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| 1 | +// Copyright 2024 Open Source Robotics Foundation, Inc. |
| 2 | +// |
| 3 | +// Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +// you may not use this file except in compliance with the License. |
| 5 | +// You may obtain a copy of the License at |
| 6 | +// |
| 7 | +// http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +// |
| 9 | +// Unless required by applicable law or agreed to in writing, software |
| 10 | +// distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +// See the License for the specific language governing permissions and |
| 13 | +// limitations under the License. |
| 14 | + |
| 15 | +#include <gtest/gtest.h> |
| 16 | +#include <memory> |
| 17 | +#include <string> |
| 18 | + |
| 19 | +#include "lifecycle_msgs/msg/state.hpp" |
| 20 | +#include "lifecycle_msgs/msg/transition.hpp" |
| 21 | + |
| 22 | +#include "test_msgs/msg/empty.hpp" |
| 23 | + |
| 24 | +#include "rclcpp_lifecycle/lifecycle_node.hpp" |
| 25 | +#include "rclcpp_lifecycle/lifecycle_subscription.hpp" |
| 26 | + |
| 27 | +using lifecycle_msgs::msg::State; |
| 28 | +using lifecycle_msgs::msg::Transition; |
| 29 | + |
| 30 | +class TestDefaultStateMachine : public ::testing::Test |
| 31 | +{ |
| 32 | +protected: |
| 33 | + static void SetUpTestCase() |
| 34 | + { |
| 35 | + rclcpp::init(0, nullptr); |
| 36 | + } |
| 37 | + static void TearDownTestCase() |
| 38 | + { |
| 39 | + rclcpp::shutdown(); |
| 40 | + } |
| 41 | +}; |
| 42 | + |
| 43 | +/// We want to test everything for both the wall and generic timer. |
| 44 | +enum class TimerType |
| 45 | +{ |
| 46 | + WALL_TIMER, |
| 47 | + GENERIC_TIMER, |
| 48 | +}; |
| 49 | + |
| 50 | +class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode |
| 51 | +{ |
| 52 | +public: |
| 53 | + explicit EmptyLifecycleNode(const std::string & node_name, const TimerType & timer_type) |
| 54 | + : rclcpp_lifecycle::LifecycleNode(node_name) |
| 55 | + { |
| 56 | + // For coverage this is being added here |
| 57 | + switch (timer_type) { |
| 58 | + case TimerType::WALL_TIMER: |
| 59 | + { |
| 60 | + auto timer = create_wall_timer(std::chrono::seconds(1), []() {}); |
| 61 | + add_timer_handle(timer); |
| 62 | + break; |
| 63 | + } |
| 64 | + case TimerType::GENERIC_TIMER: |
| 65 | + { |
| 66 | + auto timer = create_timer(std::chrono::seconds(1), []() {}); |
| 67 | + add_timer_handle(timer); |
| 68 | + break; |
| 69 | + } |
| 70 | + } |
| 71 | + } |
| 72 | + |
| 73 | + void empty_callback(const test_msgs::msg::Empty msg) {} |
| 74 | +}; |
| 75 | + |
| 76 | +class TestLifecycleSubscription : public ::testing::TestWithParam<TimerType> |
| 77 | +{ |
| 78 | +public: |
| 79 | + void SetUp() |
| 80 | + { |
| 81 | + rclcpp::init(0, nullptr); |
| 82 | + } |
| 83 | + |
| 84 | + void TearDown() |
| 85 | + { |
| 86 | + rclcpp::shutdown(); |
| 87 | + } |
| 88 | +}; |
| 89 | + |
| 90 | +TEST_P(TestLifecycleSubscription, subscribe_managed_by_node) { |
| 91 | + auto node = std::make_shared<EmptyLifecycleNode>("node", GetParam()); |
| 92 | + |
| 93 | + std::shared_ptr<rclcpp_lifecycle::LifecycleSubscription<test_msgs::msg::Empty>> subscription = |
| 94 | + node->create_subscription<test_msgs::msg::Empty>(std::string("topic"), rclcpp::QoS(10), |
