add get_type_description test

Signed-off-by: Hans-Joachim Krauch <[email protected]>

Author: achim-k

rcl/test/CMakeLists.txt

@@ -341,6 +341,15 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "test_msgs"
   )
 
+  rcl_add_custom_gtest(test_get_type_description_service${target_suffix}
+    SRCS rcl/test_get_type_description_service.cpp
+    ENV ${rmw_implementation_env_var}
+    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+    INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../src/rcl/
+    LIBRARIES ${PROJECT_NAME} mimick wait_for_entity_helpers
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "type_description_interfaces"
+  )
+
   # Launch tests
 
   rcl_add_custom_executable(service_fixture${target_suffix}

rcl/test/rcl/test_get_type_description_service.cpp

@@ -0,0 +1,318 @@
+// Copyright 2023 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.
+
+#include <gtest/gtest.h>
+
+#include "rcl/error_handling.h"
+#include "rcl/graph.h"
+#include "rcl/service.h"
+#include "rcl/rcl.h"
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+#include "rosidl_runtime_c/string_functions.h"
+#include "type_description_interfaces/srv/get_type_description.h"
+#include "wait_for_entity_helpers.hpp"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+constexpr char GET_TYPE_DESCRIPTION_SRV_TYPE_NAME[] =
+  "type_description_interfaces/srv/GetTypeDescription";
+
+static bool string_in_array(rcutils_string_array_t * array, const char * pattern)
+{
+  for (size_t i = 0; i < array->size; ++i) {
+    if (strcmp(array->data[i], pattern) == 0) {
+      return true;
+    }
+  }
+  return false;
+}
+
+static bool service_exists(
+  const rcl_node_t * node_ptr, const char * service_name,
+  const char * service_type)
+{
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+
+  rcl_names_and_types_t * srv_names_and_types =
+    static_cast<rcl_names_and_types_t *>(allocator.allocate(
+      sizeof(rcl_names_and_types_t),
+      allocator.state));
+  if (nullptr == srv_names_and_types) {
+    return false;
+  }
+  EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_init(srv_names_and_types, 0, &allocator));
+  srv_names_and_types->names.data = NULL;
+  srv_names_and_types->names.size = 0;
+  srv_names_and_types->types = NULL;
+
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    EXPECT_EQ(RCL_RET_OK, rcl_names_and_types_fini(srv_names_and_types));
+    allocator.deallocate(srv_names_and_types, allocator.state);
+  });
+
+  if (
+    RCL_RET_OK != rcl_get_service_names_and_types(
+      node_ptr,
+      &allocator, srv_names_and_types))
+  {
+    return false;
+  }
+
+  if (srv_names_and_types->names.size < 1) {
+    return false;
+  }
+
+  const bool srv_name_found = string_in_array(
+    &srv_names_and_types->names,
+    service_name);
+
+  if (!srv_name_found) {return false;}
+
+  bool type_name_found = false;
+  for (size_t i = 0; i < srv_names_and_types->names.size; ++i) {
+    type_name_found = string_in_array(
+      &srv_names_and_types->types[i],
+      service_type);
+    if (type_name_found) {
+      break;
+    }
+  }
+
+  return type_name_found;
+}
+
+class CLASSNAME (TestGetTypeDescSrvEnabledFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+public:
+  rcl_context_t * context_ptr;
+  rcl_node_t * node_ptr;
+  char get_type_description_service_name[256];
+  bool enable_get_type_description_service;
+
+  virtual bool get_type_description_service_enabled() const
+  {
+    return true;
+  }
+
+  void SetUp()
+  {
+    rcl_ret_t ret;
+    {
+      rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+      ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+      OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+      {
+        EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
+      });
+      this->context_ptr = new rcl_context_t;
