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rcl/rcl_lifecycle/test/test_default_state_machine.cpp
brawner dd62d09042 Add fault injection macros and unit tests to rcl_lifecycle (#731) 
* Add fault injection macros and unit tests to rcl_lifecycle

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Address feedback

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>
2020-10-16 19:28:38 +02:00

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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 <vector>
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "lifecycle_msgs/msg/state.h"
#include "lifecycle_msgs/msg/transition.h"
#include "rcl/error_handling.h"
#include "rcl/rcl.h"
#include "rcutils/logging_macros.h"
#include "rcutils/testing/fault_injection.h"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_lifecycle/default_state_machine.h"
class TestDefaultStateMachine : public ::testing::Test
{
public:
rcl_context_t * context_ptr;
rcl_node_t * node_ptr;
const rcl_allocator_t * allocator;
void SetUp()
{
rcl_ret_t ret;
{
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
ret = rcl_init_options_init(&init_options, rcl_get_default_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)) << rcl_get_error_string().str;
});
this->context_ptr = new rcl_context_t;
*this->context_ptr = rcl_get_zero_initialized_context();
ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
this->node_ptr = new rcl_node_t;
*this->node_ptr = rcl_get_zero_initialized_node();
const char * name = "test_state_machine_node";
rcl_node_options_t node_options = rcl_node_get_default_options();
ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
const rcl_node_options_t * node_ops = rcl_node_get_options(this->node_ptr);
this->allocator = &node_ops->allocator;
}
void TearDown()
{
rcl_ret_t ret = rcl_node_fini(this->node_ptr);
delete this->node_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_shutdown(this->context_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_context_fini(this->context_ptr);
delete this->context_ptr;
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
};
void
test_trigger_transition(
rcl_lifecycle_state_machine_t * state_machine,
uint8_t key_id,
unsigned int expected_current_state,
unsigned int expected_goal_state)
{
EXPECT_EQ(
expected_current_state, state_machine->current_state->id);
EXPECT_EQ(
RCL_RET_OK, rcl_lifecycle_trigger_transition_by_id(
state_machine, key_id, false));
EXPECT_EQ(
expected_goal_state, state_machine->current_state->id);
}
/*
* Test suite
*/
TEST_F(TestDefaultStateMachine, zero_init) {
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
rcl_reset_error();
const rcl_lifecycle_transition_map_t * transition_map = &state_machine.transition_map;
EXPECT_EQ(transition_map->states_size, 0u);
EXPECT_EQ(transition_map->states, nullptr);
EXPECT_EQ(transition_map->transitions_size, 0u);
EXPECT_EQ(transition_map->transitions, nullptr);
auto ret = rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
TEST_F(TestDefaultStateMachine, default_init) {
rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
// Because this init method is so complex, the succession of failures caused by a null
// allocator will result in several error messages overwriting themselves.
auto ret = rcl_lifecycle_init_default_state_machine(&state_machine, nullptr);
EXPECT_EQ(RCL_RET_ERROR, ret);
rcutils_reset_error();
ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
}
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, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
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, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
std::vector<uint8_t> transition_ids =
{
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
};
{ // supposed to stay unconfigured for all invalid
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
}
}
{ // supposed to stay configuring for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
}
}
{ // supposed to stay inactive for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN) {continue;}
RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "applying key %u", *it);
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
}
}
{ // supposed to stay activating for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
}
}
{ // supposed to stay active for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN)
{continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
}
}
{ // supposed to stay deactivating for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
}
}
{ // supposed to stay cleanup for all invalid
// skip inactive, we tested that already
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
}
}
{ // supposed to stay shutting down for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
// shutdown directly, since we tested already unconfigured
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE ||
*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR) {continue;}
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
rcl_reset_error();
EXPECT_EQ(
state_machine.current_state->id,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
}
}
{ // supposed to stay finalized for all invalid
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&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, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
for (auto i = 0; i < 5; ++i) {
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
}
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
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, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
///////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
//////////////////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
//////////////////////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
/////////////////////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_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, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
///////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
//////////////////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
//////////////////////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
/////////////////////////////
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
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) {
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, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_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, this->allocator);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
lifecycle_msgs__msg__State__TRANSITION_STATE_ERRORPROCESSING);
test_trigger_transition(
&state_machine,
lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
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));
}
}
TEST_F(TestDefaultStateMachine, init_fini_maybe_fail) {
rcl_lifecycle_state_machine_t sm = rcl_lifecycle_get_zero_initialized_state_machine();
RCUTILS_FAULT_INJECTION_TEST(
{
rcl_ret_t ret = rcl_lifecycle_init_default_state_machine(&sm, this->allocator);
if (RCL_RET_OK == ret) {
ret = rcl_lifecycle_state_machine_fini(&sm, this->node_ptr, this->allocator);
if (RCL_RET_OK != ret) {
EXPECT_EQ(
RCL_RET_OK,
rcl_lifecycle_state_machine_fini(&sm, this->node_ptr, this->allocator));
}
}
});
}
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