map.transitions_size, 0u); EXPECT_EQ(0u, state_machine.transition_map.transitions_size);
rcl_node_t node = rcl_get_zero_initialized_node(); rcl_node_t node = rcl_get_zero_initialized_node();
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_context_t context = rcl_get_zero_initialized_context(); rcl_context_t context = rcl_get_zero_initialized_context();
rcl_node_options_t options = rcl_node_get_default_options(); rcl_node_options_t options = rcl_node_get_default_options();
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{ {
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node)) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&options));
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)) << rcl_get_error_string().str; });
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context)) << rcl_get_error_string().str;
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options));
});
ret = rcl_init(0, nullptr, &init_options, &context);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context));
EXPECT_EQ(RCL_RET_OK, rcl_context_fini(&context));
});
ret = rcl_node_init(&node, "node", "namespace", &context, &options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
}); });
const rosidl_message_type_support_t * pn = const rosidl_message_type_support_t * pn =
@ -387,57 +409,57 @@ TEST(TestRclLifecycle, state_transitions) {
ret = rcl_lifecycle_state_machine_init( ret = rcl_lifecycle_state_machine_init(
&state_machine, &node, pn, cs, gs, gas, gat, gtg, true, &allocator); &state_machine, &node, pn, cs, gs, gas, gat, gtg, true, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_lifecycle_state_machine_is_initialized(&state_machine); ret = rcl_lifecycle_state_machine_is_initialized(&state_machine);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
const rcl_lifecycle_transition_t * transition = rcl_lifecycle_get_transition_by_id(nullptr, 0); const rcl_lifecycle_transition_t * transition = rcl_lifecycle_get_transition_by_id(nullptr, 0);
EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str; EXPECT_EQ(nullptr, transition) << rcl_get_error_string().str;
rcutils_reset_error(); rcutils_reset_error();
transition = rcl_lifecycle_get_transition_by_id( transition = rcl_lifecycle_get_transition_by_id(
state_machine.current_state, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE); state_machine.current_state, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE);
EXPECT_EQ(transition->id, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE); EXPECT_EQ(lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE, transition->id);
// Update this test with a new invalid number if 42 ever becomes a valid state id // Update this test with a new invalid number if 42 ever becomes a valid state id
transition = rcl_lifecycle_get_transition_by_id(state_machine.current_state, 42); transition = rcl_lifecycle_get_transition_by_id(state_machine.current_state, 42);
EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str; EXPECT_EQ(nullptr, transition) << rcl_get_error_string().str;
rcutils_reset_error(); rcutils_reset_error();
transition = rcl_lifecycle_get_transition_by_label(state_machine.current_state, "configure"); transition = rcl_lifecycle_get_transition_by_label(state_machine.current_state, "configure");
EXPECT_STREQ(transition->label, "configure"); EXPECT_STREQ("configure", transition->label);
transition = rcl_lifecycle_get_transition_by_label(state_machine.current_state, "NOT A LABEL"); transition = rcl_lifecycle_get_transition_by_label(state_machine.current_state, "NOT A LABEL");
EXPECT_EQ(transition, nullptr) << rcl_get_error_string().str; EXPECT_EQ(nullptr, transition) << rcl_get_error_string().str;
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_trigger_transition_by_id(nullptr, 0, false); ret = rcl_lifecycle_trigger_transition_by_id(nullptr, 0, false);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_trigger_transition_by_id( ret = rcl_lifecycle_trigger_transition_by_id(
&state_machine, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE, false); &state_machine, lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE, false);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_lifecycle_trigger_transition_by_label(nullptr, "transition_success", true); ret = rcl_lifecycle_trigger_transition_by_label(nullptr, "transition_success", true);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
ret = rcl_lifecycle_trigger_transition_by_label(&state_machine, "transition_success", true); ret = rcl_lifecycle_trigger_transition_by_label(&state_machine, "transition_success", true);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
// If using the public interface to register transitions, this case should already be checked. // If using the public interface to register transitions, this case should already be checked.
state_machine.current_state->valid_transitions[0].goal = nullptr; state_machine.current_state->valid_transitions[0].goal = nullptr;
ret = rcl_lifecycle_trigger_transition_by_label(&state_machine, "transition_success", true); ret = rcl_lifecycle_trigger_transition_by_label(&state_machine, "transition_success", true);
EXPECT_EQ(ret, RCL_RET_ERROR); EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error(); rcutils_reset_error();
rcl_print_state_machine(&state_machine); rcl_print_state_machine(&state_machine);
EXPECT_FALSE(rcutils_error_is_set()); EXPECT_FALSE(rcutils_error_is_set());
ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator); ret = rcl_lifecycle_state_machine_fini(&state_machine, &node, &allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
} }
TEST(TestRclLifecycle, init_fini_maybe_fail) { TEST(TestRclLifecycle, init_fini_maybe_fail) {
@ -445,13 +467,21 @@ TEST(TestRclLifecycle, init_fini_maybe_fail) {
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_context_t context = rcl_get_zero_initialized_context(); rcl_context_t context = rcl_get_zero_initialized_context();
rcl_node_options_t options = rcl_node_get_default_options(); rcl_node_options_t options = rcl_node_get_default_options();
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&options));
});
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
rcl_ret_t ret = rcl_init_options_init(&init_options, allocator); rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options));
});
ret = rcl_init(0, nullptr, &init_options, &context); ret = rcl_init(0, nullptr, &init_options, &context);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT( OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{ {
EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context)); EXPECT_EQ(RCL_RET_OK, rcl_shutdown(&context));
@ -459,7 +489,11 @@ TEST(TestRclLifecycle, init_fini_maybe_fail) {
}); });
ret = rcl_node_init(&node, "node", "namespace", &context, &options); ret = rcl_node_init(&node, "node", "namespace", &context, &options);
EXPECT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
});
const rosidl_message_type_support_t * pn = const rosidl_message_type_support_t * pn =
ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent); ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent);