Increasing test coverage of rclcpp_lifecycle (#1045)
Signed-off-by: Stephen Brawner <brawner@gmail.com>
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5 changed files with 735 additions and 1 deletions
346
rclcpp_lifecycle/test/test_lifecycle_service_client.cpp
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346
rclcpp_lifecycle/test/test_lifecycle_service_client.cpp
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// Copyright 2020 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/**
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* Service client test was adopted from:
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* https://github.com/ros2/demos/blob/master/lifecycle/src/lifecycle_service_client.cpp
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*/
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#include <gtest/gtest.h>
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#include <chrono>
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#include <memory>
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#include <string>
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#include <thread>
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#include <vector>
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#include "lifecycle_msgs/msg/state.hpp"
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#include "lifecycle_msgs/msg/transition.hpp"
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#include "lifecycle_msgs/msg/transition_description.hpp"
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#include "lifecycle_msgs/srv/change_state.hpp"
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#include "lifecycle_msgs/srv/get_available_states.hpp"
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#include "lifecycle_msgs/srv/get_available_transitions.hpp"
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#include "lifecycle_msgs/srv/get_state.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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using namespace std::chrono_literals;
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constexpr char const * lifecycle_node_name = "lc_talker";
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constexpr char const * node_get_state_topic = "/lc_talker/get_state";
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constexpr char const * node_change_state_topic = "/lc_talker/change_state";
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constexpr char const * node_get_available_states_topic = "/lc_talker/get_available_states";
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constexpr char const * node_get_available_transitions_topic =
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"/lc_talker/get_available_transitions";
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constexpr char const * node_get_transition_graph_topic =
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"/lc_talker/get_transition_graph";
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const lifecycle_msgs::msg::State unknown_state = lifecycle_msgs::msg::State();
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class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
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{
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public:
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EmptyLifecycleNode()
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: rclcpp_lifecycle::LifecycleNode(lifecycle_node_name)
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{}
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};
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class LifecycleServiceClient : public rclcpp::Node
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{
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public:
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explicit LifecycleServiceClient(std::string node_name)
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: Node(node_name)
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{
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client_get_available_states_ = this->create_client<lifecycle_msgs::srv::GetAvailableStates>(
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node_get_available_states_topic);
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client_get_available_transitions_ =
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this->create_client<lifecycle_msgs::srv::GetAvailableTransitions>(
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node_get_available_transitions_topic);
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client_get_transition_graph_ =
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this->create_client<lifecycle_msgs::srv::GetAvailableTransitions>(
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node_get_transition_graph_topic);
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client_get_state_ = this->create_client<lifecycle_msgs::srv::GetState>(
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node_get_state_topic);
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client_change_state_ = this->create_client<lifecycle_msgs::srv::ChangeState>(
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node_change_state_topic);
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}
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lifecycle_msgs::msg::State
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get_state(std::chrono::seconds time_out = 1s)
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{
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auto request = std::make_shared<lifecycle_msgs::srv::GetState::Request>();
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if (!client_get_state_->wait_for_service(time_out)) {
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return unknown_state;
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}
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auto future_result = client_get_state_->async_send_request(request);
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auto future_status = future_result.wait_for(time_out);
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if (future_status != std::future_status::ready) {
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return unknown_state;
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}
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if (future_result.get()) {
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return future_result.get()->current_state;
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} else {
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return unknown_state;
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}
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}
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bool
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change_state(std::uint8_t transition, std::chrono::seconds time_out = 1s)
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{
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auto request = std::make_shared<lifecycle_msgs::srv::ChangeState::Request>();
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request->transition.id = transition;
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if (!client_change_state_->wait_for_service(time_out)) {
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return false;
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}
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auto future_result = client_change_state_->async_send_request(request);
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auto future_status = future_result.wait_for(time_out);
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if (future_status != std::future_status::ready) {
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return false;
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}
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return future_result.get()->success;
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}
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std::vector<lifecycle_msgs::msg::State>
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get_available_states(std::chrono::seconds time_out = 1s)
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{
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auto request = std::make_shared<lifecycle_msgs::srv::GetAvailableStates::Request>();
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if (!client_get_available_states_->wait_for_service(time_out)) {
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return std::vector<lifecycle_msgs::msg::State>();
