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Increase service coverage #1332

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merged 1 commit into from
Sep 28, 2020
Merged

Increase service coverage #1332

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2 changes: 1 addition & 1 deletion rclcpp/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -401,7 +401,7 @@ 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)
Expand Down
87 changes: 87 additions & 0 deletions rclcpp/test/rclcpp/test_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand All @@ -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");
Expand All @@ -50,6 +58,12 @@ class TestServiceSub : public ::testing::Test
protected:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}

static void TearDownTestCase()
{
rclcpp::shutdown();
}

void SetUp()
Expand Down Expand Up @@ -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());
}

{
Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -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);
}
}