78 lines
2.3 KiB
C++
78 lines
2.3 KiB
C++
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// Copyright 2017 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_lifecycle/lifecycle_node.hpp"
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class TestStateWrapper : 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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}
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};
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TEST_F(TestStateWrapper, wrapper) {
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{
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rclcpp_lifecycle::State state(1, "my_state");
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EXPECT_EQ(1, state.id());
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EXPECT_FALSE(state.label().empty());
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EXPECT_STREQ("my_state", state.label().c_str());
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}
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{
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rcl_lifecycle_state_t lc_state = {"my_c_state", 2, NULL, NULL, 0};
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rclcpp_lifecycle::State c_state(lc_state.id, lc_state.label);
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EXPECT_EQ(2, c_state.id());
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EXPECT_FALSE(c_state.label().empty());
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EXPECT_STREQ("my_c_state", c_state.label().c_str());
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}
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{
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rcl_lifecycle_state_t lc_state = {"my_c_state", 2, NULL, NULL, 0};
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rclcpp_lifecycle::State c_state(&lc_state);
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EXPECT_EQ(2, c_state.id());
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EXPECT_FALSE(c_state.label().empty());
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EXPECT_STREQ("my_c_state", c_state.label().c_str());
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}
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{
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rcl_lifecycle_state_t * lc_state =
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new rcl_lifecycle_state_t {"my_c_state", 3, NULL, NULL, 0};
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rclcpp_lifecycle::State c_state(lc_state->id, lc_state->label);
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EXPECT_EQ(3, c_state.id());
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EXPECT_FALSE(c_state.label().empty());
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EXPECT_STREQ("my_c_state", c_state.label().c_str());
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}
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// introduces flakiness
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// unsupported behavior!
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// fails when compiled with memory sanitizer
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// {
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// rcl_lifecycle_state_t * lc_state
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// = new rcl_lifecycle_state_t {"my_c_state", 3, NULL, NULL, 0};
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// rclcpp_lifecycle::State c_state(lc_state);
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// delete lc_state;
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// lc_state = NULL;
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// EXPECT_EQ(3, c_state.id());
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// EXPECT_STREQ("my_c_state", c_state.label().c_str());
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// }
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}
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