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}
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auto future_result = client_get_available_states_->async_send_request(request);
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auto future_status = future_result.wait_for(time_out);
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if (future_status != std::future_status::ready) {
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return std::vector<lifecycle_msgs::msg::State>();
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}
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if (future_result.get()) {
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return future_result.get()->available_states;
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}
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return std::vector<lifecycle_msgs::msg::State>();
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}
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std::vector<lifecycle_msgs::msg::TransitionDescription>
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get_available_transitions(std::chrono::seconds time_out = 1s)
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{
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auto request = std::make_shared<lifecycle_msgs::srv::GetAvailableTransitions::Request>();
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if (!client_get_available_transitions_->wait_for_service(time_out)) {
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return std::vector<lifecycle_msgs::msg::TransitionDescription>();
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}
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auto future_result = client_get_available_transitions_->async_send_request(request);
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auto future_status = future_result.wait_for(time_out);
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if (future_status != std::future_status::ready) {
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return std::vector<lifecycle_msgs::msg::TransitionDescription>();
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}
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if (future_result.get()) {
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return future_result.get()->available_transitions;
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}
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return std::vector<lifecycle_msgs::msg::TransitionDescription>();
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}
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std::vector<lifecycle_msgs::msg::TransitionDescription>
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get_transition_graph(std::chrono::seconds time_out = 1s)
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{
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auto request = std::make_shared<lifecycle_msgs::srv::GetAvailableTransitions::Request>();
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if (!client_get_transition_graph_->wait_for_service(time_out)) {
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return std::vector<lifecycle_msgs::msg::TransitionDescription>();
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}
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auto future_result = client_get_transition_graph_->async_send_request(request);
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auto future_status = future_result.wait_for(time_out);
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if (future_status != std::future_status::ready) {
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return std::vector<lifecycle_msgs::msg::TransitionDescription>();
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}
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if (future_result.get()) {
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return future_result.get()->available_transitions;
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}
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return std::vector<lifecycle_msgs::msg::TransitionDescription>();
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}
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private:
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std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetAvailableStates>>
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client_get_available_states_;
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std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetAvailableTransitions>>
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client_get_available_transitions_;
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std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetAvailableTransitions>>
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client_get_transition_graph_;
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std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::GetState>> client_get_state_;
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std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState>> client_change_state_;
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};
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class TestLifecycleServiceClient : public ::testing::Test
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{
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protected:
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EmptyLifecycleNode * lifecycle_node() {return lifecycle_node_.get();}
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LifecycleServiceClient * lifecycle_client() {return lifecycle_client_.get();}
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private:
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void SetUp() override
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{
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rclcpp::init(0, nullptr);
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lifecycle_node_ = std::make_shared<EmptyLifecycleNode>();
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lifecycle_client_ = std::make_shared<LifecycleServiceClient>("client");
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spinner_ = std::thread(&TestLifecycleServiceClient::spin, this);
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}
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void TearDown() override
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{
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rclcpp::shutdown();
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spinner_.join();
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}
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void spin()
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{
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while (rclcpp::ok()) {
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rclcpp::spin_some(lifecycle_node_->get_node_base_interface());
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rclcpp::spin_some(lifecycle_client_);
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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}
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}
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std::shared_ptr<EmptyLifecycleNode> lifecycle_node_;
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std::shared_ptr<LifecycleServiceClient> lifecycle_client_;
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std::thread spinner_;
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};
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TEST_F(TestLifecycleServiceClient, construct_destruct) {
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EXPECT_NE(nullptr, lifecycle_client());
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EXPECT_NE(nullptr, lifecycle_node());
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}
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TEST_F(TestLifecycleServiceClient, available_states) {
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auto states = lifecycle_client()->get_available_states();
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EXPECT_EQ(states.size(), 11u);
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EXPECT_EQ(states[0].id, lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN);
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EXPECT_EQ(states[1].id, lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
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EXPECT_EQ(states[2].id, lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
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EXPECT_EQ(states[3].id, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
