97ad0013e2
* refactor init to not be global Signed-off-by: William Woodall <william@osrfoundation.org> * style changes Signed-off-by: William Woodall <william@osrfoundation.org> * refactor to hide use of C11 atomics in implementation Signed-off-by: William Woodall <william@osrfoundation.org> * fix new action tests Signed-off-by: William Woodall <william@osrfoundation.org> * use alternative atomic init for Windows support * updates after rebase Signed-off-by: William Woodall <william@osrfoundation.org> * cleanup rmw_init_options before copying Signed-off-by: William Woodall <william@osrfoundation.org> * fix two bugs in new init code * relax validity checks in a few places to facilitate post shutdown cleanup Signed-off-by: William Woodall <william@osrfoundation.org> * fixing tests for new API behavior Signed-off-by: William Woodall <william@osrfoundation.org> * to allocator -> to allocate * acutally call rmw_shutdown() and address review comments Signed-off-by: William Woodall <william@osrfoundation.org>
813 lines
33 KiB
C++
813 lines
33 KiB
C++
// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// testing default transition sequence.
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// This test requires that the transitions are set
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// as depicted in design.ros2.org
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#include <gtest/gtest.h>
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#include <vector>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "lifecycle_msgs/msg/state.h"
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#include "lifecycle_msgs/msg/transition.h"
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#include "rcl/error_handling.h"
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#include "rcl/rcl.h"
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#include "rcutils/logging_macros.h"
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#include "rcl_lifecycle/rcl_lifecycle.h"
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#include "rcl_lifecycle/default_state_machine.h"
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class TestDefaultStateMachine : public ::testing::Test
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{
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public:
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rcl_context_t * context_ptr;
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rcl_node_t * node_ptr;
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const rcl_allocator_t * allocator;
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void SetUp()
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{
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rcl_ret_t ret;
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{
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rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
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ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
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EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
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});
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this->context_ptr = new rcl_context_t;
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*this->context_ptr = rcl_get_zero_initialized_context();
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ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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this->node_ptr = new rcl_node_t;
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*this->node_ptr = rcl_get_zero_initialized_node();
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const char * name = "test_state_machine_node";
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rcl_node_options_t node_options = rcl_node_get_default_options();
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ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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const rcl_node_options_t * node_ops = rcl_node_get_options(this->node_ptr);
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this->allocator = &node_ops->allocator;
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}
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void TearDown()
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{
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rcl_ret_t ret = rcl_node_fini(this->node_ptr);
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delete this->node_ptr;
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_shutdown(this->context_ptr);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_context_fini(this->context_ptr);
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delete this->context_ptr;
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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};
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void
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test_trigger_transition(
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rcl_lifecycle_state_machine_t * state_machine,
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uint8_t key_id,
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unsigned int expected_current_state,
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unsigned int expected_goal_state)
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{
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EXPECT_EQ(
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expected_current_state, state_machine->current_state->id);
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EXPECT_EQ(
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RCL_RET_OK, rcl_lifecycle_trigger_transition_by_id(
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state_machine, key_id, false));
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EXPECT_EQ(
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expected_goal_state, state_machine->current_state->id);
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}
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/*
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* Test suite
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*/
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TEST_F(TestDefaultStateMachine, zero_init) {
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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EXPECT_EQ(rcl_lifecycle_state_machine_is_initialized(&state_machine), RCL_RET_ERROR);
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rcl_reset_error();
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const rcl_lifecycle_transition_map_t * transition_map = &state_machine.transition_map;
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EXPECT_EQ(transition_map->states_size, 0u);
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EXPECT_EQ(transition_map->states, nullptr);
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EXPECT_EQ(transition_map->transitions_size, 0u);
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EXPECT_EQ(transition_map->transitions, nullptr);
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auto ret = rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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TEST_F(TestDefaultStateMachine, default_init) {
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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auto ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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ret = rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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}
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TEST_F(TestDefaultStateMachine, default_sequence) {
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rcl_ret_t ret;
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN,
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lifecycle_msgs__msg__State__PRIMARY_STATE_FINALIZED);
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EXPECT_EQ(RCL_RET_OK,
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rcl_lifecycle_state_machine_fini(&state_machine, this->node_ptr, this->allocator));
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}
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TEST_F(TestDefaultStateMachine, wrong_default_sequence) {
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rcl_ret_t ret;
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rcl_lifecycle_state_machine_t state_machine = rcl_lifecycle_get_zero_initialized_state_machine();
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ret = rcl_lifecycle_init_default_state_machine(&state_machine, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
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std::vector<uint8_t> transition_ids =
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{
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lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
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lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
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lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
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lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
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lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
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lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN,
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lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_ERROR,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_SUCCESS,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_FAILURE,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_ERROR_ERROR,
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};
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{ // supposed to stay unconfigured for all invalid
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for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
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rcl_reset_error();
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EXPECT_EQ(
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state_machine.current_state->id,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
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}
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}
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{ // supposed to stay configuring for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CONFIGURE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
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for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_FAILURE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
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rcl_reset_error();
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING);
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}
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}
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{ // supposed to stay inactive for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CONFIGURE_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_INACTIVE_SHUTDOWN) {continue;}
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RCUTILS_LOG_INFO_NAMED(ROS_PACKAGE_NAME, "applying key %u", *it);
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
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rcl_reset_error();
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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}
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}
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{ // supposed to stay activating for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
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for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_FAILURE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
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rcl_reset_error();
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING);
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}
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}
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{ // supposed to stay active for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_ACTIVATE_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_ACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
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for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ACTIVE_SHUTDOWN)
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{continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
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rcl_reset_error();
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE);
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}
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}
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{ // supposed to stay deactivating for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_DEACTIVATE,
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lifecycle_msgs__msg__State__PRIMARY_STATE_ACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
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for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_FAILURE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
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rcl_reset_error();
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING);
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}
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}
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{ // supposed to stay cleanup for all invalid
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// skip inactive, we tested that already
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_DEACTIVATE_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_DEACTIVATING,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE);
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_CLEANUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_INACTIVE,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
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for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_FAILURE ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_ERROR) {continue;}
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_trigger_transition_by_id(&state_machine, *it, false));
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rcl_reset_error();
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EXPECT_EQ(state_machine.current_state->id,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP);
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}
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}
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{ // supposed to stay shutting down for all invalid
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_ON_CLEANUP_SUCCESS,
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lifecycle_msgs__msg__State__TRANSITION_STATE_CLEANINGUP,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED);
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// shutdown directly, since we tested already unconfigured
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test_trigger_transition(
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&state_machine,
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lifecycle_msgs__msg__Transition__TRANSITION_UNCONFIGURED_SHUTDOWN,
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED,
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lifecycle_msgs__msg__State__TRANSITION_STATE_SHUTTINGDOWN);
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for (auto it = transition_ids.begin(); it != transition_ids.end(); ++it) {
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if (*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_SUCCESS ||
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*it == lifecycle_msgs__msg__Transition__TRANSITION_ON_SHUTDOWN_FAILURE ||
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*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));
|
|
}
|
|
}
|