+      *this->context_ptr = rcl_get_zero_initialized_context();
+      ret = rcl_init(0, nullptr, &init_options, this->context_ptr);
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    }
+    this->node_ptr = new rcl_node_t;
+    *this->node_ptr = rcl_get_zero_initialized_node();
+    const char * name = "test_service_node";
+    rcl_node_options_t node_options = rcl_node_get_default_options();
+    node_options.enable_type_description_service = get_type_description_service_enabled();
+    ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    const char * node_fqn = rcl_node_get_fully_qualified_name(this->node_ptr);
+    snprintf(
+      get_type_description_service_name, sizeof(get_type_description_service_name),
+      "%s/get_type_description", node_fqn);
+  }
+
+  void TearDown()
+  {
+    rcl_ret_t ret = rcl_node_fini(this->node_ptr);
+    delete this->node_ptr;
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_shutdown(this->context_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(this->context_ptr);
+    delete this->context_ptr;
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+};
+
+class CLASSNAME (TestGetTypeDescSrvDisabledFixture,
+  RMW_IMPLEMENTATION) : public CLASSNAME(TestGetTypeDescSrvEnabledFixture, RMW_IMPLEMENTATION) {
+  bool get_type_description_service_enabled() const override
+  {
+    return false;
+  }
+};
+
+/* Test service being enabled with node_options. */
+TEST_F(
+  CLASSNAME(TestGetTypeDescSrvEnabledFixture, RMW_IMPLEMENTATION),
+  test_service_existence_node_options_default) {
+  EXPECT_TRUE(
+    service_exists(
+      this->node_ptr, this->get_type_description_service_name,
+      GET_TYPE_DESCRIPTION_SRV_TYPE_NAME));
+}
+
+/* Test service being disabled with node_options. */
+TEST_F(
+  CLASSNAME(TestGetTypeDescSrvDisabledFixture, RMW_IMPLEMENTATION),
+  test_service_existence_node_options_disabled) {
+  EXPECT_FALSE(
+    service_exists(
+      this->node_ptr, this->get_type_description_service_name,
+      GET_TYPE_DESCRIPTION_SRV_TYPE_NAME));
+}
+
+/* Test init and fini functions. */
+TEST_F(
+  CLASSNAME(TestGetTypeDescSrvEnabledFixture, RMW_IMPLEMENTATION),
+  test_service_init_and_fini_functions) {
+  EXPECT_TRUE(
+    service_exists(
+      this->node_ptr, this->get_type_description_service_name,
+      GET_TYPE_DESCRIPTION_SRV_TYPE_NAME));
+  EXPECT_EQ(RCL_RET_OK, rcl_node_type_description_service_fini(this->node_ptr));
+  EXPECT_FALSE(
+    service_exists(
+      this->node_ptr, this->get_type_description_service_name,
+      GET_TYPE_DESCRIPTION_SRV_TYPE_NAME));
+  EXPECT_EQ(RCL_RET_NOT_INIT, rcl_node_type_description_service_fini(this->node_ptr));
+
+  EXPECT_EQ(RCL_RET_OK, rcl_node_type_description_service_init(this->node_ptr));
+  EXPECT_TRUE(
+    service_exists(
+      this->node_ptr, this->get_type_description_service_name,
+      GET_TYPE_DESCRIPTION_SRV_TYPE_NAME));
+  EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_node_type_description_service_init(this->node_ptr));
+}
+
+/* Basic nominal test of the ~/get_type_description service. */
+TEST_F(CLASSNAME(TestGetTypeDescSrvEnabledFixture, RMW_IMPLEMENTATION), test_service_nominal) {
+  rcl_ret_t ret;
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    type_description_interfaces, srv, GetTypeDescription);
+
+  // Create client.
+  rcl_client_t client = rcl_get_zero_initialized_client();
+  rcl_client_options_t client_options = rcl_client_get_default_options();
+  ret = rcl_client_init(
+    &client, this->node_ptr, ts, this->get_type_description_service_name,
+    &client_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  ASSERT_TRUE(wait_for_server_to_be_available(this->node_ptr, &client, 10, 1000));
+
+  // Initialize a request.
+  type_description_interfaces__srv__GetTypeDescription_Request client_request;
