Add introspection typesupport tests for C/C++ messages (#651)

Includes testing infrastructure.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net>

rosidl_cmake/cmake/rosidl_generate_interfaces.cmake

@@ -25,7 +25,7 @@
 #   definitions where each value might be either a path relative to the
 #   CMAKE_CURRENT_SOURCE_DIR or a tuple separated by a colon with an absolute
 #   base path and a path relative to that base path.
-#   If the interface file's parent directory is 'action', is is assumed to be
+#   If the interface file's parent directory is 'action', it is assumed to be
 #   an action definition.
 #   If an action interface is passed then you must add a depend tag for
 #   'action_msgs' to your package.xml, otherwise this macro will error.

rosidl_typesupport_introspection_tests/CMakeLists.txt

@@ -0,0 +1,64 @@
+cmake_minimum_required(VERSION 3.8)
+project(rosidl_typesupport_introspection_tests)
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+  endif()
+
+  find_package(rosidl_cmake REQUIRED)
+  find_package(rosidl_generator_c REQUIRED)
+  find_package(rosidl_generator_cpp REQUIRED)
+  find_package(rosidl_typesupport_introspection_c REQUIRED)
+  find_package(rosidl_typesupport_introspection_cpp REQUIRED)
+  find_package(test_interface_files REQUIRED)
+
+  rosidl_generate_interfaces(${PROJECT_NAME}
+    ${test_interface_files_MSG_FILES}
+    ${test_interface_files_SRV_FILES}
+    # ${test_interface_files_ACTION_FILES}
+    SKIP_INSTALL
+  )
+
+  find_package(rcutils REQUIRED)
+  find_package(rcpputils REQUIRED)
+  find_package(rosidl_typesupport_interface REQUIRED)
+
+  add_library(${PROJECT_NAME}_library INTERFACE)
+  target_include_directories(${PROJECT_NAME}_library INTERFACE include/)
+  target_link_libraries(${PROJECT_NAME}_library INTERFACE
+    rcutils::rcutils
+    rcpputils::rcpputils
+    rosidl_typesupport_interface::rosidl_typesupport_interface
+    rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
+    rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp)
+  target_compile_features(${PROJECT_NAME}_library INTERFACE cxx_std_17)
+
+  find_package(ament_cmake_gtest REQUIRED)
+  file(GLOB test_files test/test_*.cpp)
+  foreach(test_file ${test_files})
+    get_filename_component(target ${test_file} NAME_WE)
+
+    ament_add_gtest(${target} ${test_file}
+      # Ensure typesupport introspection libraries can be found
+      APPEND_LIBRARY_DIRS "${CMAKE_CURRENT_BINARY_DIR}"
+    )
+
+    if(TARGET ${target})
+      target_include_directories(${target} PRIVATE test)
+      target_link_libraries(${target}
+        ${PROJECT_NAME}_library
+        ${PROJECT_NAME}__rosidl_generator_c
+        ${PROJECT_NAME}__rosidl_generator_cpp
+        ${PROJECT_NAME}__rosidl_typesupport_introspection_c
+        ${PROJECT_NAME}__rosidl_typesupport_introspection_cpp)
+    endif()
+  endforeach()
+endif()
+
+ament_package()

rosidl_typesupport_introspection_tests/include/rosidl_typesupport_introspection_tests/api.hpp

