add humble-navigation2

navigation2/nav2_util/test/test_lifecycle_node.cpp

@@ -0,0 +1,85 @@
+// Copyright (c) 2019 Intel Corporation
+//
+// 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 <memory>
+
+#include "gtest/gtest.h"
+#include "nav2_util/lifecycle_node.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class RclCppFixture
+{
+public:
+  RclCppFixture() {rclcpp::init(0, nullptr);}
+  ~RclCppFixture() {rclcpp::shutdown();}
+};
+RclCppFixture g_rclcppfixture;
+
+// For the following two tests, if the LifecycleNode doesn't shut down properly,
+// the overall test will hang since the rclcpp thread will still be running,
+// preventing the executable from exiting (the test will hang)
+
+TEST(LifecycleNode, RclcppNodeExitsCleanly)
+{
+  // Make sure the node exits cleanly when using an rclcpp_node and associated thread
+  auto node1 = std::make_shared<nav2_util::LifecycleNode>("test_node", "");
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+  SUCCEED();
+}
+
+TEST(LifecycleNode, MultipleRclcppNodesExitCleanly)
+{
+  // Try a couple nodes w/ rclcpp_node and threads
+  auto node1 = std::make_shared<nav2_util::LifecycleNode>("test_node1", "");
+  auto node2 = std::make_shared<nav2_util::LifecycleNode>("test_node2", "");
+
+  std::this_thread::sleep_for(std::chrono::seconds(1));
+  SUCCEED();
+}
+
+TEST(LifecycleNode, OnPreshutdownCbFires)
+{
+  // Ensure the on_rcl_preshutdown_cb fires
+
+  class MyNodeType : public nav2_util::LifecycleNode
+  {
+public:
+    MyNodeType(
+      const std::string & node_name)
+    : nav2_util::LifecycleNode(node_name) {}
+
+    bool fired = false;
+
+protected:
+    void on_rcl_preshutdown() override
+    {
+      fired = true;
+
+      nav2_util::LifecycleNode::on_rcl_preshutdown();
+    }
+  };
+
+  auto node = std::make_shared<MyNodeType>("test_node");
+
+  ASSERT_EQ(node->fired, false);
+
+  rclcpp::shutdown();
+
+  ASSERT_EQ(node->fired, true);
+
+  // Fire dtor to ensure nothing insane happens, e.g. exceptions.
+  node.reset();
+
+  SUCCEED();
+}