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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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16
rcl_lifecycle/test/test_multiple_instances.cpp
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@ -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();
}