c37bfec072
* use rcl_allocator for rcl_lifecycle * correct return value interpretation * fix unsigned comparison * use namespace for lifecycle in-built topics * linters
116 lines
4.3 KiB
C++
116 lines
4.3 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 <lifecycle_msgs/msg/state.h>
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#include <lifecycle_msgs/msg/transition.h>
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#include <vector>
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#include "rcl/error_handling.h"
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#include "rcl/rcl.h"
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#include "rcl_lifecycle/rcl_lifecycle.h"
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#include "../src/default_state_machine.h"
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class TestMultipleInstances : public ::testing::Test
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{
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protected:
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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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ret = rcl_init(0, nullptr, rcl_get_default_allocator());
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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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_multiple_instances_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, "", &node_options);
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ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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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_safe();
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ret = rcl_shutdown();
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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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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int key,
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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(
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state_machine, key, 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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TEST_F(TestMultipleInstances, default_sequence_error_unresolved) {
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rcl_ret_t ret;
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rcl_lifecycle_state_machine_t state_machine1 =
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rcl_lifecycle_get_zero_initialized_state_machine();
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ret = rcl_lifecycle_init_default_state_machine(&state_machine1, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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rcl_lifecycle_state_machine_t state_machine2 =
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rcl_lifecycle_get_zero_initialized_state_machine();
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ret = rcl_lifecycle_init_default_state_machine(&state_machine2, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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rcl_lifecycle_state_machine_t state_machine3 =
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rcl_lifecycle_get_zero_initialized_state_machine();
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ret = rcl_lifecycle_init_default_state_machine(&state_machine3, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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test_trigger_transition(
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&state_machine1,
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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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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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EXPECT_EQ(
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lifecycle_msgs__msg__State__TRANSITION_STATE_CONFIGURING, state_machine1.current_state->id);
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EXPECT_EQ(
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, state_machine2.current_state->id);
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EXPECT_EQ(
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lifecycle_msgs__msg__State__PRIMARY_STATE_UNCONFIGURED, state_machine3.current_state->id);
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ret = rcl_lifecycle_state_machine_fini(&state_machine1, this->node_ptr, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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ret = rcl_lifecycle_state_machine_fini(&state_machine2, this->node_ptr, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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ret = rcl_lifecycle_state_machine_fini(&state_machine3, this->node_ptr, this->allocator);
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EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe();
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}
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