Skip to content

Commit

Permalink
Revert "Test if ENUMs are causing the problem with MSVC"
Browse files Browse the repository at this point in the history 
This reverts commit 9664a4d.
  • Loading branch information
@christophfroehlich
christophfroehlich committed Nov 24, 2024
1 parent d018808 commit bc6f224
Show file tree
Hide file tree
Showing 2 changed files with 26 additions and 26 deletions.
46 changes: 23 additions & 23 deletions test/test_async_function_handler.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ namespace realtime_tools
TestAsyncFunctionHandler::TestAsyncFunctionHandler()
: state_(rclcpp_lifecycle::State(lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE, "test_async")),
counter_(0),
return_state_(return_type::Ok)
return_state_(return_type::OK)
{
reset_counter(0);
}
Expand All @@ -36,7 +36,7 @@ void TestAsyncFunctionHandler::initialize()
[this]() {
return (
state_.id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE &&
handler_.get_last_return_value() != realtime_tools::return_type::Deactivate);
handler_.get_last_return_value() != realtime_tools::return_type::DEACTIVATE);
});
}

Expand Down Expand Up @@ -106,7 +106,7 @@ TEST_F(AsyncFunctionHandlerTest, check_initialization)
async_class.get_handler().start_thread();
auto trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
Expand Down Expand Up @@ -138,7 +138,7 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering)
EXPECT_EQ(async_class.get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
auto trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
Expand All @@ -152,7 +152,7 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering)
// Trigger one more cycle
trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
Expand Down Expand Up @@ -182,7 +182,7 @@ TEST_F(AsyncFunctionHandlerTest, trigger_for_several_cycles)
for (int i = 1; i < total_cycles; i++) {
const auto trigger_status = async_class.trigger();
if (trigger_status.first) {
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
Expand Down Expand Up @@ -227,7 +227,7 @@ TEST_F(AsyncFunctionHandlerTest, test_with_deactivate_and_activate_cycles)
for (int i = 1; i < total_cycles; i++) {
const auto trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_trigger_cycle_in_progress());
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
Expand All @@ -242,7 +242,7 @@ TEST_F(AsyncFunctionHandlerTest, test_with_deactivate_and_activate_cycles)
// the thread once the cycle is finished
auto trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
async_class.deactivate();
async_class.get_handler().wait_for_trigger_cycle_to_finish();
for (int i = 0; i < 50; i++) {
Expand All @@ -263,7 +263,7 @@ TEST_F(AsyncFunctionHandlerTest, test_with_deactivate_and_activate_cycles)
EXPECT_EQ(async_class.get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
async_class.get_handler().wait_for_trigger_cycle_to_finish();
async_class.deactivate();
EXPECT_EQ(async_class.get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
Expand Down Expand Up @@ -291,55 +291,55 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering_with_different_return_state_an
EXPECT_EQ(async_class.get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
auto trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
ASSERT_TRUE(async_class.get_handler().get_thread().joinable());
ASSERT_TRUE(async_class.get_handler().is_trigger_cycle_in_progress());
async_class.get_handler().wait_for_trigger_cycle_to_finish();
async_class.get_handler().get_last_execution_time();
ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::Ok);
ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::OK);
ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
ASSERT_EQ(async_class.get_counter(), 1);

// Trigger one more cycle to return ERROR at the end of cycle,
// so return from this cycle should be last cycle's return
async_class.set_return_state(realtime_tools::return_type::Error);
async_class.set_return_state(realtime_tools::return_type::ERROR);
trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
ASSERT_TRUE(async_class.get_handler().is_trigger_cycle_in_progress());
ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::Ok);
ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::OK);
async_class.get_handler().wait_for_trigger_cycle_to_finish();
ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::Error);
ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::ERROR);
ASSERT_LE(async_class.get_counter(), 2);

// Trigger one more cycle to return DEACTIVATE at the end of cycle,
async_class.set_return_state(realtime_tools::return_type::Deactivate);
async_class.set_return_state(realtime_tools::return_type::DEACTIVATE);
trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Error, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::ERROR, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
ASSERT_FALSE(async_class.get_handler().is_stopped());
ASSERT_TRUE(async_class.get_handler().is_trigger_cycle_in_progress());
ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::Error);
ASSERT_EQ(async_class.get_handler().get_last_return_value(), realtime_tools::return_type::ERROR);
async_class.get_handler().wait_for_trigger_cycle_to_finish();
ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());
ASSERT_EQ(
async_class.get_handler().get_last_return_value(), realtime_tools::return_type::Deactivate);
async_class.get_handler().get_last_return_value(), realtime_tools::return_type::DEACTIVATE);
ASSERT_LE(async_class.get_counter(), 3);

// Now the next trigger shouldn't happen as the predicate is set to DEACTIVATE
trigger_status = async_class.trigger();
ASSERT_FALSE(trigger_status.first) << "The trigger should fail as the predicate is DEACTIVATE";
ASSERT_EQ(realtime_tools::return_type::Deactivate, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::DEACTIVATE, trigger_status.second);
ASSERT_FALSE(async_class.get_handler().is_trigger_cycle_in_progress());

async_class.get_handler().stop_thread();
Expand All @@ -358,7 +358,7 @@ TEST_F(AsyncFunctionHandlerTest, check_exception_handling)
EXPECT_EQ(async_class.get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
auto trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
Expand All @@ -373,7 +373,7 @@ TEST_F(AsyncFunctionHandlerTest, check_exception_handling)
async_class.reset_counter(std::numeric_limits<int>::max());
trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
Expand Down Expand Up @@ -401,7 +401,7 @@ TEST_F(AsyncFunctionHandlerTest, check_exception_handling)
async_class.get_handler().start_thread();
trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::Ok, trigger_status.second);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
ASSERT_TRUE(async_class.get_handler().is_initialized());
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
Expand Down
6 changes: 3 additions & 3 deletions test/test_async_function_handler.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -24,9 +24,9 @@
namespace realtime_tools
{
enum class return_type : std::uint8_t {
Ok = 0,
Error = 1,
Deactivate = 2,
OK = 0,
ERROR = 1,
DEACTIVATE = 2,
};

class TestAsyncFunctionHandler
Expand Down

0 comments on commit bc6f224

Please sign in to comment.