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Increasing test coverage of rclcpp_lifecycle (#1045)

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Signed-off-by: Stephen Brawner <brawner@gmail.com>
This commit is contained in:
brawner 2020-04-30 10:29:45 -07:00 • committed by GitHub
parent ef6434026f
commit f69b18203f
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5 changed files with 735 additions and 1 deletions
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44
rclcpp_lifecycle/test/test_transition_wrapper.cpp
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@ -28,6 +28,19 @@ protected:
}
};
class TransitionDerived : public rclcpp_lifecycle::Transition
{
public:
TransitionDerived(
uint8_t id, const std::string & label,
rclcpp_lifecycle::State && start, rclcpp_lifecycle::State && goal)
: Transition(id, label, std::move(start), std::move(goal)) {}
void expose_reset()
{
reset();
}
};
TEST_F(TestTransitionWrapper, empty_transition) {
auto a = std::make_shared<rclcpp_lifecycle::Transition>(1, "my_transition");
EXPECT_NO_THROW(a.reset());
@ -75,7 +88,15 @@ TEST_F(TestTransitionWrapper, copy_constructor) {
}
TEST_F(TestTransitionWrapper, assignment_operator) {
auto a = std::make_shared<rclcpp_lifecycle::Transition>(1, "one");
rclcpp_lifecycle::State start_state(1, "start_state");
rclcpp_lifecycle::State goal_state(2, "goal_state");
auto a = std::make_shared<rclcpp_lifecycle::Transition>(
1, "one", std::move(start_state),
std::move(goal_state));
*a = *a;
EXPECT_EQ(1, a->id());
EXPECT_STREQ("one", a->label().c_str());
auto b = std::make_shared<rclcpp_lifecycle::Transition>(2, "two");
*b = *a;
@ -83,4 +104,25 @@ TEST_F(TestTransitionWrapper, assignment_operator) {
EXPECT_EQ(1, b->id());
EXPECT_STREQ("one", b->label().c_str());
EXPECT_STREQ("start_state", b->start_state().label().c_str());
EXPECT_STREQ("goal_state", b->goal_state().label().c_str());
EXPECT_EQ(1, b->start_state().id());
EXPECT_EQ(2, b->goal_state().id());
}
TEST_F(TestTransitionWrapper, exceptions) {
rcl_lifecycle_transition_t * null_handle = nullptr;
EXPECT_THROW((void)rclcpp_lifecycle::Transition(null_handle), std::runtime_error);
rclcpp_lifecycle::State start_state(1, "start_state");
rclcpp_lifecycle::State goal_state(2, "goal_state");
auto a = std::make_shared<TransitionDerived>(
1, "one", std::move(start_state),
std::move(goal_state));
a->expose_reset();
EXPECT_THROW(a->start_state(), std::runtime_error);
EXPECT_THROW(a->goal_state(), std::runtime_error);
EXPECT_THROW(a->id(), std::runtime_error);
EXPECT_THROW(a->label(), std::runtime_error);
}