| 95 | + bind(&EmptyLifecycleNode::empty_callback, node, std::placeholders::_1)); |
| 96 | + |
| 97 | + // transition via LifecycleNode |
| 98 | + auto success = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::SUCCESS; |
| 99 | + auto reset_key = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR; |
| 100 | + auto ret = reset_key; |
| 101 | + |
| 102 | + EXPECT_EQ(State::PRIMARY_STATE_UNCONFIGURED, node->get_current_state().id()); |
| 103 | + node->trigger_transition( |
| 104 | + rclcpp_lifecycle::Transition(Transition::TRANSITION_CONFIGURE), ret); |
| 105 | + ASSERT_EQ(success, ret); |
| 106 | + ret = reset_key; |
| 107 | + node->trigger_transition( |
| 108 | + rclcpp_lifecycle::Transition(Transition::TRANSITION_ACTIVATE), ret); |
| 109 | + ASSERT_EQ(success, ret); |
| 110 | + ret = reset_key; |
| 111 | + EXPECT_TRUE(subscription->is_activated()); |
| 112 | + { |
| 113 | + std::shared_ptr<void> msg_ptr(new test_msgs::msg::Empty()); |
| 114 | + EXPECT_NO_THROW(subscription->handle_message(msg_ptr, rclcpp::MessageInfo())); |
| 115 | + } |
| 116 | + node->trigger_transition( |
| 117 | + rclcpp_lifecycle::Transition(Transition::TRANSITION_DEACTIVATE), ret); |
| 118 | + ASSERT_EQ(success, ret); |
| 119 | + ret = reset_key; |
| 120 | + (void)ret; // Just to make clang happy |
| 121 | + EXPECT_FALSE(subscription->is_activated()); |
| 122 | + { |
| 123 | + std::shared_ptr<void> msg_ptr(new test_msgs::msg::Empty()); |
| 124 | + EXPECT_NO_THROW(subscription->handle_message(msg_ptr, rclcpp::MessageInfo())); |
| 125 | + } |
| 126 | +} |
| 127 | + |
| 128 | +TEST_P(TestLifecycleSubscription, subscribe) { |
| 129 | + auto node = std::make_shared<EmptyLifecycleNode>("node", GetParam()); |
| 130 | + |
| 131 | + std::shared_ptr<rclcpp_lifecycle::LifecycleSubscription<test_msgs::msg::Empty>> subscription = |
| 132 | + node->create_subscription<test_msgs::msg::Empty>(std::string("topic"), rclcpp::QoS(10), |
| 133 | + bind(&EmptyLifecycleNode::empty_callback, node, std::placeholders::_1)); |
| 134 | + |
| 135 | + // transition via LifecycleSubscription |
| 136 | + subscription->on_deactivate(); |
| 137 | + EXPECT_FALSE(subscription->is_activated()); |
| 138 | + { |
| 139 | + std::shared_ptr<void> msg_ptr(new test_msgs::msg::Empty()); |
| 140 | + EXPECT_NO_THROW(subscription->handle_message(msg_ptr, rclcpp::MessageInfo())); |
| 141 | + } |
| 142 | + |
| 143 | + subscription->on_activate(); |
| 144 | + EXPECT_TRUE(subscription->is_activated()); |
| 145 | + { |
| 146 | + std::shared_ptr<void> msg_ptr(new test_msgs::msg::Empty()); |
| 147 | + EXPECT_NO_THROW(subscription->handle_message(msg_ptr, rclcpp::MessageInfo())); |
| 148 | + } |
| 149 | +} |
| 150 | + |
| 151 | +INSTANTIATE_TEST_SUITE_P( |
| 152 | + PerTimerType, TestLifecycleSubscription, |
| 153 | + ::testing::Values(TimerType::WALL_TIMER, TimerType::GENERIC_TIMER), |
| 154 | + [](const ::testing::TestParamInfo<TimerType> & info) -> std::string { |
| 155 | + switch (info.param) { |
| 156 | + case TimerType::WALL_TIMER: |
| 157 | + return std::string("wall_timer"); |
| 158 | + case TimerType::GENERIC_TIMER: |
| 159 | + return std::string("generic_timer"); |
| 160 | + default: |
| 161 | + break; |
| 162 | + } |
| 163 | + return std::string("unknown"); |
| 164 | + } |
| 165 | +); |
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