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service for transition graph (#555)

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* service for transition graph

* remove keys, transition id unique, label ambiguous

* semicolon for macro call
This commit is contained in:
Karsten Knese 2018-10-11 14:03:57 -07:00 • committed by GitHub
parent bedb3ae361
commit 3353ffbb15
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GPG key ID: 4AEE18F83AFDEB23
9 changed files with 250 additions and 168 deletions
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25
rclcpp_lifecycle/test/test_callback_exceptions.cpp
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@ -46,18 +46,18 @@ public:
size_t number_of_callbacks = 0;
protected:
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_configure(const rclcpp_lifecycle::State &)
{
++number_of_callbacks;
throw std::runtime_error("custom exception raised in configure callback");
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_error(const rclcpp_lifecycle::State &)
{
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
};
@ -68,16 +68,17 @@ TEST_F(TestCallbackExceptions, positive_on_error) {
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
// check if all callbacks were successfully overwritten
EXPECT_EQ(static_cast<size_t>(2), test_node->number_of_callbacks);
EXPECT_EQ(2u, test_node->number_of_callbacks);
}
TEST_F(TestCallbackExceptions, positive_on_error_with_code) {
auto test_node = std::make_shared<PositiveCallbackExceptionNode>("testnode");
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
rcl_lifecycle_transition_key_t ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ret =
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
test_node->configure(ret);
EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR, ret);
EXPECT_EQ(rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR, ret);
}
class NegativeCallbackExceptionNode : public rclcpp_lifecycle::LifecycleNode
@ -90,18 +91,18 @@ public:
size_t number_of_callbacks = 0;
protected:
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_configure(const rclcpp_lifecycle::State &)
{
++number_of_callbacks;
throw std::runtime_error("custom exception raised in configure callback");
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_error(const rclcpp_lifecycle::State &)
{
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
}
};
@ -112,14 +113,14 @@ TEST_F(TestCallbackExceptions, negative_on_error) {
EXPECT_EQ(State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
// check if all callbacks were successfully overwritten
EXPECT_EQ(static_cast<size_t>(2), test_node->number_of_callbacks);
EXPECT_EQ(2u, test_node->number_of_callbacks);
}
TEST_F(TestCallbackExceptions, negative_on_error_with_code) {
auto test_node = std::make_shared<NegativeCallbackExceptionNode>("testnode");
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
rcl_lifecycle_transition_key_t ret = RCL_RET_OK;
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ret;
test_node->configure(ret);
EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR, ret);
EXPECT_EQ(rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR, ret);
}