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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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75
rcl_lifecycle/test/test_transition_map.cpp Normal file
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// 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));
}