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[WIP] Add a service test that fetches the service request in the set callback #1081

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[WIP] Add a service test that fetches the service request in the set callback #1081

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77 changes: 77 additions & 0 deletions rcl/test/rcl/test_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -678,3 +678,80 @@ TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_fail_send_respons
rcl_reset_error();
}
}

static void service_callback(const void * user_data, size_t number_of_events)
{
rcl_ret_t ret;
printf("Service callback %zu!\n", number_of_events);
rcl_service_t * service = (rcl_service_t *)user_data;

test_msgs__srv__BasicTypes_Request request;
ret = test_msgs__srv__BasicTypes_Request__init(&request);
test_msgs__srv__BasicTypes_Response response;
ret = test_msgs__srv__BasicTypes_Response__init(&response);

rmw_request_id_t header;
ret = rcl_take_request(service, &header, &request);
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Right here is where the deadlock hang occurs

if (ret != RCL_RET_OK) {
printf("Bad take\n");
return;
}
printf("Exiting service callback: %u\n", request.uint8_value);
}

/* Test that an rcl service callback can get the request message to operate on.
*/
TEST_F(CLASSNAME(TestServiceFixture, RMW_IMPLEMENTATION), test_callback_get_request)
{
const uint8_t special_test_value = 123;
const char * service_name = "basic_callback_request";
const rosidl_service_type_support_t * typesupport = ROSIDL_GET_SRV_TYPE_SUPPORT(
test_msgs, srv, BasicTypes);

rcl_service_t service = rcl_get_zero_initialized_service();
rcl_service_options_t service_options = rcl_service_get_default_options();
rcl_client_t client = rcl_get_zero_initialized_client();
rcl_client_options_t client_options = rcl_client_get_default_options();
int64_t sequence_number = 0;
rcl_ret_t ret;

// Init server
ret = rcl_service_init(&service, node_ptr, typesupport, service_name, &service_options);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_service_fini(&service, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ret = rcl_service_set_on_new_request_callback(&service, &service_callback, &service);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

// Init client
ret = rcl_client_init(&client, node_ptr, typesupport, service_name, &client_options);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
{
rcl_ret_t ret = rcl_client_fini(&client, node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
ASSERT_TRUE(wait_for_server_to_be_available(node_ptr, &client, 10, 1000));

// Send request
test_msgs__srv__BasicTypes_Request client_request;
test_msgs__srv__BasicTypes_Request__init(&client_request);
client_request.uint8_value = special_test_value;
ret = rcl_send_request(&client, &client_request, &sequence_number);
test_msgs__srv__BasicTypes_Request__fini(&client_request);
EXPECT_EQ(sequence_number, 1);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_TRUE(wait_for_service_to_be_ready(&service, context_ptr, 10, 100));

// Get response
ASSERT_TRUE(wait_for_client_to_be_ready(&client, context_ptr, 10, 100));
rmw_service_info_t header;
test_msgs__srv__BasicTypes_Response client_response;
test_msgs__srv__BasicTypes_Response__init(&client_response);
ret = rcl_take_response_with_info(&client, &header, &client_response);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
test_msgs__srv__BasicTypes_Response__fini(&client_response);
}