X-lanni
61 lines
1.8 KiB
C++
61 lines
1.8 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 <thread>
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#include <vector>
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#include "gtest/gtest.h"
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#include "nav2_util/lifecycle_utils.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"
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#include "rclcpp/rclcpp.hpp"
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using nav2_util::startup_lifecycle_nodes;
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using nav2_util::reset_lifecycle_nodes;
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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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void SpinNodesUntilDone(
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std::vector<rclcpp_lifecycle::LifecycleNode::SharedPtr> nodes,
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std::atomic<bool> * test_done)
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{
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rclcpp::executors::SingleThreadedExecutor exec;
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for (const auto & node : nodes) {
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exec.add_node(node->get_node_base_interface());
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}
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while (rclcpp::ok() && !(*test_done)) {
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exec.spin_some();
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}
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}
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TEST(Lifecycle, interface)
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{
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std::vector<rclcpp_lifecycle::LifecycleNode::SharedPtr> nodes;
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nodes.push_back(rclcpp_lifecycle::LifecycleNode::make_shared("foo"));
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nodes.push_back(rclcpp_lifecycle::LifecycleNode::make_shared("bar"));
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std::atomic<bool> done(false);
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std::thread node_thread(SpinNodesUntilDone, nodes, &done);
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startup_lifecycle_nodes("/foo:/bar");
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reset_lifecycle_nodes("/foo:/bar");
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done = true;
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node_thread.join();
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SUCCEED();
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}
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