4d8cb487f8
* use new error handling API from rcutils Signed-off-by: William Woodall <william@osrfoundation.org> * use semicolons after macros Signed-off-by: William Woodall <william@osrfoundation.org> * use new error handling API from rcutils Signed-off-by: William Woodall <william@osrfoundation.org> * minimize vertical whitespace Signed-off-by: William Woodall <william@osrfoundation.org> * use semicolons after macros Signed-off-by: William Woodall <william@osrfoundation.org>
95 lines
3.3 KiB
C++
95 lines
3.3 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 "rcl/error_handling.h"
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#include "rcl_lifecycle/rcl_lifecycle.h"
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#include "rcl_lifecycle/transition_map.h"
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class TestTransitionMap : public ::testing::Test
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{
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protected:
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void SetUp()
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{
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}
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void TearDown()
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{
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}
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};
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TEST_F(TestTransitionMap, zero_initialized) {
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rcl_lifecycle_transition_map_t transition_map =
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rcl_lifecycle_get_zero_initialized_transition_map();
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EXPECT_EQ(RCL_RET_ERROR, rcl_lifecycle_transition_map_is_initialized(&transition_map));
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rcl_allocator_t allocator = rcl_get_default_allocator();
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EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_fini(&transition_map, &allocator));
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}
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TEST_F(TestTransitionMap, initialized) {
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rcl_lifecycle_transition_map_t transition_map =
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rcl_lifecycle_get_zero_initialized_transition_map();
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rcl_allocator_t allocator = rcl_get_default_allocator();
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rcl_lifecycle_state_t state0 = {"my_state_0", 0, NULL, 0};
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rcl_ret_t ret = rcl_lifecycle_register_state(&transition_map, state0, &allocator);
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EXPECT_EQ(RCL_RET_OK, ret);
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EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_is_initialized(&transition_map));
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ret = rcl_lifecycle_register_state(&transition_map, state0, &allocator);
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EXPECT_EQ(RCL_RET_ERROR, ret) << rcl_get_error_string().str;
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rcl_lifecycle_state_t state1 = {"my_state_1", 1, NULL, 0};
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ret = rcl_lifecycle_register_state(&transition_map, state1, &allocator);
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rcl_lifecycle_state_t * start_state =
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rcl_lifecycle_get_state(&transition_map, state0.id);
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rcl_lifecycle_state_t * goal_state =
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rcl_lifecycle_get_state(&transition_map, state1.id);
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EXPECT_EQ(0u, start_state->id);
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EXPECT_EQ(1u, goal_state->id);
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rcl_lifecycle_transition_t transition01 = {"from0to1", 0,
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start_state, goal_state};
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ret = rcl_lifecycle_register_transition(
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&transition_map, transition01, &allocator);
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EXPECT_EQ(RCL_RET_OK, ret);
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rcl_lifecycle_transition_t transition10 = {"from1to0", 1,
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goal_state, start_state};
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ret = rcl_lifecycle_register_transition(
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&transition_map, transition10, &allocator);
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EXPECT_EQ(RCL_RET_OK, ret);
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const rcl_lifecycle_transition_t * trans =
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rcl_lifecycle_get_transition_by_id(start_state, 0);
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EXPECT_EQ(0u, trans->id);
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trans = rcl_lifecycle_get_transition_by_label(start_state, "from0to1");
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EXPECT_EQ(0u, trans->id);
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trans = rcl_lifecycle_get_transition_by_id(goal_state, 1);
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EXPECT_EQ(1u, trans->id);
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trans = rcl_lifecycle_get_transition_by_label(goal_state, "from1to0");
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EXPECT_EQ(1u, trans->id);
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EXPECT_EQ(RCL_RET_OK, rcl_lifecycle_transition_map_fini(&transition_map, &allocator));
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}
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