add humble-navigation2

navigation2/nav2_lifecycle_manager/test/test_bond.cpp

@@ -0,0 +1,199 @@
+// Copyright (c) 2020 Samsung Research America
+//
+// 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 <chrono>
+#include <string>
+#include "rclcpp/rclcpp.hpp"
+#include "nav2_util/lifecycle_node.hpp"
+#include "nav2_util/node_thread.hpp"
+#include "nav2_lifecycle_manager/lifecycle_manager.hpp"
+#include "nav2_lifecycle_manager/lifecycle_manager_client.hpp"
+
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
+// minimal lifecycle node implementing bond as in rest of navigation servers
+class TestLifecycleNode : public nav2_util::LifecycleNode
+{
+public:
+  TestLifecycleNode(bool bond, std::string name)
+  : nav2_util::LifecycleNode(name)
+  {
+    state = "";
+    enable_bond = bond;
+  }
+
+  CallbackReturn on_configure(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Configured!");
+    state = "configured";
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Activated!");
+    state = "activated";
+    if (enable_bond) {
+      createBond();
+    }
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Deactivated!");
+    state = "deactivated";
+    if (enable_bond) {
+      destroyBond();
+    }
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_cleanup(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Cleanup!");
+    state = "cleaned up";
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_shutdown(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Shutdown!");
+    state = "shut down";
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_error(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is encountered an error!");
+    state = "errored";
+    return CallbackReturn::SUCCESS;
+  }
+
+  bool bondAllocated()
+  {
+    return bond_ ? true : false;
+  }
+
+  void breakBond()
+  {
+    bond_->breakBond();
+  }
+
+  std::string getState()
+  {
+    return state;
+  }
+
+  bool isBondEnabled()
+  {
+    return enable_bond;
+  }
+
+  bool isBondConnected()
+  {
+    return bondAllocated() ? !bond_->isBroken() : false;
+  }
+
+  std::string state;
+  bool enable_bond;
+};
+
+class TestFixture
+{
+public:
+  TestFixture(bool bond, std::string node_name)
+  {
+    lf_node_ = std::make_shared<TestLifecycleNode>(bond, node_name);
+    lf_thread_ = std::make_unique<nav2_util::NodeThread>(lf_node_->get_node_base_interface());
+  }
+
+  std::shared_ptr<TestLifecycleNode> lf_node_;
+  std::unique_ptr<nav2_util::NodeThread> lf_thread_;
+};
+
+TEST(LifecycleBondTest, POSITIVE)
+{
+  // let the lifecycle server come up
+  rclcpp::Rate(1).sleep();
+
+  auto node = std::make_shared<rclcpp::Node>("lifecycle_manager_test_service_client");
+  nav2_lifecycle_manager::LifecycleManagerClient client("lifecycle_manager_test", node);
+
+  // create node, should be up now
+  auto fixture = TestFixture(true, "bond_tester");
+  auto bond_tester = fixture.lf_node_;
+
+  EXPECT_TRUE(client.startup());
+
+  // check if bond is connected after being activated
+  rclcpp::Rate(5).sleep();
+  EXPECT_TRUE(bond_tester->isBondConnected());
+  EXPECT_EQ(bond_tester->getState(), "activated");
+
+  bond_tester->breakBond();
+
+  // bond should be disconnected now and lifecycle manager should know and react to reset
+  rclcpp::Rate(5).sleep();
+  EXPECT_EQ(
+    nav2_lifecycle_manager::SystemStatus::INACTIVE,
+    client.is_active(std::chrono::nanoseconds(1000000000)));
+  EXPECT_FALSE(bond_tester->isBondConnected());
+  EXPECT_EQ(bond_tester->getState(), "cleaned up");
+
+  // check that bringing up again is OK
+  EXPECT_TRUE(client.startup());
+  EXPECT_EQ(bond_tester->getState(), "activated");
+  EXPECT_TRUE(bond_tester->isBondConnected());
+  EXPECT_EQ(
+    nav2_lifecycle_manager::SystemStatus::ACTIVE,
+    client.is_active(std::chrono::nanoseconds(1000000000)));
+
+  // clean state for next test.
+  EXPECT_TRUE(client.reset());
+  EXPECT_FALSE(bond_tester->isBondConnected());
+  EXPECT_EQ(bond_tester->getState(), "cleaned up");
+}
+
+TEST(LifecycleBondTest, NEGATIVE)
+{
+  auto node = std::make_shared<rclcpp::Node>("lifecycle_manager_test_service_client");
+  nav2_lifecycle_manager::LifecycleManagerClient client("lifecycle_manager_test", node);
+
+  // create node, now without bond setup to connect to. Should fail because no bond
+  auto fixture = TestFixture(false, "bond_tester");
+  auto bond_tester = fixture.lf_node_;
+  EXPECT_FALSE(client.startup());
+  EXPECT_FALSE(bond_tester->isBondEnabled());
+  EXPECT_EQ(
+    nav2_lifecycle_manager::SystemStatus::INACTIVE,
+    client.is_active(std::chrono::nanoseconds(1000000000)));
+}
+
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+
+  // initialize ROS
+  rclcpp::init(argc, argv);
+
+  bool all_successful = RUN_ALL_TESTS();
+
+  // shutdown ROS
+  rclcpp::shutdown();
+
+  return all_successful;
+}