c40f3c25c6
* correctly copy state label * correctly copy transition label * uncrustify * address comments * up * use init and fini functions from rcl
65 lines
1.8 KiB
C++
65 lines
1.8 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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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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