X-lanni
86 lines
2.3 KiB
C++
86 lines
2.3 KiB
C++
// Copyright (c) 2019 Intel Corporation
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <memory>
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#include "gtest/gtest.h"
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#include "nav2_util/lifecycle_node.hpp"
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#include "rclcpp/rclcpp.hpp"
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class RclCppFixture
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{
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public:
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RclCppFixture() {rclcpp::init(0, nullptr);}
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~RclCppFixture() {rclcpp::shutdown();}
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};
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RclCppFixture g_rclcppfixture;
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// For the following two tests, if the LifecycleNode doesn't shut down properly,
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// the overall test will hang since the rclcpp thread will still be running,
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// preventing the executable from exiting (the test will hang)
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TEST(LifecycleNode, RclcppNodeExitsCleanly)
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{
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// Make sure the node exits cleanly when using an rclcpp_node and associated thread
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auto node1 = std::make_shared<nav2_util::LifecycleNode>("test_node", "");
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std::this_thread::sleep_for(std::chrono::seconds(1));
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SUCCEED();
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}
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TEST(LifecycleNode, MultipleRclcppNodesExitCleanly)
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{
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// Try a couple nodes w/ rclcpp_node and threads
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auto node1 = std::make_shared<nav2_util::LifecycleNode>("test_node1", "");
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auto node2 = std::make_shared<nav2_util::LifecycleNode>("test_node2", "");
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std::this_thread::sleep_for(std::chrono::seconds(1));
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SUCCEED();
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}
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TEST(LifecycleNode, OnPreshutdownCbFires)
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{
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// Ensure the on_rcl_preshutdown_cb fires
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class MyNodeType : public nav2_util::LifecycleNode
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{
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public:
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MyNodeType(
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const std::string & node_name)
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: nav2_util::LifecycleNode(node_name) {}
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bool fired = false;
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protected:
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void on_rcl_preshutdown() override
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{
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fired = true;
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nav2_util::LifecycleNode::on_rcl_preshutdown();
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}
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};
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auto node = std::make_shared<MyNodeType>("test_node");
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ASSERT_EQ(node->fired, false);
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rclcpp::shutdown();
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ASSERT_EQ(node->fired, true);
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// Fire dtor to ensure nothing insane happens, e.g. exceptions.
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node.reset();
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SUCCEED();
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}
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