74 lines
2.9 KiB
C++
74 lines
2.9 KiB
C++
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// Copyright 2015 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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#include <gtest/gtest.h>
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#include <memory>
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#include <string>
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#include <utility>
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#include <vector>
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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class TestStateMachineInfo : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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};
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TEST_F(TestStateMachineInfo, available_states) {
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auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
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std::vector<rclcpp_lifecycle::State> available_states =
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test_node->get_available_states();
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EXPECT_EQ((unsigned int)11, available_states.size());
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// Primary States
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EXPECT_EQ((unsigned int)0, available_states[0].id()); // unknown
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EXPECT_EQ((unsigned int)1, available_states[1].id()); // unconfigured
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EXPECT_EQ((unsigned int)2, available_states[2].id()); // inactive
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EXPECT_EQ((unsigned int)3, available_states[3].id()); // active
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EXPECT_EQ((unsigned int)4, available_states[4].id()); // finalized
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// Transition States
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EXPECT_EQ((unsigned int)10, available_states[5].id()); // configuring
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EXPECT_EQ((unsigned int)11, available_states[6].id()); // cleaningup
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EXPECT_EQ((unsigned int)12, available_states[7].id()); // shuttingdown
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EXPECT_EQ((unsigned int)13, available_states[8].id()); // activating
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EXPECT_EQ((unsigned int)14, available_states[9].id()); // deactivating
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EXPECT_EQ((unsigned int)15, available_states[10].id()); // errorprocessing
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}
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TEST_F(TestStateMachineInfo, available_transitions) {
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auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
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std::vector<rclcpp_lifecycle::Transition> available_transitions =
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test_node->get_available_transitions();
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EXPECT_EQ((unsigned int)25, available_transitions.size());
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for (rclcpp_lifecycle::Transition & transition : available_transitions) {
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EXPECT_FALSE(transition.label().empty());
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EXPECT_TRUE(transition.start_state().id() <= (unsigned int)4 ||
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(transition.start_state().id() >= (unsigned int)10 &&
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(transition.start_state().id() <= (unsigned int)15)));
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EXPECT_FALSE(transition.start_state().label().empty());
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EXPECT_TRUE(transition.goal_state().id() <= (unsigned int)4 ||
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(transition.goal_state().id() >= (unsigned int)10 &&
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(transition.goal_state().id() <= (unsigned int)15)));
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EXPECT_FALSE(transition.goal_state().label().empty());
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}
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}
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