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test_state_machine_info.cpp
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167 lines (149 loc) · 6.13 KB
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// 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 "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 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> current_available_transitions;
// PRIMARY_STATE_UNCONFIGURED
current_available_transitions = test_node->get_available_transitions();
EXPECT_EQ(2u, current_available_transitions.size());
EXPECT_EQ(
current_available_transitions[0].id(),
Transition::TRANSITION_CONFIGURE);
EXPECT_EQ(
current_available_transitions[1].id(),
Transition::TRANSITION_UNCONFIGURED_SHUTDOWN);
current_available_transitions.clear();
// PRIMARY_STATE_INACTIVE
ASSERT_EQ(
State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
current_available_transitions = test_node->get_available_transitions();
EXPECT_EQ(3u, current_available_transitions.size());
EXPECT_EQ(
current_available_transitions[0].id(),
Transition::TRANSITION_CLEANUP);
EXPECT_EQ(
current_available_transitions[1].id(),
Transition::TRANSITION_ACTIVATE);
EXPECT_EQ(
current_available_transitions[2].id(),
Transition::TRANSITION_INACTIVE_SHUTDOWN);
current_available_transitions.clear();
// PRIMARY_STATE_ACTIVE
ASSERT_EQ(
State::PRIMARY_STATE_ACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE)).id());
current_available_transitions = test_node->get_available_transitions();
EXPECT_EQ(2u, current_available_transitions.size());
EXPECT_EQ(
current_available_transitions[0].id(),
Transition::TRANSITION_DEACTIVATE);
EXPECT_EQ(
current_available_transitions[1].id(),
Transition::TRANSITION_ACTIVE_SHUTDOWN);
current_available_transitions.clear();
// PRIMARY_STATE_INACTIVE
ASSERT_EQ(
State::PRIMARY_STATE_INACTIVE, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE)).id());
current_available_transitions = test_node->get_available_transitions();
EXPECT_EQ(3u, current_available_transitions.size());
EXPECT_EQ(
current_available_transitions[0].id(),
Transition::TRANSITION_CLEANUP);
EXPECT_EQ(
current_available_transitions[1].id(),
Transition::TRANSITION_ACTIVATE);
EXPECT_EQ(
current_available_transitions[2].id(),
Transition::TRANSITION_INACTIVE_SHUTDOWN);
current_available_transitions.clear();
// PRIMARY_STATE_UNCONFIGURED
ASSERT_EQ(
State::PRIMARY_STATE_UNCONFIGURED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CLEANUP)).id());
current_available_transitions = test_node->get_available_transitions();
EXPECT_EQ(2u, current_available_transitions.size());
EXPECT_EQ(
current_available_transitions[0].id(),
Transition::TRANSITION_CONFIGURE);
EXPECT_EQ(
current_available_transitions[1].id(),
Transition::TRANSITION_UNCONFIGURED_SHUTDOWN);
current_available_transitions.clear();
// PRIMARY_STATE_FINALIZED
ASSERT_EQ(
State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_UNCONFIGURED_SHUTDOWN)).id());
current_available_transitions = test_node->get_available_transitions();
EXPECT_EQ(0u, current_available_transitions.size());
current_available_transitions.clear();
}
TEST_F(TestStateMachineInfo, transition_graph) {
auto test_node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("testnode");
std::vector<rclcpp_lifecycle::Transition> available_transitions =
test_node->get_transition_graph();
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());
}
}