+  type_description_interfaces__srv__GetTypeDescription_Request__init(&client_request);
+
+  // Fill the request. We use the GetTypeDescription hash because we know that that type
+  // is registered.
+  const rosidl_type_hash_t * type_hash = ts->get_type_hash_func(ts);
+  rcutils_allocator_t allocator = rcutils_get_default_allocator();
+  char * type_hash_str;
+  EXPECT_EQ(RCUTILS_RET_OK, rosidl_stringify_type_hash(type_hash, allocator, &type_hash_str));
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    allocator.deallocate(type_hash_str, allocator.state);
+  });
+  rosidl_runtime_c__String__assign(&client_request.type_hash, type_hash_str);
+  rosidl_runtime_c__String__assign(&client_request.type_name, GET_TYPE_DESCRIPTION_SRV_TYPE_NAME);
+  client_request.include_type_sources = true;
+
+  // Send the request.
+  int64_t sequence_number;
+  ret = rcl_send_request(&client, &client_request, &sequence_number);
+  type_description_interfaces__srv__GetTypeDescription_Request__fini(&client_request);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  // Initialize the response owned by the client and take the response.
+  type_description_interfaces__srv__GetTypeDescription_Response client_response;
+  type_description_interfaces__srv__GetTypeDescription_Response__init(&client_response);
+
+  // Retrieve the response.
+  rmw_service_info_t header;
+  ret = rcl_take_response_with_info(&client, &header, &client_response);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(client_response.successful, true);
+  EXPECT_EQ(sequence_number, header.request_id.sequence_number);
+
+  type_description_interfaces__srv__GetTypeDescription_Response__fini(&client_response);
+}
+
+/* Test calling ~/get_type_description service with invalid hash service. */
+TEST_F(
+  CLASSNAME(
+    TestGetTypeDescSrvEnabledFixture,
+    RMW_IMPLEMENTATION), test_service_invalid_hash) {
+  rcl_ret_t ret;
+  const rosidl_service_type_support_t * ts = ROSIDL_GET_SRV_TYPE_SUPPORT(
+    type_description_interfaces, srv, GetTypeDescription);
+
+  // Create client.
+  rcl_client_t client = rcl_get_zero_initialized_client();
+  rcl_client_options_t client_options = rcl_client_get_default_options();
+  ret = rcl_client_init(
+    &client, this->node_ptr, ts, this->get_type_description_service_name,
+    &client_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  ASSERT_TRUE(wait_for_server_to_be_available(this->node_ptr, &client, 10, 1000));
+
+  // Initialize a request.
+  type_description_interfaces__srv__GetTypeDescription_Request client_request;
+  type_description_interfaces__srv__GetTypeDescription_Request__init(&client_request);
+
+  // Fill the request.
+  rosidl_runtime_c__String__assign(&client_request.type_hash, "foo");
+  rosidl_runtime_c__String__assign(&client_request.type_name, "bar");
+  client_request.include_type_sources = true;
+
+  // Send the request.
+  int64_t sequence_number;
+  ret = rcl_send_request(&client, &client_request, &sequence_number);
+  type_description_interfaces__srv__GetTypeDescription_Request__fini(&client_request);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+  // Initialize the response owned by the client and take the response.
+  type_description_interfaces__srv__GetTypeDescription_Response client_response;
+  type_description_interfaces__srv__GetTypeDescription_Response__init(&client_response);
+
+  // Retrieve the response.
+  rmw_service_info_t header;
+  ret = rcl_take_response_with_info(&client, &header, &client_response);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  EXPECT_EQ(client_response.successful, false);
+  EXPECT_GT(strlen(client_response.failure_reason.data), 0);
+  EXPECT_EQ(sequence_number, header.request_id.sequence_number);
+
+  type_description_interfaces__srv__GetTypeDescription_Response__fini(&client_response);
+}