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Increase test coverage of rclcpp_lifecycle to 96% (#1298)

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* Increase test coverage of rclcpp_lifecycle to 96%

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* PR Fixup

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* test_depend

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* rcutils test_depend

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* More windows warnings

Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-09-18 10:41:20 -07:00 • committed by Alejandro Hernández Cordero
parent ed7a23731a
commit e920175dae
7 changed files with 921 additions and 14 deletions
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140
rclcpp_lifecycle/test/test_lifecycle_node.cpp
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@ -24,9 +24,13 @@
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "./mocking_utils/patch.hpp"
using lifecycle_msgs::msg::State;
using lifecycle_msgs::msg::Transition;
@ -37,13 +41,17 @@ protected:
{
rclcpp::init(0, nullptr);
}
static void TearDownTestCase()
{
rclcpp::shutdown();
}
};
class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
{
public:
explicit EmptyLifecycleNode(std::string node_name)
: rclcpp_lifecycle::LifecycleNode(std::move(node_name))
explicit EmptyLifecycleNode(const std::string & node_name)
: rclcpp_lifecycle::LifecycleNode(node_name)
{}
};
@ -142,6 +150,22 @@ TEST_F(TestDefaultStateMachine, empty_initializer) {
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
}
TEST_F(TestDefaultStateMachine, empty_initializer_rcl_errors) {
{
auto patch = mocking_utils::patch_and_return(
"lib:rclcpp_lifecycle", rcl_lifecycle_state_machine_init, RCL_RET_ERROR);
EXPECT_THROW(
std::make_shared<EmptyLifecycleNode>("testnode").reset(),
std::runtime_error);
}
{
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto patch = mocking_utils::inject_on_return(
"lib:rclcpp_lifecycle", rcl_lifecycle_state_machine_fini, RCL_RET_ERROR);
EXPECT_NO_THROW(test_node.reset());
}
}
TEST_F(TestDefaultStateMachine, trigger_transition) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
@ -163,6 +187,35 @@ TEST_F(TestDefaultStateMachine, trigger_transition) {
rclcpp_lifecycle::Transition(Transition::TRANSITION_UNCONFIGURED_SHUTDOWN)).id());
}
TEST_F(TestDefaultStateMachine, trigger_transition_rcl_errors) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_lifecycle", rcl_lifecycle_state_machine_is_initialized, RCL_RET_ERROR);
EXPECT_EQ(
State::PRIMARY_STATE_UNCONFIGURED,
test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
}
{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_lifecycle", rcl_lifecycle_trigger_transition_by_id, RCL_RET_ERROR);
EXPECT_EQ(
State::PRIMARY_STATE_UNCONFIGURED,
test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
}
{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_lifecycle", rcl_lifecycle_trigger_transition_by_label, RCL_RET_ERROR);
EXPECT_EQ(
State::TRANSITION_STATE_CONFIGURING,
test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
}
}
TEST_F(TestDefaultStateMachine, trigger_transition_with_error_code) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
@ -381,6 +434,8 @@ TEST_F(TestDefaultStateMachine, check_parameters) {
auto descriptors = test_node->describe_parameters(parameter_names);
EXPECT_EQ(descriptors.size(), parameter_names.size());
// This actually throws inside NodeParameters::describe_parameters(), so it's not currently
// possible to cover this method 100%.
EXPECT_THROW(
test_node->describe_parameter("not_a_real_parameter"),
rclcpp::exceptions::ParameterNotDeclaredException);
@ -437,6 +492,12 @@ TEST_F(TestDefaultStateMachine, check_parameters) {
test_node->set_parameters({int_parameter});
EXPECT_EQ(parameters_set, 2u);
test_node->remove_on_set_parameters_callback(callback_handle.get());
rclcpp::Parameter bool_parameter2(bool_name, rclcpp::ParameterValue(true));
EXPECT_TRUE(test_node->set_parameter(bool_parameter2).successful);
EXPECT_EQ(parameters_set, 2u);
// List parameters
list_result = test_node->list_parameters({}, 0u);
EXPECT_EQ(list_result.names.size(), 3u);
@ -489,7 +550,7 @@ TEST_F(TestDefaultStateMachine, test_getters) {
EXPECT_NE(nullptr, const_cast<const EmptyLifecycleNode *>(test_node.get())->get_clock());
}
TEST_F(TestDefaultStateMachine, test_graph) {
TEST_F(TestDefaultStateMachine, test_graph_topics) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto names = test_node->get_node_names();
@ -504,6 +565,19 @@ TEST_F(TestDefaultStateMachine, test_graph) {
topic_names_and_types["/testnode/transition_event"][0].c_str(),
"lifecycle_msgs/msg/TransitionEvent");
EXPECT_EQ(1u, test_node->count_publishers("/testnode/transition_event"));
EXPECT_EQ(0u, test_node->count_subscribers("/testnode/transition_event"));
auto publishers_info = test_node->get_publishers_info_by_topic("/testnode/transition_event");
EXPECT_EQ(1u, publishers_info.size());
auto subscriptions_info =
test_node->get_subscriptions_info_by_topic("/testnode/transition_event");
EXPECT_EQ(0u, subscriptions_info.size());
}
TEST_F(TestDefaultStateMachine, test_graph_services) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto service_names_and_types = test_node->get_service_names_and_types();
// These are specific to lifecycle nodes, other services are provided by rclcpp::Node
ASSERT_NE(
@ -540,15 +614,48 @@ TEST_F(TestDefaultStateMachine, test_graph) {
EXPECT_STREQ(
service_names_and_types["/testnode/get_transition_graph"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions");
}
EXPECT_EQ(1u, test_node->count_publishers("/testnode/transition_event"));
EXPECT_EQ(0u, test_node->count_subscribers("/testnode/transition_event"));
TEST_F(TestDefaultStateMachine, test_graph_services_by_node) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto publishers_info = test_node->get_publishers_info_by_topic("/testnode/transition_event");
EXPECT_EQ(publishers_info.size(), 1u);
auto subscriptions_info =
test_node->get_subscriptions_info_by_topic("/testnode/transition_event");
EXPECT_EQ(subscriptions_info.size(), 0u);
auto service_names_and_types_by_node =
test_node->get_service_names_and_types_by_node("testnode", "");
// These are specific to lifecycle nodes, other services are provided by rclcpp::Node
ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/change_state")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/change_state"][0].c_str(),
"lifecycle_msgs/srv/ChangeState");
ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/get_available_states")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/get_available_states"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableStates");
ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/get_available_transitions")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/get_available_transitions"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions");
ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/get_state")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/get_state"][0].c_str(),
"lifecycle_msgs/srv/GetState");
ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/get_transition_graph")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/get_transition_graph"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions");
}
TEST_F(TestDefaultStateMachine, test_callback_groups) {
@ -564,3 +671,16 @@ TEST_F(TestDefaultStateMachine, test_callback_groups) {
EXPECT_EQ(groups.size(), 2u);
EXPECT_EQ(groups[1].lock().get(), group.get());
}
TEST_F(TestDefaultStateMachine, wait_for_graph_change)
{
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
EXPECT_THROW(
test_node->wait_for_graph_change(nullptr, std::chrono::milliseconds(1)),
rclcpp::exceptions::InvalidEventError);
auto event = std::make_shared<rclcpp::Event>();
EXPECT_THROW(
test_node->wait_for_graph_change(event, std::chrono::milliseconds(0)),
rclcpp::exceptions::EventNotRegisteredError);
}