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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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44
rclcpp_lifecycle/test/test_register_custom_callbacks.cpp
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@ -46,91 +46,91 @@ 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 &)
{
ADD_FAILURE();
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_activate(const rclcpp_lifecycle::State &)
{
ADD_FAILURE();
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_deactivate(const rclcpp_lifecycle::State &)
{
ADD_FAILURE();
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_cleanup(const rclcpp_lifecycle::State &)
{
ADD_FAILURE();
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_shutdown(const rclcpp_lifecycle::State &)
{
ADD_FAILURE();
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
// Custom callbacks
public:
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_custom_configure(const rclcpp_lifecycle::State & previous_state)
{
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, previous_state.id());
EXPECT_EQ(State::TRANSITION_STATE_CONFIGURING, get_current_state().id());
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_custom_activate(const rclcpp_lifecycle::State & previous_state)
{
EXPECT_EQ(State::PRIMARY_STATE_INACTIVE, previous_state.id());
EXPECT_EQ(State::TRANSITION_STATE_ACTIVATING, get_current_state().id());
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_custom_deactivate(const rclcpp_lifecycle::State & previous_state)
{
EXPECT_EQ(State::PRIMARY_STATE_ACTIVE, previous_state.id());
EXPECT_EQ(State::TRANSITION_STATE_DEACTIVATING, get_current_state().id());
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_custom_cleanup(const rclcpp_lifecycle::State & previous_state)
{
EXPECT_EQ(State::PRIMARY_STATE_INACTIVE, previous_state.id());
EXPECT_EQ(State::TRANSITION_STATE_CLEANINGUP, get_current_state().id());
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
rcl_lifecycle_transition_key_t
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_custom_shutdown(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_SHUTTINGDOWN, get_current_state().id());
++number_of_callbacks;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
};
@ -158,8 +158,8 @@ TEST_F(TestRegisterCustomCallbacks, custom_callbacks) {
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CLEANUP)).id());
EXPECT_EQ(State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_SHUTDOWN)).id());
rclcpp_lifecycle::Transition(Transition::TRANSITION_UNCONFIGURED_SHUTDOWN)).id());
// check if all callbacks were successfully overwritten
EXPECT_EQ(static_cast<size_t>(5), test_node->number_of_callbacks);
EXPECT_EQ(5u, test_node->number_of_callbacks);
}