Test for lifecycle manager (#1794)

* Add test

* Add more coverage

* Merge test header file with executable

* Address PR reviewer's comment

* Add some more coverage

* Revert accidental changes to localization_launch.py file.

nav2_lifecycle_manager/CMakeLists.txt

@@ -73,6 +73,11 @@ install(DIRECTORY include/ DESTINATION include/)
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+
+  add_subdirectory(test)
 endif()
 
 ament_export_include_directories(include)

nav2_lifecycle_manager/test/CMakeLists.txt

+ament_add_gtest_executable(test_lifecycle_gtest
+  test_lifecycle_manager.cpp
+)
+
+target_link_libraries(test_lifecycle_gtest
+  ${library_name}
+)
+
+ament_target_dependencies(test_lifecycle_gtest
+  ${dependencies}
+)
+
+ament_add_test(test_lifecycle
+  GENERATE_RESULT_FOR_RETURN_CODE_ZERO
+  COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/launch_lifecycle_test.py"
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+  TIMEOUT 180
+  ENV
+    TEST_EXECUTABLE=$<TARGET_FILE:test_lifecycle_gtest>
+)

nav2_lifecycle_manager/test/launch_lifecycle_test.py

+#! /usr/bin/env python3
+# Copyright (c) 2020 Shivang Patel
+#
+# 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.
+
+import os
+import sys
+
+from launch import LaunchDescription
+from launch import LaunchService
+from launch.actions import ExecuteProcess
+from launch_ros.actions import Node
+from launch_testing.legacy import LaunchTestService
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='nav2_lifecycle_manager',
+            executable='lifecycle_manager',
+            name='lifecycle_manager_test',
+            output='screen',
+            parameters=[{'use_sim_time': False},
+                        {'autostart': False},
+                        {'node_names': ['lifecycle_node_test']}]),
+    ])
+
+
+def main(argv=sys.argv[1:]):
+    ld = generate_launch_description()
+
+    testExecutable = os.getenv('TEST_EXECUTABLE')
+
+    test1_action = ExecuteProcess(
+        cmd=[testExecutable],
+        name='test_lifecycle_node_gtest',
+        output='screen')
+
+    lts = LaunchTestService()
+    lts.add_test_action(ld, test1_action)
+    ls = LaunchService(argv=argv)
+    ls.include_launch_description(ld)
+    return lts.run(ls)
+
+
+if __name__ == '__main__':
+    sys.exit(main())

nav2_lifecycle_manager/test/test_lifecycle_manager.cpp

+// Copyright (c) 2020 Shivang Patel
+//
+// 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 "rclcpp/rclcpp.hpp"
+#include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "nav2_util/node_thread.hpp"
+#include "nav2_lifecycle_manager/lifecycle_manager_client.hpp"
+
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
+class LifecycleNodeTest : public rclcpp_lifecycle::LifecycleNode
+{
+public:
+  LifecycleNodeTest()
+  : rclcpp_lifecycle::LifecycleNode("lifecycle_node_test") {}
+
+  CallbackReturn on_configure(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Configured!");
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Activated!");
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Deactivated!");
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_cleanup(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Cleanup!");
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_shutdown(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is Shutdown!");
+    return CallbackReturn::SUCCESS;
+  }
+
+  CallbackReturn on_error(const rclcpp_lifecycle::State & /*state*/) override
+  {
+    RCLCPP_INFO(get_logger(), "Lifecycle Test node is encountered an error!");
+    return CallbackReturn::SUCCESS;
+  }
+};
+
+class LifecycleClientTestFixture
+{
+public:
+  LifecycleClientTestFixture()
+  {
+    lf_node_ = std::make_shared<LifecycleNodeTest>();
+    lf_thread_ = std::make_unique<nav2_util::NodeThread>(lf_node_->get_node_base_interface());
+  }
+
+private:
+  std::shared_ptr<LifecycleNodeTest> lf_node_;
+  std::unique_ptr<nav2_util::NodeThread> lf_thread_;
+};
+
+TEST(LifecycleClientTest, BasicTest)
+{
+  LifecycleClientTestFixture fix;
+  nav2_lifecycle_manager::LifecycleManagerClient client("lifecycle_manager_test");
+  EXPECT_TRUE(client.startup());
+  EXPECT_EQ(
+    nav2_lifecycle_manager::SystemStatus::TIMEOUT,
+    client.is_active(std::chrono::nanoseconds(1000)));
+  EXPECT_EQ(
+    nav2_lifecycle_manager::SystemStatus::ACTIVE,
+    client.is_active(std::chrono::nanoseconds(1000000000)));
+  EXPECT_EQ(
+    nav2_lifecycle_manager::SystemStatus::ACTIVE,
+    client.is_active());
+  EXPECT_TRUE(client.pause());
+  EXPECT_EQ(
+    nav2_lifecycle_manager::SystemStatus::INACTIVE,
+    client.is_active(std::chrono::nanoseconds(1000000000)));
+  EXPECT_TRUE(client.resume());
+  EXPECT_TRUE(client.reset());
+  EXPECT_TRUE(client.shutdown());
+}
+
+TEST(LifecycleClientTest, WithoutFixture)
+{
+  nav2_lifecycle_manager::LifecycleManagerClient client("lifecycle_manager_test");
+  EXPECT_EQ(
+    nav2_lifecycle_manager::SystemStatus::TIMEOUT,
+    client.is_active(std::chrono::nanoseconds(1000)));
+}
+
+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;
+}