4a5eed968c
* 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>
75 lines
2.7 KiB
C++
75 lines
2.7 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 <vector>
|
|
|
|
#include "rclcpp/rclcpp.hpp"
|
|
#include "rclcpp_lifecycle/lifecycle_node.hpp"
|
|
|
|
class TestStateMachineInfo : public ::testing::Test
|
|
{
|
|
protected:
|
|
static void SetUpTestCase()
|
|
{
|
|
rclcpp::init(0, nullptr);
|
|
}
|
|
};
|
|
|
|
TEST_F(TestStateMachineInfo, available_states) {
|
|
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
|
|
std::vector<rclcpp_lifecycle::State> available_states =
|
|
test_node->get_available_states();
|
|
EXPECT_EQ(11u, available_states.size());
|
|
|
|
// Primary States
|
|
EXPECT_EQ(0, available_states[0].id()); // unknown
|
|
EXPECT_EQ(1, available_states[1].id()); // unconfigured
|
|
EXPECT_EQ(2, available_states[2].id()); // inactive
|
|
EXPECT_EQ(3, available_states[3].id()); // active
|
|
EXPECT_EQ(4, available_states[4].id()); // finalized
|
|
|
|
// Transition States
|
|
EXPECT_EQ(10, available_states[5].id()); // configuring
|
|
EXPECT_EQ(11, available_states[6].id()); // cleaningup
|
|
EXPECT_EQ(12, available_states[7].id()); // shuttingdown
|
|
EXPECT_EQ(13, available_states[8].id()); // activating
|
|
EXPECT_EQ(14, available_states[9].id()); // deactivating
|
|
EXPECT_EQ(15, available_states[10].id()); // errorprocessing
|
|
}
|
|
|
|
TEST_F(TestStateMachineInfo, available_transitions) {
|
|
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
|
|
std::vector<rclcpp_lifecycle::Transition> available_transitions =
|
|
test_node->get_available_transitions();
|
|
EXPECT_EQ(25u, available_transitions.size());
|
|
for (rclcpp_lifecycle::Transition & transition : available_transitions) {
|
|
EXPECT_FALSE(transition.label().empty());
|
|
|
|
EXPECT_TRUE(
|
|
transition.start_state().id() <= 4 ||
|
|
(transition.start_state().id() >= 10 &&
|
|
(transition.start_state().id() <= 15)));
|
|
EXPECT_FALSE(transition.start_state().label().empty());
|
|
|
|
EXPECT_TRUE(
|
|
transition.goal_state().id() <= 4 ||
|
|
(transition.goal_state().id() >= 10 &&
|
|
(transition.goal_state().id() <= 15)));
|
|
EXPECT_FALSE(transition.goal_state().label().empty());
|
|
}
|
|
}
|