rclcpp/rclcpp_lifecycle/test/test_transition_wrapper.cpp

// Copyright 2017 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.

#include <gtest/gtest.h>
#include <memory>
#include <string>
#include <utility>
#include <vector>

#include "rclcpp_lifecycle/lifecycle_node.hpp"

class TestTransitionWrapper : public ::testing::Test
{
protected:
  static void SetUpTestCase()
  {
  }
};

TEST_F(TestTransitionWrapper, empty_transition) {
  auto a = std::make_shared<rclcpp_lifecycle::Transition>(1, "my_transition");
  EXPECT_NO_THROW(a.reset());
}

TEST_F(TestTransitionWrapper, wrapper) {
  {
    rclcpp_lifecycle::Transition t(12, "no_states_set");
    EXPECT_EQ(12, t.id());
    EXPECT_STREQ("no_states_set", t.label().c_str());
  }

  {
    std::string transition_name = "no_states_set";
    rclcpp_lifecycle::Transition t(12, transition_name);
    transition_name = "not_no_states_set";
    EXPECT_EQ(12, t.id());
    EXPECT_STREQ("no_states_set", t.label().c_str());
  }

  {
    rclcpp_lifecycle::State start_state(1, "start_state");
    rclcpp_lifecycle::State goal_state(2, "goal_state");

    rclcpp_lifecycle::Transition t(
      12,
      "from_start_to_goal",
      std::move(start_state),
      std::move(goal_state));

    EXPECT_EQ(12, t.id());
    EXPECT_FALSE(t.label().empty());
    EXPECT_STREQ("from_start_to_goal", t.label().c_str());
  }
}

TEST_F(TestTransitionWrapper, copy_constructor) {
  auto a = std::make_shared<rclcpp_lifecycle::Transition>(1, "my_transition");
  rclcpp_lifecycle::Transition b(*a);

  a.reset();

  EXPECT_EQ(1, b.id());
  EXPECT_STREQ("my_transition", b.label().c_str());
}

TEST_F(TestTransitionWrapper, assignment_operator) {
  auto a = std::make_shared<rclcpp_lifecycle::Transition>(1, "one");
  auto b = std::make_shared<rclcpp_lifecycle::Transition>(2, "two");
  *b = *a;

  a.reset();

  EXPECT_EQ(1, b->id());
  EXPECT_STREQ("one", b->label().c_str());
}