Test the two remaining shutdown transitions. Correct error handling when shutdown transition is not possible

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Author: ivanpauno

rclpy/rclpy/lifecycle/node.py

@@ -163,6 +163,7 @@ def trigger_shutdown(self):
                 lifecycle_msgs.msg.Transition.TRANSITION_INACTIVE_SHUTDOWN)
         if current_state == 'active':
             return self.__change_state(lifecycle_msgs.msg.Transition.TRANSITION_ACTIVE_SHUTDOWN)
+        raise _rclpy.RCLError('Shutdown transtion not possible')
 
     def trigger_activate(self):
         return self.__change_state(lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE)

rclpy/test/test_lifecycle.py

@@ -69,7 +69,19 @@ def test_lifecycle_state_transitions():
     with pytest.raises(_rclpy.RCLError):
         node.trigger_deactivate()
     assert node.trigger_shutdown() == TransitionCallbackReturn.SUCCESS
+    with pytest.raises(_rclpy.RCLError):
+        node.trigger_shutdown()
     node.destroy_node()
+    # Again but trigger shutdown from 'inactive' instead of 'unconfigured'
+    node = LifecycleNode(
+        'test_lifecycle_state_transitions_2', enable_communication_interface=False)
+    assert node.trigger_shutdown() == TransitionCallbackReturn.SUCCESS
+    # Again but trigger shutdown from 'active'
+    node = LifecycleNode(
+        'test_lifecycle_state_transitions_3', enable_communication_interface=False)
+    assert node.trigger_configure() == TransitionCallbackReturn.SUCCESS
+    assert node.trigger_activate() == TransitionCallbackReturn.SUCCESS
+    assert node.trigger_shutdown() == TransitionCallbackReturn.SUCCESS
 
     class ErrorOnConfigureHandledCorrectlyNode(LifecycleNode):