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Fix subscription.is_serialized() for callbacks with message info #1950

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merged 2 commits into from
Jun 10, 2022
Merged

Fix subscription.is_serialized() for callbacks with message info #1950

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93ca78a
Fix subscription.is_serialized() for callbacks with message info argu…
ivanpauno Jun 7, 2022
199d36b
Add tests + please linters
ivanpauno Jun 8, 2022
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8 changes: 7 additions & 1 deletion rclcpp/include/rclcpp/any_subscription_callback.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -950,7 +950,13 @@ class AnySubscriptionCallback
std::holds_alternative<UniquePtrSerializedMessageCallback>(callback_variant_) ||
std::holds_alternative<SharedConstPtrSerializedMessageCallback>(callback_variant_) ||
std::holds_alternative<ConstRefSharedConstPtrSerializedMessageCallback>(callback_variant_) ||
std::holds_alternative<SharedPtrSerializedMessageCallback>(callback_variant_);
std::holds_alternative<SharedPtrSerializedMessageCallback>(callback_variant_) ||
std::holds_alternative<ConstRefSerializedMessageWithInfoCallback>(callback_variant_) ||
std::holds_alternative<UniquePtrSerializedMessageWithInfoCallback>(callback_variant_) ||
std::holds_alternative<SharedConstPtrSerializedMessageWithInfoCallback>(callback_variant_) ||
std::holds_alternative<ConstRefSharedConstPtrSerializedMessageWithInfoCallback>(
callback_variant_) ||
std::holds_alternative<SharedPtrSerializedMessageWithInfoCallback>(callback_variant_);
}

void
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105 changes: 105 additions & 0 deletions rclcpp/test/rclcpp/test_any_subscription_callback.cpp
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Expand Up @@ -93,6 +93,111 @@ TEST_F(TestAnySubscriptionCallback, construct_destruct) {
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc2(allocator);
}

TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](const rclcpp::SerializedMessage &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](const rclcpp::SerializedMessage &, const rclcpp::MessageInfo &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](const rclcpp::SerializedMessage &, const rclcpp::MessageInfo &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::unique_ptr<rclcpp::SerializedMessage>) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::unique_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](const std::shared_ptr<const rclcpp::SerializedMessage> &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set(
[](
const std::shared_ptr<const rclcpp::SerializedMessage> &,
const rclcpp::MessageInfo &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::shared_ptr<rclcpp::SerializedMessage>) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
std::make_shared<rclcpp::SerializedMessage>(),
rclcpp::MessageInfo{}));
}
}

TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
EXPECT_THROW(
any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_),
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