ros2-assignments/doc/tests/LifecycleManager.md

LifecycleManager Unit Tests

Unit tests for LifecycleManager are implemented in src/g2_2025_imu_reader_pkg/test/LifecycleManager.test.cpp using Google Test and ROS2 lifecycle test utilities. The tests are designed to validate all lifecycle state transitions, parameter handling, and hardware integration without requiring actual hardware or MQTT broker connectivity.

Test Cases

1. ConstructorTest

Description: Verifies that LifecycleManager can be instantiated without crashing and parameters are correctly declared.

• Test Action: Create LifecycleManager instance with default parameters
• Expected Result: Instance created successfully; parameters device_path, baudrate, and comm_t are registered with their defaults

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2. ParameterDeclarationTest

Description: Tests that all required parameters are declared during construction with correct default values.

• Test Action:
  • Create LifecycleManager
  • Query parameters: device_path, baudrate, comm_t
• Expected Result:
  • device_path defaults to "/dev/ttyUSB0"
  • baudrate defaults to 115200
  • comm_t defaults to "serial"

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3. ParameterRuntimeReadTest

Description: Verifies parameters can be read at runtime and affect behavior.

• Test Action:
  • Set parameters via ROS2 parameter API: device_path="/dev/ttyACM0", comm_t="mqtt"
  • Verify LifecycleManager reads the updated values
• Expected Result: Parameters are correctly read and stored in member variables

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4. InitialStateTest

Description: Tests that the node starts in the UNCONFIGURED state.

• Test Action: Create LifecycleManager and check lifecycle state
• Expected Result: Node is in UNCONFIGURED state

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5. ConfigureSerialModeTest

Description: Tests the on_configure callback in serial communication mode.

• Test Action:
  • Set comm_t parameter to "serial"
  • Call on_configure() with valid device path (e.g., /dev/null for testing)
• Expected Result:
  • Transition succeeds
  • Node moves to INACTIVE state
  • HardwareInterface::open_device() is called with correct parameters

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6. ConfigureMQTTModeTest

Description: Tests the on_configure callback in MQTT communication mode.

• Test Action:
  • Set comm_t parameter to "mqtt"
  • Call on_configure()
• Expected Result:
  • Transition succeeds
  • Node moves to INACTIVE state
  • HardwareInterface::mqtt_configure() is called

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7. ConfigureSerialFailureTest

Description: Tests graceful failure when serial device cannot be opened.

• Test Action:
  • Set device_path to non-existent path (e.g., /dev/invalid_device)
  • Set comm_t to "serial"
  • Call on_configure()
• Expected Result:
  • Transition handled gracefully (node doesn't crash)
  • Error logging occurs

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8. DeactivateSerialModeTest

Description: Tests the on_deactivate callback in serial communication mode.

• Test Action:
  • Configure to INACTIVE state in serial mode
  • Call on_deactivate()
• Expected Result:
  • Transition handled gracefully
  • Resources are properly released

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9. ResourceCleanupTest

Description: Tests that all resources are properly cleaned up on deactivation and shutdown.

• Test Action:
  • Configure node with serial settings
  • Let node go out of scope
  • Verify no crashes or resource leaks
• Expected Result:
  • No memory leaks
  • File descriptors are closed
  • No segmentation faults on cleanup

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10. ErrorLoggingTest

Description: Tests that error handling works during configuration attempts.

• Test Action:
  • Set invalid device path and attempt configuration
  • Verify error is handled gracefully
• Expected Result:
  • Node doesn't crash on error
  • Error logging occurs

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11. HardwareInterfaceIntegrationTest

Description: Tests the complete integration between LifecycleManager and HardwareInterface.

• Test Action:
  • Create LifecycleManager instance
  • Verify HardwareInterface instance is created and accessible
  • Verify we can call HardwareInterface methods
• Expected Result:
  • HardwareInterface is properly initialized
  • No segmentation faults when accessing interface methods

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12. DevicePathParameterTest

Description: Tests that device_path parameter correctly controls serial device selection.

• Test Action:
  • Set device_path to /dev/null
  • Call on_configure() in serial mode
  • Verify correct device path is used
• Expected Result:
  • Configuration succeeds with correct device path

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13. BaudRateParameterTest

Description: Tests that baudrate parameter is correctly configured.

• Test Action:
  • Set baudrate to valid value (e.g., 115200)
  • Call on_configure() in serial mode
• Expected Result:
  • Correct baud rate is passed to the hardware interface

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14. ParameterUpdateBehaviorTest

Description: Tests that parameter changes are respected across state transitions.

• Test Action:
  • Set comm_t to "serial", configure
  • Deactivate and transition back to UNCONFIGURED
  • Change comm_t to "mqtt"
  • Re-configure with new communication mode
• Expected Result:
  • Communication mode switches work correctly
  • Parameter changes are respected

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Test Organization

Tests are organized into logical groups:

1. Construction & Initialization (Tests 1-3): Basic object creation and parameter setup
2. State Transitions & Configuration (Tests 4-7): Lifecycle callbacks and state validation
3. Parameter Validation (Tests 12-13): Parameter binding and influence on behavior
4. Complete Sequences (Test 14): Parameter switching across state transitions
5. Resource & Thread Safety (Tests 8-9): Resource cleanup and safe deactivation
6. Error Handling & Integration (Tests 10-11): Error resilience and component integration

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Test Execution

Run All Tests

# From workspace root
colcon test --packages-select g2_2025_imu_reader_pkg

Run Specific Test Suite

# Run only LifecycleManager tests
colcon test --packages-select g2_2025_imu_reader_pkg --ctest-args -R "LifecycleManager"

Run with Verbose Output

colcon test --packages-select g2_2025_imu_reader_pkg --ctest-args --verbose

Run Tests Directly

# From workspace root
./build/g2_2025_imu_reader_pkg/g2_2025_imu_reader_pkg_test_lifecycle_manager

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