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

* 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>

rclcpp_lifecycle/test/test_lifecycle_publisher.cpp

@@ -0,0 +1,104 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+
+#include <gtest/gtest.h>
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "test_msgs/msg/empty.hpp"
+
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "rclcpp_lifecycle/lifecycle_publisher.hpp"
+
+class TestDefaultStateMachine : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  explicit EmptyLifecycleNode(const std::string & node_name)
+  : rclcpp_lifecycle::LifecycleNode(node_name)
+  {
+    rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> options;
+    publisher_ =
+      std::make_shared<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>>(
+      get_node_base_interface().get(), std::string("topic"), rclcpp::QoS(10), options);
+    add_publisher_handle(publisher_);
+
+    // For coverage this is being added here
+    auto timer = create_wall_timer(std::chrono::seconds(1), []() {});
+    add_timer_handle(timer);
+  }
+
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher()
+  {
+    return publisher_;
+  }
+
+private:
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<test_msgs::msg::Empty>> publisher_;
+};
+
+class TestLifecyclePublisher : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+    node_ = std::make_shared<EmptyLifecycleNode>("node");
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+
+protected:
+  std::shared_ptr<EmptyLifecycleNode> node_;
+};
+
+TEST_F(TestLifecyclePublisher, publish) {
+  node_->publisher()->on_deactivate();
+  EXPECT_FALSE(node_->publisher()->is_activated());
+  {
+    auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
+    EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
+  }
+  {
+    auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
+    EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
+  }
+  node_->publisher()->on_activate();
+  EXPECT_TRUE(node_->publisher()->is_activated());
+  {
+    auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
+    EXPECT_NO_THROW(node_->publisher()->publish(*msg_ptr));
+  }
+  {
+    auto msg_ptr = std::make_unique<test_msgs::msg::Empty>();
+    EXPECT_NO_THROW(node_->publisher()->publish(std::move(msg_ptr)));
+  }
+}