Add introspection typesupport tests for C/C++ services

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

rosidl_typesupport_introspection_tests/include/rosidl_typesupport_introspection_tests/api.hpp

@@ -72,6 +72,35 @@ const char * get_message_name(const MessageDescriptorT * message_descriptor)
   return message_descriptor->message_name_;
 }
 
+/// Get a service's namespace from its `service_descriptor`.
+template<typename ServiceDescriptorT>
+const char *
+get_service_namespace(const ServiceDescriptorT * service_descriptor)
+{
+  return service_descriptor->service_namespace_;
+}
+
+/// Get a service's name from its `service_descriptor`.
+template<typename ServiceDescriptorT>
+const char * get_service_name(const ServiceDescriptorT * service_descriptor)
+{
+  return service_descriptor->service_name_;
+}
+
+/// Get a service request message descriptor from its `service_descriptor`.
+template<typename ServiceDescriptorT>
+auto get_service_request_descriptor(const ServiceDescriptorT * service_descriptor)
+{
+  return service_descriptor->request_members_;
+}
+
+/// Get a service response message descriptor from its `service_descriptor`.
+template<typename ServiceDescriptorT>
+auto get_service_response_descriptor(const ServiceDescriptorT * service_descriptor)
+{
+  return service_descriptor->response_members_;
+}
+
 /// Get a message's (base) size from its `message_descriptor`.
 template<typename MessageDescriptorT>
 size_t get_message_size(const MessageDescriptorT * message_descriptor)

rosidl_typesupport_introspection_tests/include/rosidl_typesupport_introspection_tests/gtest/service_introspection_test.hpp

@@ -0,0 +1,120 @@
+// 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__GTEST__SERVICE_INTROSPECTION_TEST_HPP_
+#define ROSIDL_TYPESUPPORT_INTROSPECTION_TESTS__GTEST__SERVICE_INTROSPECTION_TEST_HPP_
+
+#include <memory>
+
+#include "rosidl_typesupport_introspection_tests/gtest/shared_library_test.hpp"
+#include "rosidl_typesupport_introspection_tests/api.hpp"
+#include "rosidl_typesupport_introspection_tests/type_traits.hpp"
+#include "rosidl_typesupport_introspection_tests/types.hpp"
+
+namespace rosidl_typesupport_introspection_tests
+{
+namespace testing
+{
+
+/// A GTest fixture for service introspection tests
+/**
+ * \tparam ServiceT type of the service to test.
+ *   introspection_traits<ServiceT> must exist.
+ *   See test suite below for further reference
+ *   on traits' requirements.
+ */
+template<typename ServiceT>
+class ServiceIntrospectionTest : public SharedLibraryTest
+{
+public:
+  using TypeSupportLibraryT =
+    typename introspection_traits<ServiceT>::TypeSupportLibraryT;
+  using ServiceDescriptorT =
+    typename TypeSupportLibraryT::ServiceDescriptorT;
+
+  ServiceIntrospectionTest()
+  : SharedLibraryTest(TypeSupportLibraryT::name)
+  {
+  }
+
+  void SetUp() override
+  {
+    const char * typesupport_symbol =
+      introspection_traits<ServiceT>::typesupport.symbol;
+    auto service_typesupport_fetch =
+      reinterpret_cast<ServiceTypeSupportFetchFunctionT>(
+      this->GetSharedLibrary().get_symbol(typesupport_symbol));
+    ASSERT_NE(service_typesupport_fetch, nullptr);
+    const rosidl_service_type_support_t * service_typesupport =
+      get_service_typesupport_handle(
+      service_typesupport_fetch(),
+      TypeSupportLibraryT::identifier);
+    ASSERT_NE(service_typesupport, nullptr);
+    service_descriptor_ =
+      reinterpret_cast<const ServiceDescriptorT *>(
+      service_typesupport->data);
+    ASSERT_NE(service_descriptor_, nullptr);
+  }
+
+  const ServiceDescriptorT * GetServiceDescriptor() const
+  {
+    return service_descriptor_;
+  }
+
+  std::unique_ptr<void, std::function<void(void *)>>
+  MakeTypeErasedRequestMessage() const
+  {
+    using MessageDescriptorT =
+      typename TypeSupportLibraryT::MessageDescriptorT;
+    const MessageDescriptorT * request_message_descriptor =
+      get_service_request_descriptor(service_descriptor_);
+    using RequestMessageT = typename ServiceT::Request;
+    std::allocator<RequestMessageT> allocator;
+    std::function<void(void *)> type_erased_message_deleter = [ = ](void * ptr) mutable {
+        finalize_message(ptr, request_message_descriptor);
+        allocator.deallocate(reinterpret_cast<RequestMessageT *>(ptr), 1);
+      };
+    std::unique_ptr<void, std::function<void(void *)>> type_erased_message(
+      initialize_message(allocator.allocate(1), request_message_descriptor),
+      type_erased_message_deleter);
+    return type_erased_message;
+  }
+
+  std::unique_ptr<void, std::function<void(void *)>>
+  MakeTypeErasedResponseMessage() const
+  {
+    using MessageDescriptorT =
+      typename TypeSupportLibraryT::MessageDescriptorT;
+    const MessageDescriptorT * response_message_descriptor =
+      get_service_response_descriptor(service_descriptor_);
+    using ResponseMessageT = typename ServiceT::Response;
+    std::allocator<ResponseMessageT> allocator;
+    std::function<void(void *)> type_erased_message_deleter = [ = ](void * ptr) mutable {
+        finalize_message(ptr, response_message_descriptor);
+        allocator.deallocate(reinterpret_cast<ResponseMessageT *>(ptr), 1);
+      };
+    std::unique_ptr<void, std::function<void(void *)>> type_erased_message(
+      initialize_message(allocator.allocate(1), response_message_descriptor),
+      type_erased_message_deleter);
+    return type_erased_message;
+  }
+
+private:
+  const ServiceDescriptorT * service_descriptor_{nullptr};
+};
+
+}  // namespace testing
+}  // namespace rosidl_typesupport_introspection_tests
+
+#endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_TESTS__GTEST__SERVICE_INTROSPECTION_TEST_HPP_