@@ -0,0 +1,312 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROSIDL_TYPESUPPORT_INTROSPECTION_TESTS__API_HPP_
+#define ROSIDL_TYPESUPPORT_INTROSPECTION_TESTS__API_HPP_
+
+#include <rosidl_runtime_c/message_initialization.h>
+#include <rosidl_typesupport_introspection_c/message_introspection.h>
+
+#include <rcpputils/shared_library.hpp>
+#include <rosidl_runtime_cpp/message_initialization.hpp>
+#include <rosidl_typesupport_introspection_cpp/message_introspection.hpp>
+
+#include "rosidl_typesupport_introspection_tests/type_traits.hpp"
+#include "rosidl_typesupport_introspection_tests/types.hpp"
+
+namespace rosidl_typesupport_introspection_tests
+{
+
+
+/// Initialize a type erased C++ `message` based on its `message_descriptor`.
+inline void * initialize_message(
+  void * message,
+  const rosidl_typesupport_introspection_cpp::MessageMembers * message_descriptor)
+{
+  using rosidl_runtime_cpp::MessageInitialization;
+  message_descriptor->init_function(message, MessageInitialization::ALL);
+  return message;
+}
+
+/// Initialize a type erased C `message` based on its `message_descriptor`.
+inline void * initialize_message(
+  void * message,
+  const rosidl_typesupport_introspection_c__MessageMembers * message_descriptor)
+{
+  message_descriptor->init_function(message, ROSIDL_RUNTIME_C_MSG_INIT_ALL);
+  return message;
+}
+
+/// Finalize a type erased `message` based on its `message_descriptor`.
+template<typename MessageDescriptorT>
+void finalize_message(
+  void * message,
+  const MessageDescriptorT * message_descriptor)
+{
+  message_descriptor->fini_function(message);
+}
+
+/// Get a message's namespace from its `message_descriptor`.
+template<typename MessageDescriptorT>
+const char *
+get_message_namespace(const MessageDescriptorT * message_descriptor)
+{
+  return message_descriptor->message_namespace_;
+}
+
+/// Get a message's name from its `message_descriptor`.
+template<typename MessageDescriptorT>
+const char * get_message_name(const MessageDescriptorT * message_descriptor)
+{
+  return message_descriptor->message_name_;
+}
+
+/// Get a message's (base) size from its `message_descriptor`.
+template<typename MessageDescriptorT>
+size_t get_message_size(const MessageDescriptorT * message_descriptor)
+{
+  return message_descriptor->size_of_;
+}
+
+/// Get a message's member count from its `message_descriptor`.
+template<typename MessageDescriptorT>
+size_t get_member_count(const MessageDescriptorT * message_descriptor)
+{
+  return message_descriptor->member_count_;
+}
+
+/// Get a mutable type erased reference to a member
+/// from a type erased `message` given its `member_descriptor`.
+template<typename MemberDescriptorT>
+void * get_member(void * message, const MemberDescriptorT * member_descriptor)
+{
+  return reinterpret_cast<uint8_t *>(message) +
+         member_descriptor->offset_;
+}
+
+/// Get a mutable reference to a member from a
+/// type erased `message` given its `member_descriptor`.
+template<typename MemberT, typename MemberDescriptorT>
+MemberT &
+get_member(void * message, const MemberDescriptorT * member_descriptor)
+{
+  return *reinterpret_cast<MemberT *>(get_member(message, member_descriptor));
+}
+
+/// Get the member descriptor for the `i`th member
+/// of a message given its `message_descriptor`.
+template<typename MessageDescriptorT>
+auto get_member_descriptor(
+  const MessageDescriptorT * message_descriptor,
+  const size_t i)
+{
+  return &(message_descriptor->members_[i]);
+}
+
+/// Check if a member has a simple structure
+/// (i.e not an array nor a sequence) given its
+/// `member_descriptor`.
+template<typename MemberDescriptorT>
+bool has_simple_structure(const MemberDescriptorT * member_descriptor)
+{
+  return !member_descriptor->is_array_ &&
+         member_descriptor->size_function == nullptr &&
+         member_descriptor->get_function == nullptr &&
+         member_descriptor->get_const_function == nullptr &&
+         member_descriptor->fetch_function == nullptr &&
+         member_descriptor->assign_function == nullptr &&
+         member_descriptor->resize_function == nullptr;
+}
+
+/// Check if a member has an iterable structure (i.e either an array or a
+/// sequence) given its `member_descriptor`.
+template<typename MemberDescriptorT>
+bool has_iterable_structure(const MemberDescriptorT * member_descriptor)
+{
+  return member_descriptor->is_array_ &&
+         member_descriptor->size_function != nullptr &&
+         member_descriptor->fetch_function != nullptr &&
+         member_descriptor->assign_function != nullptr;
+}
+
+/// Check if a member has an array structure given its `member_descriptor`.
+template<typename MemberDescriptorT>
+bool has_array_structure(const MemberDescriptorT * member_descriptor)
+{
+  return has_iterable_structure(member_descriptor) &&
+         member_descriptor->get_function != nullptr &&
+         member_descriptor->get_const_function != nullptr &&
+         member_descriptor->resize_function == nullptr;
+}
+
+/// Check if a member has an array structure of `size` elements given its
+/// `member_descriptor`.
+template<typename MemberDescriptorT>
+bool has_array_structure(
+  const MemberDescriptorT * member_descriptor, const size_t size)
+{
+  return has_array_structure(member_descriptor) &&
