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Fix 394 (#419)

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* copy and assignment operator for state

copy and assignment operator for transition

remove unused const_casts

address comments

check for null in copy constructor

up

use init and fini functions from rcl

remove unused include

* explicitly zero initialize state and transitions

* add todo comment for follow up
This commit is contained in:
Karsten Knese 2017-12-05 22:51:52 -08:00 • committed by GitHub
parent c40f3c25c6
commit 6d13bcb0fc
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6 changed files with 286 additions and 6 deletions
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84
rclcpp_lifecycle/test/test_state_wrapper.cpp
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@ -82,3 +82,87 @@ TEST_F(TestStateWrapper, wrapper) {
// EXPECT_STREQ("my_c_state", c_state.label().c_str());
// }
}
TEST_F(TestStateWrapper, copy_constructor) {
auto a = std::make_shared<rclcpp_lifecycle::State>(1, "my_c_state");
rclcpp_lifecycle::State b(*a);
a.reset();
EXPECT_EQ(1, b.id());
EXPECT_STREQ("my_c_state", b.label().c_str());
}
TEST_F(TestStateWrapper, assignment_operator) {
auto a = std::make_shared<rclcpp_lifecycle::State>(1, "one");
auto b = std::make_shared<rclcpp_lifecycle::State>(2, "two");
*b = *a;
a.reset();
EXPECT_EQ(1, b->id());
EXPECT_STREQ("one", b->label().c_str());
}
TEST_F(TestStateWrapper, assignment_operator2) {
// Non-owning State
rcl_lifecycle_state_t * lc_state1 =
new rcl_lifecycle_state_t{"my_c_state1", 1, NULL, NULL, 0};
auto non_owning_state1 = std::make_shared<rclcpp_lifecycle::State>(lc_state1);
// Non-owning State
rcl_lifecycle_state_t * lc_state2 =
new rcl_lifecycle_state_t{"my_c_state2", 2, NULL, NULL, 0};
auto non_owning_state2 = std::make_shared<rclcpp_lifecycle::State>(lc_state2);
*non_owning_state2 = *non_owning_state1;
EXPECT_EQ(1, non_owning_state2->id());
EXPECT_STREQ("my_c_state1", non_owning_state2->label().c_str());
non_owning_state1.reset();
non_owning_state2.reset();
delete lc_state1;
delete lc_state2;
}
TEST_F(TestStateWrapper, assignment_operator3) {
// Non-owning State
rcl_lifecycle_state_t * lc_state1 =
new rcl_lifecycle_state_t{"my_c_state1", 1, NULL, NULL, 0};
auto non_owning_state1 = std::make_shared<rclcpp_lifecycle::State>(lc_state1);
// owning State
auto owning_state2 = std::make_shared<rclcpp_lifecycle::State>(2, "my_c_state2");
*owning_state2 = *non_owning_state1;
EXPECT_EQ(1, owning_state2->id());
EXPECT_STREQ("my_c_state1", owning_state2->label().c_str());
non_owning_state1.reset();
owning_state2.reset();
delete lc_state1;
}
TEST_F(TestStateWrapper, assignment_operator4) {
// Non-owning State
rcl_lifecycle_state_t * lc_state1 =
new rcl_lifecycle_state_t{"my_c_state1", 1, NULL, NULL, 0};
auto non_owning_state1 = std::make_shared<rclcpp_lifecycle::State>(lc_state1);
// owning State
auto owning_state2 = std::make_shared<rclcpp_lifecycle::State>(2, "my_c_state2");
*non_owning_state1 = *owning_state2;
EXPECT_EQ(2, non_owning_state1->id());
EXPECT_STREQ("my_c_state2", non_owning_state1->label().c_str());
non_owning_state1.reset();
owning_state2.reset();
delete lc_state1;
}