128 lines
3.7 KiB
C++
128 lines
3.7 KiB
C++
// Copyright 2017 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 <vector>
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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class TestTransitionWrapper : 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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}
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};
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class TransitionDerived : public rclcpp_lifecycle::Transition
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{
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public:
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TransitionDerived(
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uint8_t id, const std::string & label,
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rclcpp_lifecycle::State && start, rclcpp_lifecycle::State && goal)
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: Transition(id, label, std::move(start), std::move(goal)) {}
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void expose_reset()
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{
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reset();
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}
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};
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TEST_F(TestTransitionWrapper, empty_transition) {
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auto a = std::make_shared<rclcpp_lifecycle::Transition>(1, "my_transition");
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EXPECT_NO_THROW(a.reset());
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}
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TEST_F(TestTransitionWrapper, wrapper) {
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{
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rclcpp_lifecycle::Transition t(12, "no_states_set");
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EXPECT_EQ(12, t.id());
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EXPECT_STREQ("no_states_set", t.label().c_str());
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}
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{
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std::string transition_name = "no_states_set";
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rclcpp_lifecycle::Transition t(12, transition_name);
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transition_name = "not_no_states_set";
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EXPECT_EQ(12, t.id());
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EXPECT_STREQ("no_states_set", t.label().c_str());
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}
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{
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rclcpp_lifecycle::State start_state(1, "start_state");
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rclcpp_lifecycle::State goal_state(2, "goal_state");
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rclcpp_lifecycle::Transition t(
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12,
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"from_start_to_goal",
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std::move(start_state),
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std::move(goal_state));
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EXPECT_EQ(12, t.id());
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EXPECT_FALSE(t.label().empty());
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EXPECT_STREQ("from_start_to_goal", t.label().c_str());
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}
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}
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TEST_F(TestTransitionWrapper, copy_constructor) {
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auto a = std::make_shared<rclcpp_lifecycle::Transition>(1, "my_transition");
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rclcpp_lifecycle::Transition b(*a);
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a.reset();
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EXPECT_EQ(1, b.id());
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EXPECT_STREQ("my_transition", b.label().c_str());
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}
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TEST_F(TestTransitionWrapper, assignment_operator) {
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rclcpp_lifecycle::State start_state(1, "start_state");
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rclcpp_lifecycle::State goal_state(2, "goal_state");
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auto a = std::make_shared<rclcpp_lifecycle::Transition>(
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1, "one", std::move(start_state),
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std::move(goal_state));
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*a = *a;
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EXPECT_EQ(1, a->id());
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EXPECT_STREQ("one", a->label().c_str());
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auto b = std::make_shared<rclcpp_lifecycle::Transition>(2, "two");
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*b = *a;
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a.reset();
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EXPECT_EQ(1, b->id());
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EXPECT_STREQ("one", b->label().c_str());
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EXPECT_STREQ("start_state", b->start_state().label().c_str());
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EXPECT_STREQ("goal_state", b->goal_state().label().c_str());
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EXPECT_EQ(1, b->start_state().id());
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EXPECT_EQ(2, b->goal_state().id());
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}
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TEST_F(TestTransitionWrapper, exceptions) {
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rcl_lifecycle_transition_t * null_handle = nullptr;
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EXPECT_THROW((void)rclcpp_lifecycle::Transition(null_handle), std::runtime_error);
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rclcpp_lifecycle::State start_state(1, "start_state");
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rclcpp_lifecycle::State goal_state(2, "goal_state");
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auto a = std::make_shared<TransitionDerived>(
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1, "one", std::move(start_state),
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std::move(goal_state));
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a->expose_reset();
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EXPECT_THROW(a->start_state(), std::runtime_error);
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EXPECT_THROW(a->goal_state(), std::runtime_error);
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EXPECT_THROW(a->id(), std::runtime_error);
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EXPECT_THROW(a->label(), std::runtime_error);
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}
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