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test_callback_exceptions.cpp
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133 lines (110 loc) · 4.48 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 "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 TestCallbackExceptions : public ::testing::Test
{
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}
static void TearDownTestCase()
{
rclcpp::shutdown();
}
};
class PositiveCallbackExceptionNode : public rclcpp_lifecycle::LifecycleNode
{
public:
explicit PositiveCallbackExceptionNode(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 &)
{
++number_of_callbacks;
throw std::runtime_error("custom exception raised in configure callback");
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_error(const rclcpp_lifecycle::State &)
{
++number_of_callbacks;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
}
};
TEST_F(TestCallbackExceptions, positive_on_error) {
auto test_node = std::make_shared<PositiveCallbackExceptionNode>("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(2u, test_node->number_of_callbacks);
}
TEST_F(TestCallbackExceptions, positive_on_error_with_code) {
auto test_node = std::make_shared<PositiveCallbackExceptionNode>("testnode");
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ret =
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS;
test_node->configure(ret);
EXPECT_EQ(rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR, ret);
}
class NegativeCallbackExceptionNode : public rclcpp_lifecycle::LifecycleNode
{
public:
explicit NegativeCallbackExceptionNode(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 &)
{
++number_of_callbacks;
throw std::runtime_error("custom exception raised in configure callback");
}
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
on_error(const rclcpp_lifecycle::State &)
{
++number_of_callbacks;
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
}
};
TEST_F(TestCallbackExceptions, negative_on_error) {
auto test_node = std::make_shared<NegativeCallbackExceptionNode>("testnode");
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
EXPECT_EQ(
State::PRIMARY_STATE_FINALIZED, test_node->trigger_transition(
rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE)).id());
// check if all callbacks were successfully overwritten
EXPECT_EQ(2u, test_node->number_of_callbacks);
}
TEST_F(TestCallbackExceptions, negative_on_error_with_code) {
auto test_node = std::make_shared<NegativeCallbackExceptionNode>("testnode");
EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, test_node->get_current_state().id());
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn ret;
test_node->configure(ret);
EXPECT_EQ(rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR, ret);
}