.. _program_listing_file__tmp_ws_src_rosidl_rosidl_typesupport_introspection_tests_include_rosidl_typesupport_introspection_tests_gtest_service_introspection_test.hpp:

Program Listing for File service_introspection_test.hpp
=======================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rosidl_rosidl_typesupport_introspection_tests_include_rosidl_typesupport_introspection_tests_gtest_service_introspection_test.hpp>` (``/tmp/ws/src/rosidl/rosidl_typesupport_introspection_tests/include/rosidl_typesupport_introspection_tests/gtest/service_introspection_test.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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_