def test_simulate_failure_on_set_error_cb(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
with self.assertRaises(LifecycleCbException):
lm.set_error_cb(ERROR_CB)
with self.assertRaises(LifecycleCbException):
lm.set_error_cb(ERROR_CB1)
def test_simulate_error_in_secondary_state(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
lm.set_error_cb(lambda ex: True)
lm.set_transition_callback(Transition.CONFIGURE,
lambda: lm.raise_error(Exception('Test')))
lm.configure()
self.assertEquals(State.UNCONFIGURED, lm.get_current_state())
lm.set_error_cb(lambda ex: False)
lm.configure()
self.assertEquals(State.FINALIZED, lm.get_current_state())
def test_simulate_error_in_inactive(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
lm.set_error_cb(lambda ex: True)
lm.configure()
self.assertEquals(State.INACTIVE, lm.get_current_state())
lm.raise_error(Exception('Test'))
self.assertEquals(State.UNCONFIGURED, lm.get_current_state())
lm.set_error_cb(lambda ex: False)
lm.configure()
self.assertEquals(State.INACTIVE, lm.get_current_state())
lm.raise_error(Exception('Test'))
self.assertEquals(State.FINALIZED, lm.get_current_state())
class ManagedNode(object):
__metaclass__ = ABCMeta
def __init__(self, component_fqn):
super(ManagedNode, self).__init__()
self._lm = LifecycleManager(component_fqn)
self._lm.set_transition_callback(Transition.CONFIGURE,
self._on_configure)
self._lm.set_transition_callback(Transition.CLEANUP, self._on_cleanup)
self._lm.set_transition_callback(Transition.ACTIVATE,
self._on_activate)
self._lm.set_transition_callback(Transition.DEACTIVATE,
self._on_deactivate)
self._lm.set_transition_callback(Transition.SHUTDOWN,
self._on_shutdown)
self._lm.set_error_cb(self._on_error)
#start the action server
self._lm.start()
def __del__(self):
self._lm.__del__()
def _on_configure(self):
return True
def _on_cleanup(self):
return False
'''A node must not start directly after process creation when the life-cycle is in use,
so the user needs to provide an on_activate callback and this is enforced by using abstractmethod.'''
@abstractmethod
def _on_activate(self):
return True
def _on_deactivate(self):
return False
def _on_shutdown(self):
return True
def _on_error(self, ex):
return False