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update test to catch repeated service callbacks #34

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Aug 27, 2015
Merged

update test to catch repeated service callbacks #34

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19 changes: 15 additions & 4 deletions test_communication/test/test_replier.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,12 +26,15 @@ void reply(
rclcpp::Node::SharedPtr node,
const std::string & service_type,
const std::vector<
std::pair<typename T::Request::SharedPtr, typename T::Response::SharedPtr>> & expected_services
std::pair<typename T::Request::SharedPtr, typename T::Response::SharedPtr>> & expected_services,
std::vector<bool> & received_messages
)
{
received_messages.assign(expected_services.size(), false);

// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
auto callback =
[&expected_services](
[&expected_services, &received_messages](
const typename T::Request::SharedPtr received_request,
typename T::Response::SharedPtr response) -> void
{
Expand All @@ -44,6 +47,12 @@ void reply(
expected_services.size() << std::endl;
*response = *expected_service.second;
known_request = true;
if (received_messages[index]) {
fprintf(stderr, "received the same request multiple times\n");
rclcpp::shutdown();
throw std::runtime_error("received the same request multiple times");
}
received_messages[index] = true;
break;
}
++index;
Expand Down Expand Up @@ -75,12 +84,14 @@ int main(int argc, char ** argv)
auto services_empty = get_services_empty();
auto services_primitives = get_services_primitives();

std::vector<bool> received_messages;

if (service == "empty") {
reply<test_communication::srv::Empty>(
node, service, services_empty);
node, service, services_empty, received_messages);
} else if (service == "primitives") {
reply<test_communication::srv::Primitives>(
node, service, services_primitives);
node, service, services_primitives, received_messages);
} else {
fprintf(stderr, "Unknown service argument '%s'\n", service.c_str());
return 1;
Expand Down