Increase service coverage (#1332)

Signed-off-by: Stephen Brawner <brawner@gmail.com>

rclcpp/test/CMakeLists.txt

@@ -394,7 +394,7 @@ if(TARGET test_service)
     "rosidl_typesupport_cpp"
     "test_msgs"
   )
-  target_link_libraries(test_service ${PROJECT_NAME})
+  target_link_libraries(test_service ${PROJECT_NAME} mimick)
 endif()
 ament_add_gtest(test_subscription rclcpp/test_subscription.cpp)
 if(TARGET test_subscription)

rclcpp/test/rclcpp/test_service.cpp

@@ -16,10 +16,13 @@
 
 #include <string>
 #include <memory>
+#include <utility>
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include "../mocking_utils/patch.hpp"
+
 #include "rcl_interfaces/srv/list_parameters.hpp"
 #include "test_msgs/srv/empty.hpp"
 #include "test_msgs/srv/empty.h"
@@ -32,6 +35,11 @@ class TestService : public ::testing::Test
     rclcpp::init(0, nullptr);
   }
 
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+
   void SetUp()
   {
     node = std::make_shared<rclcpp::Node>("my_node", "/ns");
@@ -50,6 +58,12 @@ class TestServiceSub : public ::testing::Test
 protected:
   static void SetUpTestCase()
   {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
   }
 
   void SetUp()
@@ -77,6 +91,9 @@ TEST_F(TestService, construction_and_destruction) {
     };
   {
     auto service = node->create_service<ListParameters>("service", callback);
+    EXPECT_NE(nullptr, service->get_service_handle());
+    const rclcpp::ServiceBase * const_service_base = service.get();
+    EXPECT_NE(nullptr, const_service_base->get_service_handle());
   }
 
   {
@@ -108,6 +125,25 @@ TEST_F(TestServiceSub, construction_and_destruction) {
   }
 }
 
+TEST_F(TestService, construction_and_destruction_rcl_errors) {
+  auto callback =
+    [](const test_msgs::srv::Empty::Request::SharedPtr,
+      test_msgs::srv::Empty::Response::SharedPtr) {};
+
+  {
+    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_service_init, RCL_RET_ERROR);
+    // reset() isn't necessary for this exception, it just avoids unused return value warning
+    EXPECT_THROW(
+      node->create_service<test_msgs::srv::Empty>("service", callback).reset(),
+      rclcpp::exceptions::RCLError);
+  }
+  {
+    // reset() is required for this one
+    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_service_fini, RCL_RET_ERROR);
+    EXPECT_NO_THROW(node->create_service<test_msgs::srv::Empty>("service", callback).reset());
+  }
+}
+
 /* Testing basic getters */
 TEST_F(TestService, basic_public_getters) {
   using rcl_interfaces::srv::ListParameters;
@@ -148,3 +184,54 @@ TEST_F(TestService, basic_public_getters) {
         node_handle_int->get_node_base_interface()->get_rcl_node_handle()));
   }
 }
+
+TEST_F(TestService, take_request) {
+  auto callback =
+    [](const test_msgs::srv::Empty::Request::SharedPtr,
+      test_msgs::srv::Empty::Response::SharedPtr) {};
+  auto server = node->create_service<test_msgs::srv::Empty>("service", callback);
+  {
+    auto request_id = server->create_request_header();
+    test_msgs::srv::Empty::Request request;
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_take_request, RCL_RET_OK);
+    EXPECT_TRUE(server->take_request(request, *request_id.get()));
+  }
+  {
+    auto request_id = server->create_request_header();
+    test_msgs::srv::Empty::Request request;
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_take_request, RCL_RET_SERVICE_TAKE_FAILED);
+    EXPECT_FALSE(server->take_request(request, *request_id.get()));
+  }
+  {
+    auto request_id = server->create_request_header();
+    test_msgs::srv::Empty::Request request;
+    auto mock = mocking_utils::patch_and_return(
+      "lib:rclcpp", rcl_take_request, RCL_RET_ERROR);
+    EXPECT_THROW(server->take_request(request, *request_id.get()), rclcpp::exceptions::RCLError);
+  }
+}
+
+TEST_F(TestService, send_response) {
+  auto callback =
+    [](const test_msgs::srv::Empty::Request::SharedPtr,
+      test_msgs::srv::Empty::Response::SharedPtr) {};
+  auto server = node->create_service<test_msgs::srv::Empty>("service", callback);
+
+  {
+    auto request_id = server->create_request_header();
+    test_msgs::srv::Empty::Response response;
+    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_send_response, RCL_RET_OK);
+    EXPECT_NO_THROW(server->send_response(*request_id.get(), response));
+  }
+
+  {
+    auto request_id = server->create_request_header();
+    test_msgs::srv::Empty::Response response;
+    auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_send_response, RCL_RET_ERROR);
+    EXPECT_THROW(
+      server->send_response(*request_id.get(), response),
+      rclcpp::exceptions::RCLError);
+  }
+}