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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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55
rclcpp_lifecycle/test/test_lifecycle_service_client.cpp
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@ -36,6 +36,8 @@
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "./mocking_utils/patch.hpp"
using namespace std::chrono_literals;
constexpr char const * lifecycle_node_name = "lc_talker";
@ -393,3 +395,56 @@ TEST_F(TestLifecycleServiceClient, wait_for_graph_change)
node_graph->wait_for_graph_change(event, std::chrono::milliseconds(0)),
rclcpp::exceptions::EventNotRegisteredError);
}
class TestLifecycleServiceClientRCLErrors : public ::testing::Test
{
protected:
void SetUp() override
{
rclcpp::init(0, nullptr);
}
void TearDown() override
{
rclcpp::shutdown();
}
};
TEST_F(TestLifecycleServiceClientRCLErrors, call_services_rcl_errors) {
auto lifecycle_node = std::make_shared<EmptyLifecycleNode>();
auto lifecycle_client = std::make_shared<LifecycleServiceClient>("client_with_errors");
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp_lifecycle", rcl_lifecycle_state_machine_is_initialized, RCL_RET_ERROR);
// on_change_state
lifecycle_client->change_state(
lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
rclcpp::spin_some(lifecycle_client);
EXPECT_THROW(
rclcpp::spin_some(lifecycle_node->get_node_base_interface()), std::runtime_error);
// on_get_state
lifecycle_client->get_state();
rclcpp::spin_some(lifecycle_client);
EXPECT_THROW(
rclcpp::spin_some(lifecycle_node->get_node_base_interface()), std::runtime_error);
// on_get_avilable_states
lifecycle_client->get_available_states();
rclcpp::spin_some(lifecycle_client);
EXPECT_THROW(
rclcpp::spin_some(lifecycle_node->get_node_base_interface()), std::runtime_error);
// on_get_available_transitions
lifecycle_client->get_available_transitions();
rclcpp::spin_some(lifecycle_client);
EXPECT_THROW(
rclcpp::spin_some(lifecycle_node->get_node_base_interface()), std::runtime_error);
// on_get_transition_graph
lifecycle_client->get_transition_graph();
rclcpp::spin_some(lifecycle_client);
EXPECT_THROW(
rclcpp::spin_some(lifecycle_node->get_node_base_interface()), std::runtime_error);
}