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rename RCL_LIFECYCLE_RET_T to lifecycle_msgs::msgs::Transition::TRANSITION_CALLBACK_* (#345)

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This commit is contained in:
Karsten Knese 2017-08-02 14:04:34 -07:00 • committed by GitHub
parent a41245e6bf
commit 9281e32f82
8 changed files with 156 additions and 116 deletions
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54
rclcpp_lifecycle/test/test_lifecycle_node.cpp
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@ -29,11 +29,13 @@ using lifecycle_msgs::msg::Transition;
struct GoodMood
{
static constexpr rcl_lifecycle_ret_t cb_ret = RCL_LIFECYCLE_RET_OK;
static constexpr rcl_lifecycle_transition_key_t cb_ret =
lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
};
struct BadMood
{
static constexpr rcl_lifecycle_ret_t cb_ret = RCL_LIFECYCLE_RET_FAILURE;
static constexpr rcl_lifecycle_transition_key_t cb_ret =
lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE;
};
class TestDefaultStateMachine : public ::testing::Test
@ -64,57 +66,65 @@ public:
size_t number_of_callbacks = 0;
protected:
rcl_lifecycle_ret_t on_configure(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_configure(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_CONFIGURING, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rcl_lifecycle_ret_t on_activate(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_activate(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_ACTIVATING, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rcl_lifecycle_ret_t on_deactivate(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_deactivate(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_DEACTIVATING, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rcl_lifecycle_ret_t on_cleanup(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_cleanup(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_CLEANINGUP, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rcl_lifecycle_ret_t on_shutdown(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
on_shutdown(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_SHUTTINGDOWN, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rcl_lifecycle_ret_t on_error(const rclcpp_lifecycle::State &);
rcl_lifecycle_transition_key_t
on_error(const rclcpp_lifecycle::State &);
};
template<>
rcl_lifecycle_ret_t MoodyLifecycleNode<GoodMood>::on_error(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
MoodyLifecycleNode<GoodMood>::on_error(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_ERRORPROCESSING, get_current_state().id());
ADD_FAILURE();
return RCL_LIFECYCLE_RET_ERROR;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR;
}
template<>
rcl_lifecycle_ret_t MoodyLifecycleNode<BadMood>::on_error(const rclcpp_lifecycle::State &)
rcl_lifecycle_transition_key_t
MoodyLifecycleNode<BadMood>::on_error(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_ERRORPROCESSING, get_current_state().id());
++number_of_callbacks;
return RCL_LIFECYCLE_RET_OK;
return lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS;
}
TEST_F(TestDefaultStateMachine, empty_initializer) {
@ -143,25 +153,25 @@ TEST_F(TestDefaultStateMachine, trigger_transition) {
TEST_F(TestDefaultStateMachine, trigger_transition_with_error_code) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
rcl_lifecycle_ret_t ret = RCL_LIFECYCLE_RET_ERROR;
rcl_lifecycle_transition_key_t ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR;
test_node->configure(ret);
EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret);
ret = RCL_LIFECYCLE_RET_ERROR;
EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret);
ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR;
test_node->activate(ret);
EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret);
ret = RCL_LIFECYCLE_RET_ERROR;
EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret);
ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR;
test_node->deactivate(ret);
EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret);
ret = RCL_LIFECYCLE_RET_ERROR;
EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret);
ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR;
test_node->cleanup(ret);
EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret);
ret = RCL_LIFECYCLE_RET_ERROR;
EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret);
ret = lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_ERROR;
test_node->shutdown(ret);
EXPECT_EQ(RCL_LIFECYCLE_RET_OK, ret);
EXPECT_EQ(lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS, ret);
}
TEST_F(TestDefaultStateMachine, good_mood) {