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 test_simulate_failure_during_activating(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
lm.set_transition_callback(Transition.ACTIVATE, return_false)
self.assertTrue(lm.configure())
self.assertEquals(State.INACTIVE, lm.get_current_state())
self.assertFalse(lm.activate())
self.assertEquals(State.INACTIVE, lm.get_current_state())
def test_simulate_failure_during_configuring(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
lm.set_transition_callback(Transition.CONFIGURE, return_false)
self.assertFalse(lm.configure())
self.assertEquals(State.UNCONFIGURED, lm.get_current_state())
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_failure_on_set_transition_callback(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
with self.assertRaises(LifecycleCbException):
lm.set_transition_callback(Transition.ACTIVATE, CB)
with self.assertRaises(LifecycleCbException):
lm.set_transition_callback(Transition.ACTIVATE, CB1)
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
def test_through_action_client(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
lm.start()
def test_internal(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
lm.configure()
self.assertEquals(State.INACTIVE, lm.get_current_state())
lm.cleanup()
self.assertEquals(State.UNCONFIGURED, lm.get_current_state())
lm.configure()
lm.activate()
self.assertEquals(State.ACTIVE, lm.get_current_state())
lm.shutdown()
self.assertEquals(State.FINALIZED, lm.get_current_state())
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())
def test_publish_transition(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
lm.start()
state_sub = rospy.Subscriber(NODE_NAME + '/' + LIFECYCLE_STATE_TOPIC,
Lifecycle, self.subscriber_cb)
spin_thread = SpinThread(2, "SubscriberCB_Thread", 2)
spin_thread.setDaemon(True)
spin_thread.start()
lm.configure()
self.assertEquals(State.INACTIVE, lm.get_current_state())
rospy.sleep(1.0)
lm.cleanup()
self.assertEquals(State.UNCONFIGURED, lm.get_current_state())
rospy.sleep(1.0)
lm.configure()
rospy.sleep(1.0)
lm.activate()
self.assertEquals(State.ACTIVE, lm.get_current_state())
rospy.sleep(1.0)
lm.shutdown()
self.assertEquals(State.FINALIZED, lm.get_current_state())
rospy.sleep(3.0)
self.assertEquals(5, self.Count)
spin_thread.join(1.0)
lm.__del__()
def test_transitions_for_active(self):
ROSINIT()
lm = LifecycleManager(NODE_NAME)
lm.configure()
lm.activate()
self.assertEquals(State.ACTIVE, lm.get_current_state())
# make sure these are not accepted
with self.assertRaises(IllegalTransitionException):
lm.configure()
self.assertEquals(State.ACTIVE, lm.get_current_state())
with self.assertRaises(IllegalTransitionException):
lm.activate()
self.assertEquals(State.ACTIVE, lm.get_current_state())
with self.assertRaises(IllegalTransitionException):
lm.cleanup()
self.assertEquals(State.ACTIVE, lm.get_current_state())
# now make sure all the valid ones are accepted
self.assertTrue(lm.deactivate())
self.assertEquals(State.INACTIVE, lm.get_current_state())
# go back
lm.activate()
self.assertEquals(State.ACTIVE, lm.get_current_state())
self.assertTrue(lm.shutdown())
self.assertEquals(State.FINALIZED, lm.get_current_state())