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EXPECT_EQ(states[4].id, lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
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EXPECT_EQ(states[5].id, lifecycle_msgs::msg::State::TRANSITION_STATE_CONFIGURING);
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EXPECT_EQ(states[6].id, lifecycle_msgs::msg::State::TRANSITION_STATE_CLEANINGUP);
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EXPECT_EQ(states[7].id, lifecycle_msgs::msg::State::TRANSITION_STATE_SHUTTINGDOWN);
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EXPECT_EQ(states[8].id, lifecycle_msgs::msg::State::TRANSITION_STATE_ACTIVATING);
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EXPECT_EQ(states[9].id, lifecycle_msgs::msg::State::TRANSITION_STATE_DEACTIVATING);
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EXPECT_EQ(states[10].id, lifecycle_msgs::msg::State::TRANSITION_STATE_ERRORPROCESSING);
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}
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TEST_F(TestLifecycleServiceClient, transition_graph) {
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auto transitions = lifecycle_client()->get_transition_graph();
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EXPECT_EQ(transitions.size(), 25u);
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}
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TEST_F(TestLifecycleServiceClient, available_transitions) {
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auto transitions = lifecycle_client()->get_available_transitions();
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EXPECT_EQ(transitions.size(), 2u);
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EXPECT_EQ(transitions[0].transition.id, lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
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EXPECT_EQ(
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transitions[1].transition.id,
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lifecycle_msgs::msg::Transition::TRANSITION_UNCONFIGURED_SHUTDOWN);
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}
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TEST_F(TestLifecycleServiceClient, lifecycle_transitions) {
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EXPECT_EQ(
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lifecycle_client()->get_state().id, lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
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auto transitions = lifecycle_client()->get_available_transitions();
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EXPECT_EQ(transitions.size(), 2u);
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EXPECT_EQ(transitions[0].transition.id, lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
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EXPECT_EQ(
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transitions[1].transition.id,
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lifecycle_msgs::msg::Transition::TRANSITION_UNCONFIGURED_SHUTDOWN);
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EXPECT_TRUE(
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lifecycle_client()->change_state(
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lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE));
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EXPECT_EQ(
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lifecycle_client()->get_state().id,
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lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
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transitions = lifecycle_client()->get_available_transitions();
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EXPECT_EQ(transitions.size(), 3u);
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EXPECT_EQ(transitions[0].transition.id, lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP);
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EXPECT_EQ(transitions[1].transition.id, lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
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EXPECT_EQ(
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transitions[2].transition.id,
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lifecycle_msgs::msg::Transition::TRANSITION_INACTIVE_SHUTDOWN);
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EXPECT_TRUE(
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lifecycle_client()->change_state(
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lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE));
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EXPECT_EQ(lifecycle_client()->get_state().id, lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
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transitions = lifecycle_client()->get_available_transitions();
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EXPECT_EQ(transitions.size(), 2u);
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EXPECT_EQ(transitions[0].transition.id, lifecycle_msgs::msg::Transition::TRANSITION_DEACTIVATE);
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EXPECT_EQ(
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transitions[1].transition.id,
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lifecycle_msgs::msg::Transition::TRANSITION_ACTIVE_SHUTDOWN);
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EXPECT_TRUE(
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lifecycle_client()->change_state(
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lifecycle_msgs::msg::Transition::
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TRANSITION_DEACTIVATE));
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EXPECT_EQ(
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lifecycle_client()->get_state().id,
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lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
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transitions = lifecycle_client()->get_available_transitions();
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EXPECT_EQ(transitions.size(), 3u);
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EXPECT_EQ(transitions[0].transition.id, lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP);
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EXPECT_EQ(transitions[1].transition.id, lifecycle_msgs::msg::Transition::TRANSITION_ACTIVATE);
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EXPECT_EQ(
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transitions[2].transition.id,
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lifecycle_msgs::msg::Transition::TRANSITION_INACTIVE_SHUTDOWN);
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EXPECT_TRUE(
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lifecycle_client()->change_state(
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lifecycle_msgs::msg::Transition::TRANSITION_CLEANUP));
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EXPECT_EQ(
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lifecycle_client()->get_state().id, lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED);
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transitions = lifecycle_client()->get_available_transitions();
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EXPECT_EQ(transitions.size(), 2u);
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EXPECT_EQ(transitions[0].transition.id, lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
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EXPECT_EQ(
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transitions[1].transition.id,
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lifecycle_msgs::msg::Transition::TRANSITION_UNCONFIGURED_SHUTDOWN);
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EXPECT_TRUE(
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lifecycle_client()->change_state(
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lifecycle_msgs::msg::Transition::
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TRANSITION_UNCONFIGURED_SHUTDOWN));
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EXPECT_EQ(
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lifecycle_client()->get_state().id,
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lifecycle_msgs::msg::State::PRIMARY_STATE_FINALIZED);
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transitions = lifecycle_client()->get_available_transitions();
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EXPECT_EQ(transitions.size(), 0u);
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}
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