Program Listing for File service_introspection_test.hpp
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// 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
{
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_