rosidl_typesupport_introspection_tests/include/rosidl_typesupport_introspection_tests/helpers.hpp

@@ -172,16 +172,34 @@ getitem(const std::array<T, N> & array, const size_t index)
   DEFINE_GETITEM_OVERLOAD_FOR_C_MESSAGE_SEQUENCE_MEMBER(type) \
   DEFINE_LENGTH_OVERLOAD_FOR_C_MESSAGE_SEQUENCE_MEMBER(type)
 
-#define C_MESSAGE_NAME(package_name, interface_type, message_name) \
-  package_name ## __ ## interface_type ## __ ## message_name
+#define C_INTERFACE_NAME(package_name, interface_type, interface_name) \
+  RCUTILS_JOIN( \
+    RCUTILS_JOIN( \
+      RCUTILS_JOIN( \
+        RCUTILS_JOIN( \
+          package_name, __), interface_type), __), interface_name)
 
 /// Defines C++ helper API for a C message.
 #define DEFINE_CXX_API_FOR_C_MESSAGE(package_name, interface_type, message_name) \
   DEFINE_CXX_API_FOR_C_MESSAGE_MEMBER( \
-    C_MESSAGE_NAME(package_name, interface_type, message_name)) \
+    C_INTERFACE_NAME(package_name, interface_type, message_name)) \
   DEFINE_CXX_API_FOR_C_MESSAGE_SEQUENCE_MEMBER( \
-    RCUTILS_JOIN( \
-      C_MESSAGE_NAME(package_name, interface_type, message_name), __Sequence))
+    RCUTILS_JOIN(C_INTERFACE_NAME(package_name, interface_type, message_name), __Sequence))
+
+/// Defines C++ helper API for a C service.
+#define DEFINE_CXX_API_FOR_C_SERVICE(package_name, interface_type, service_name) \
+  DEFINE_CXX_API_FOR_C_MESSAGE_MEMBER( \
+    C_INTERFACE_NAME(package_name, interface_type, RCUTILS_JOIN(service_name, _Request))) \
+  DEFINE_CXX_API_FOR_C_MESSAGE_MEMBER( \
+    C_INTERFACE_NAME(package_name, interface_type, RCUTILS_JOIN(service_name, _Response))) \
+  struct C_INTERFACE_NAME (package_name, interface_type, service_name) { \
+  using Request = C_INTERFACE_NAME( \
+    package_name, interface_type, RCUTILS_JOIN( \
+      service_name, \
+      _Request)); \
+  using Response = \
+    C_INTERFACE_NAME(package_name, interface_type, RCUTILS_JOIN(service_name, _Response)); \
+};
 
 // Extra C++ APIs to homogeneize access to rosidl_runtime_c primitives
 DEFINE_CXX_API_FOR_C_MESSAGE_MEMBER(rosidl_runtime_c__String)

rosidl_typesupport_introspection_tests/include/rosidl_typesupport_introspection_tests/type_traits.hpp

@@ -48,6 +48,10 @@
 namespace rosidl_typesupport_introspection_tests
 {
 
+// Base definition, to be specialized
+template<typename InterfaceT>
+struct interface_traits;
+
 // Base definition, to be specialized
 template<typename InterfaceT>
 struct introspection_traits;