+         member_descriptor->array_size_ == size;
+}
+
+/// Check if a member has an unbounded sequence structure given its
+/// `member_descriptor`.
+template<typename MemberDescriptorT>
+bool has_sequence_structure(const MemberDescriptorT * member_descriptor)
+{
+  return has_iterable_structure(member_descriptor) &&
+         !member_descriptor->is_upper_bound_ &&
+         member_descriptor->array_size_ == 0u &&
+         member_descriptor->resize_function != nullptr;
+}
+
+/// Check if a member has a sequence structure bounded to `size`
+/// elements given its `member_descriptor`.
+template<typename MemberDescriptorT>
+bool has_bounded_sequence_structure(
+  const MemberDescriptorT * member_descriptor, const size_t size)
+{
+  return has_iterable_structure(member_descriptor) &&
+         member_descriptor->is_upper_bound_ &&
+         member_descriptor->array_size_ == size &&
+         member_descriptor->resize_function != nullptr;
+}
+
+/// Check if a member is of `MessageT` type given its `member_descriptor`.
+template<typename MessageT, typename MemberDescriptorT>
+bool is_message_type_member(const MemberDescriptorT * member_descriptor)
+{
+  using TypeSupportLibraryT =
+    typename introspection_traits<MessageT>::TypeSupportLibraryT;
+  const auto & typesupport = introspection_traits<MessageT>::typesupport;
+  rcpputils::SharedLibrary library{
+    rcpputils::get_platform_library_name(TypeSupportLibraryT::name)};
+  auto message_typesupport_fetch =
+    reinterpret_cast<MessageTypeSupportFetchFunctionT>(
+    library.get_symbol(typesupport.symbol));
+  if (!message_typesupport_fetch) {
+    return false;
+  }
+  const rosidl_message_type_support_t * message_typesupport =
+    get_message_typesupport_handle(
+    message_typesupport_fetch(),
+    TypeSupportLibraryT::identifier);
+  return member_descriptor->type_id_ == ROS_TYPE_MESSAGE &&
+         member_descriptor->members_ == message_typesupport;
+}
+
+/// Check if a member is of `type_id` type given its `member_descriptor`.
+template<typename MemberDescriptorT>
+bool is_base_type_member(const MemberDescriptorT * member_descriptor, int type_id)
+{
+  return member_descriptor->type_id_ == type_id &&
+         member_descriptor->members_ == nullptr;
+}
+
+/// Check if a member is of string type, optionally bounded to `upper_bound`
+/// characters, given its `member_descriptor`.
+template<typename MemberDescriptorT>
+bool is_string_member(
+  const MemberDescriptorT * member_descriptor,
+  const size_t upper_bound = 0u)
+{
+  return member_descriptor->type_id_ == ROS_TYPE_STRING &&
+         member_descriptor->members_ == nullptr &&
+         member_descriptor->string_upper_bound_ == upper_bound;
+}
+
+/// Get an immutable type erased reference to a member
+/// from a type erased message given its `member_descriptor`.
+template<typename MemberDescriptorT>
+const void * get_const_member(
+  const void * message,
+  const MemberDescriptorT * member_descriptor)
+{
+  return reinterpret_cast<const uint8_t *>(message) +
+         member_descriptor->offset_;
+}
+
+/// Get an immutable reference to a member from a type
+/// erased message given its `member_descriptor`.
+template<typename MemberT, typename MemberDescriptorT>
+const MemberT & get_const_member(
+  const void * message,
+  const MemberDescriptorT * member_descriptor)
+{
+  return *reinterpret_cast<const MemberT *>(
+    get_const_member(message, member_descriptor));
+}
+
+/// Get a member's name from its `member_descriptor`.
+template<typename MemberDescriptorT>
+const char * get_member_name(const MemberDescriptorT * member_descriptor)
+{
+  return member_descriptor->name_;
+}
+
+/// Get a member's type id from its `member_descriptor`.
+template<typename MemberDescriptorT>
+int get_member_base_type(const MemberDescriptorT * member_descriptor)
+{
+  return member_descriptor->type_id_;
+}
+
+/// Fetch the `ith` item value of a type erased, iterable
+/// `member` given its `member_descriptor`.
+template<typename ItemT, typename MemberDescriptorT>
+ItemT fetch_member_item(
+  const void * member,
+  const MemberDescriptorT * member_descriptor,
+  const size_t i)
+{
+  ItemT value;
+  member_descriptor->fetch_function(member, i, &value);
+  return value;
+}
+
+/// Assign a `value` to the `ith` item of a type erased,
+/// iterable `member` given its `member_descriptor`.
+template<typename ItemT, typename MemberDescriptorT>
+void assign_member_item(
+  void * member,
+  const MemberDescriptorT * member_descriptor,
+  const size_t i, ItemT && value)
+{
+  member_descriptor->assign_function(member, i, &value);
+}
+
+/// Get the size of an iterable, type erased `member`
+/// given its `member_descriptor`.
+template<typename MemberDescriptorT>
+size_t get_member_size(
+  const void * member,
+  const MemberDescriptorT * member_descriptor)
+{
+  return member_descriptor->size_function(member);
+}
+
+/// Resize a sequence, type erased `member`
+/// to `size` given its `member_descriptor`.
+template<typename MemberDescriptorT>
+void resize_member(
+  void * member,
+  const MemberDescriptorT * member_descriptor,
+  const size_t size)
+{
+  member_descriptor->resize_function(member, size);
+}
+
+}  // namespace rosidl_typesupport_introspection_tests
+
+#endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_TESTS__API_HPP_