rclcpp/rclcpp_lifecycle/test/test_lifecycle_node.cpp
Dan Rose 4a5eed968c Add line break after first open paren in multiline function call (#785)
* Add line break after first open paren in multiline function call

as per developer guide:
https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#open-versus-cuddled-braces
see https://github.com/ament/ament_lint/pull/148

Signed-off-by: Dan Rose <dan@digilabs.io>

Fix dedent when first function argument starts with a brace

Signed-off-by: Dan Rose <dan@digilabs.io>

Line break with multiline if condition
Remove line breaks where allowed.

Signed-off-by: Dan Rose <dan@digilabs.io>

Fixup after rebase

Signed-off-by: Dan Rose <dan@digilabs.io>

Fixup again after reverting indent_paren_open_brace

Signed-off-by: Dan Rose <dan@digilabs.io>

* Revert comment spacing change, condense some lines

Signed-off-by: Dan Rose <dan@digilabs.io>
2019-08-07 08:33:06 -07:00

235 lines
8 KiB
C++

// Copyright 2015 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 "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
using lifecycle_msgs::msg::State;
using lifecycle_msgs::msg::Transition;
class TestDefaultStateMachine : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
};
class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
{
public:
explicit EmptyLifecycleNode(std::string node_name)
: rclcpp_lifecycle::LifecycleNode(std::move(node_name))
{}
};
struct GoodMood
{
using CallbackReturnT =
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
static constexpr CallbackReturnT cb_ret = static_cast<CallbackReturnT>(
lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_SUCCESS);
};
struct BadMood
{
using CallbackReturnT =
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
static constexpr CallbackReturnT cb_ret = static_cast<CallbackReturnT>(
lifecycle_msgs::msg::Transition::TRANSITION_CALLBACK_FAILURE);
};
template<class Mood = GoodMood>
class MoodyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
{
public:
explicit MoodyLifecycleNode(std::string node_name)
: rclcpp_lifecycle::LifecycleNode(std::move(node_name))
{}
size_t number_of_callbacks = 0;
protected:
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_configure(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_CONFIGURING, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_activate(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_ACTIVATING, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_deactivate(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_DEACTIVATING, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_cleanup(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_CLEANINGUP, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_shutdown(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_SHUTTINGDOWN, get_current_state().id());
++number_of_callbacks;
return Mood::cb_ret;
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_error(const rclcpp_lifecycle::State &);
};
template<>
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
MoodyLifecycleNode<GoodMood>::on_error(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_ERRORPROCESSING, get_current_state().id());
ADD_FAILURE();
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
template<>
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
MoodyLifecycleNode<BadMood>::on_error(const rclcpp_lifecycle::State &)
{
EXPECT_EQ(State::TRANSITION_STATE_ERRORPROCESSING, get_current_state().id());
++number_of_callbacks;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
TEST_F(TestDefaultStateMachine, empty_initializer) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
EXPECT_STREQ("testnode", test_node->get_name());
EXPECT_STREQ("/", test_node->get_namespace());
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
}
TEST_F(TestDefaultStateMachine, trigger_transition) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
ASSERT_EQ(
State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
ASSERT_EQ(
State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
ASSERT_EQ(
State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE)).id());
ASSERT_EQ(
State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CLEANUP)).id());
ASSERT_EQ(
State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_UNCONFIGURED_SHUTDOWN)).id());
}
TEST_F(TestDefaultStateMachine, trigger_transition_with_error_code) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");
auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
auto ret = reset_key;
test_node->configure(ret);
EXPECT_EQ(success, ret);
ret = reset_key;
test_node->activate(ret);
EXPECT_EQ(success, ret);
ret = reset_key;
test_node->deactivate(ret);
EXPECT_EQ(success, ret);
ret = reset_key;
test_node->cleanup(ret);
EXPECT_EQ(success, ret);
ret = reset_key;
test_node->shutdown(ret);
EXPECT_EQ(success, ret);
}
TEST_F(TestDefaultStateMachine, good_mood) {
auto test_node = std::make_shared<MoodyLifecycleNode<GoodMood>>("testnode");
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
EXPECT_EQ(
State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
EXPECT_EQ(
State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
EXPECT_EQ(
State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE)).id());
EXPECT_EQ(
State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CLEANUP)).id());
EXPECT_EQ(
State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_UNCONFIGURED_SHUTDOWN)).id());
// check if all callbacks were successfully overwritten
EXPECT_EQ(5u, test_node->number_of_callbacks);
}
TEST_F(TestDefaultStateMachine, bad_mood) {
auto test_node = std::make_shared<MoodyLifecycleNode<BadMood>>("testnode");
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
EXPECT_EQ(
State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
// check if all callbacks were successfully overwritten
EXPECT_EQ(1u, test_node->number_of_callbacks);
}
TEST_F(TestDefaultStateMachine, lifecycle_subscriber) {
auto test_node = std::make_shared<MoodyLifecycleNode<GoodMood>>("testnode");
auto cb = [](const std::shared_ptr<lifecycle_msgs::msg::State> msg) {(void) msg;};
auto lifecycle_sub =
test_node->create_subscription<lifecycle_msgs::msg::State>("~/empty", 10, cb);
SUCCEED();
}