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use rcl_allocator for rcl_lifecycle & namespaced topics (#142)

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* use rcl_allocator for rcl_lifecycle

* correct return value interpretation

* fix unsigned comparison

* use namespace for lifecycle in-built topics

* linters
This commit is contained in:
Karsten Knese 2017-06-16 23:44:06 +02:00 • committed by Dirk Thomas
parent 0f2519944a
commit c37bfec072
13 changed files with 612 additions and 193 deletions
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48
rcl_lifecycle/test/test_default_state_machine.cpp
View file

@ -33,6 +33,8 @@ class TestDefaultStateMachine : public ::testing::Test
{
protected:
rcl_node_t * node_ptr;
const rcl_allocator_t * allocator;
void SetUp()
{
rcl_ret_t ret;
@ -44,6 +46,8 @@ protected:
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(this->node_ptr, name, "", &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
const rcl_node_options_t * node_ops = rcl_node_get_options(this->node_ptr);
this->allocator = &node_ops->allocator;
}
void TearDown()
@ -94,13 +98,16 @@ TEST_F(TestDefaultStateMachine, zero_init) {
ASSERT_EQ(transition_map->states, nullptr);
ASSERT_EQ(transition_map->transitions_size, (unsigned int)0);
ASSERT_EQ(transition_map->transitions, nullptr);
auto ret = rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}
TEST_F(TestDefaultStateMachine, default_sequence) {
rcl_ret_t ret;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine);
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
test_trigger_transition(
@ -162,13 +169,16 @@ TEST_F(TestDefaultStateMachine, default_sequence) {
RCL_LIFECYCLE_RET_OK,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
rcl_ret_t ret;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine);
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
{ // supposed to stay unconfigured for all invalid
@ -178,6 +188,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
EXPECT_EQ(
RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
@ -197,6 +208,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
}
@ -217,6 +229,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
fprintf(stderr, "applying key %u\n", *it);
EXPECT_EQ(
RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
}
@ -235,6 +248,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
}
@ -253,6 +267,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
{continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
}
@ -271,6 +286,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
}
@ -295,6 +311,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
}
@ -319,6 +336,7 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
*it == RCL_LIFECYCLE_RET_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
}
@ -333,17 +351,21 @@ TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
for (auto it = keys.begin(); it != keys.end(); ++it) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
}
}
EXPECT_EQ(RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
TEST_F(TestDefaultStateMachine, default_in_a_loop) {
rcl_ret_t ret;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine);
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
for (auto i = 0; i < 5; ++i) {
@ -407,13 +429,16 @@ TEST_F(TestDefaultStateMachine, default_in_a_loop) {
RCL_LIFECYCLE_RET_OK,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
TEST_F(TestDefaultStateMachine, default_sequence_failure) {
rcl_ret_t ret;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine);
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
test_trigger_transition(
@ -520,13 +545,16 @@ TEST_F(TestDefaultStateMachine, default_sequence_failure) {
RCL_LIFECYCLE_RET_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
rcl_ret_t ret;
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine);
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
test_trigger_transition(
@ -664,6 +692,9 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_resolved) {
RCL_LIFECYCLE_RET_OK,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
EXPECT_EQ(RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
@ -672,7 +703,7 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
{
rcl_lifecycle_state_machine_t state_machine =
rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine);
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
test_trigger_transition(
@ -692,12 +723,15 @@ TEST_F(TestDefaultStateMachine, default_sequence_error_unresolved) {
RCL_LIFECYCLE_RET_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
EXPECT_EQ(RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
}
{
rcl_lifecycle_state_machine_t state_machine =
rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine);
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
test_trigger_transition(

16
rcl_lifecycle/test/test_multiple_instances.cpp
View file

@ -33,6 +33,7 @@ class TestMultipleInstances : public ::testing::Test
{
protected:
rcl_node_t * node_ptr;
const rcl_allocator_t * allocator;
void SetUp()
{
rcl_ret_t ret;
@ -44,6 +45,8 @@ protected:
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(this->node_ptr, name, "", &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
const rcl_node_options_t * node_ops = rcl_node_get_options(this->node_ptr);
this->allocator = &node_ops->allocator;
}
void TearDown()
@ -77,17 +80,17 @@ TEST_F(TestMultipleInstances, default_sequence_error_unresolved) {
rcl_lifecycle_state_machine_t state_machine1 =
rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine1);
ret = rcl_lifecycle_init_default_state_machine(&state_machine1, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
rcl_lifecycle_state_machine_t state_machine2 =
rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine2);
ret = rcl_lifecycle_init_default_state_machine(&state_machine2, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
rcl_lifecycle_state_machine_t state_machine3 =
rcl_lifecycle_get_zero_initialized_state_machine();
ret = rcl_lifecycle_init_default_state_machine(&state_machine3);
ret = rcl_lifecycle_init_default_state_machine(&state_machine3, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
test_trigger_transition(
@ -103,4 +106,11 @@ TEST_F(TestMultipleInstances, default_sequence_error_unresolved) {
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, state_machine2.current_state->id);
EXPECT_EQ(
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, state_machine3.current_state->id);
ret = rcl_lifecycle_state_machine_fini(&state_machine1, this->node_ptr, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_lifecycle_state_machine_fini(&state_machine2, this->node_ptr, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
ret = rcl_lifecycle_state_machine_fini(&state_machine3, this->node_ptr, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
}

75
rcl_lifecycle/test/test_transition_map.cpp Normal file
View file

@ -0,0 +1,75 @@
// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// testing default transition sequence.
// This test requires that the transitions are set
// as depicted in design.ros2.org
#include <gtest/gtest.h>
#include "rcl/error_handling.h"
#include "rcl_lifecycle/transition_map.h"
class TestTransitionMap : public ::testing::Test
{
protected:
void SetUp()
{
}
void TearDown()
{
}
};
TEST_F(TestTransitionMap, zero_initialized) {
rcl_lifecycle_transition_map_t transition_map =
rcl_lifecycle_get_zero_initialized_transition_map();
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_transition_map_is_initialized(&transition_map));
rcl_allocator_t allocator = rcl_get_default_allocator();
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_fini(&transition_map, &allocator));
}
TEST_F(TestTransitionMap, initialized) {
rcl_lifecycle_transition_map_t transition_map =
rcl_lifecycle_get_zero_initialized_transition_map();
rcl_allocator_t allocator = rcl_get_default_allocator();
rcl_lifecycle_state_t state0 = {"my_state", 0, NULL, NULL, 0};
rcl_ret_t ret = rcl_lifecycle_register_state(&transition_map, state0, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_is_initialized(&transition_map));
ret = rcl_lifecycle_register_state(&transition_map, state0, &allocator);
EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string_safe();
rcl_lifecycle_state_t state1 = {"my_state", 1, NULL, NULL, 0};
ret = rcl_lifecycle_register_state(&transition_map, state1, &allocator);
const rcl_lifecycle_state_t * start_state =
rcl_lifecycle_get_state(&transition_map, state0.id);
const rcl_lifecycle_state_t * goal_state =
rcl_lifecycle_get_state(&transition_map, state1.id);
EXPECT_EQ(0u, start_state->id);
EXPECT_EQ(1u, goal_state->id);
rcl_lifecycle_transition_t transition01 = {"from0to1", 0, start_state, goal_state};
ret = rcl_lifecycle_register_transition(
&transition_map, transition01, 0, &allocator);
EXPECT_EQ(RCL_RET_OK, ret);
EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_fini(&transition_map, &allocator));
}