121 lines
3.8 KiB
C++
121 lines
3.8 KiB
C++
// Copyright 2015 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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#include <gtest/gtest.h>
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#include <memory>
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#include <string>
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#include <utility>
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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 "rclcpp/rclcpp.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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using lifecycle_msgs::msg::State;
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using lifecycle_msgs::msg::Transition;
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class TestCallbackExceptions : public ::testing::Test
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{
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protected:
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static void SetUpTestCase()
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{
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rclcpp::init(0, nullptr);
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}
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};
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class PositiveCallbackExceptionNode : public rclcpp_lifecycle::LifecycleNode
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{
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public:
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explicit PositiveCallbackExceptionNode(std::string node_name)
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: rclcpp_lifecycle::LifecycleNode(std::move(node_name))
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{}
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size_t number_of_callbacks = 0;
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protected:
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rcl_lifecycle_ret_t on_configure(const rclcpp_lifecycle::State &)
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{
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++number_of_callbacks;
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throw std::runtime_error("custom exception raised in configure callback");
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}
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rcl_lifecycle_ret_t on_error(const rclcpp_lifecycle::State &)
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{
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++number_of_callbacks;
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return RCL_LIFECYCLE_RET_OK;
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}
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};
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TEST_F(TestCallbackExceptions, positive_on_error) {
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auto test_node = std::make_shared<PositiveCallbackExceptionNode>("testnode");
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EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
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EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
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rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
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// check if all callbacks were successfully overwritten
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EXPECT_EQ(static_cast<size_t>(2), test_node->number_of_callbacks);
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}
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TEST_F(TestCallbackExceptions, positive_on_error_with_code) {
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auto test_node = std::make_shared<PositiveCallbackExceptionNode>("testnode");
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EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
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rcl_lifecycle_ret_t ret = RCL_LIFECYCLE_RET_OK;
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test_node->configure(ret);
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EXPECT_EQ(RCL_LIFECYCLE_RET_ERROR, ret);
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}
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class NegativeCallbackExceptionNode : public rclcpp_lifecycle::LifecycleNode
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{
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public:
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explicit NegativeCallbackExceptionNode(std::string node_name)
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: rclcpp_lifecycle::LifecycleNode(std::move(node_name))
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{}
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size_t number_of_callbacks = 0;
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protected:
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rcl_lifecycle_ret_t on_configure(const rclcpp_lifecycle::State &)
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{
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++number_of_callbacks;
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throw std::runtime_error("custom exception raised in configure callback");
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}
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rcl_lifecycle_ret_t on_error(const rclcpp_lifecycle::State &)
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{
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++number_of_callbacks;
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return RCL_LIFECYCLE_RET_FAILURE;
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}
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};
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TEST_F(TestCallbackExceptions, negative_on_error) {
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auto test_node = std::make_shared<NegativeCallbackExceptionNode>("testnode");
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EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
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EXPECT_EQ(State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
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rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
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// check if all callbacks were successfully overwritten
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EXPECT_EQ(static_cast<size_t>(2), test_node->number_of_callbacks);
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}
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TEST_F(TestCallbackExceptions, negative_on_error_with_code) {
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auto test_node = std::make_shared<NegativeCallbackExceptionNode>("testnode");
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EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
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rcl_lifecycle_ret_t ret = RCL_RET_OK;
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test_node->configure(ret);
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EXPECT_EQ(RCL_LIFECYCLE_RET_ERROR, ret);
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}
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