int main(int argc, char ** argv) { int main_ret = 0; { if (rcl_init(argc, argv, rcl_get_default_allocator()) != RCL_RET_OK) { fprintf(stderr, "Error in rcl init: %s\n", rcl_get_error_string_safe()); return -1; } rcl_node_t node = rcl_get_zero_initialized_node(); const char * name = "node_name"; rcl_node_options_t node_options = rcl_node_get_default_options(); if (rcl_node_init(&node, name, &node_options) != RCL_RET_OK) { fprintf(stderr, "Error in node init: %s\n", rcl_get_error_string_safe()); return -1; } auto node_exit = make_scope_exit([&main_ret, &node]() { if (rcl_node_fini(&node) != RCL_RET_OK) { fprintf(stderr, "Error in node fini: %s\n", rcl_get_error_string_safe()); main_ret = -1; } }); const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( example_interfaces, srv, AddTwoInts); const char * topic = "add_two_ints"; rcl_client_t client = rcl_get_zero_initialized_client(); rcl_client_options_t client_options = rcl_client_get_default_options(); rcl_ret_t ret = rcl_client_init(&client, &node, ts, topic, &client_options); if (ret != RCL_RET_OK) { fprintf(stderr, "Error in client init: %s\n", rcl_get_error_string_safe()); return -1; } auto client_exit = make_scope_exit([&client, &main_ret, &node]() { if (rcl_client_fini(&client, &node)) { fprintf(stderr, "Error in client fini: %s\n", rcl_get_error_string_safe()); main_ret = -1; } }); // Initialize a request. example_interfaces__srv__AddTwoInts_Request client_request; example_interfaces__srv__AddTwoInts_Request__init(&client_request); client_request.a = 1; client_request.b = 2; int64_t sequence_number; if (rcl_send_request(&client, &client_request, &sequence_number)) { fprintf(stderr, "Error in send request: %s\n", rcl_get_error_string_safe()); return -1; } if (sequence_number != 1) { fprintf(stderr, "Got invalid sequence number\n"); return -1; } example_interfaces__srv__AddTwoInts_Request__fini(&client_request); // Initialize the response owned by the client and take the response. example_interfaces__srv__AddTwoInts_Response client_response; example_interfaces__srv__AddTwoInts_Response__init(&client_response); if (!wait_for_client_to_be_ready(&client, 1000, 100)) { fprintf(stderr, "Client never became ready\n"); return -1; } rmw_request_id_t header; if (rcl_take_response(&client, &header, &client_response) != RCL_RET_OK) { fprintf(stderr, "Error in send response: %s\n", rcl_get_error_string_safe()); return -1; } example_interfaces__srv__AddTwoInts_Response__fini(&client_response); } return main_ret; }
/* Basic nominal test of a service. */ TEST_F(TestServiceFixture, test_service_nominal) { stop_memory_checking(); rcl_ret_t ret; const rosidl_service_type_support_t * ts = ROSIDL_GET_TYPE_SUPPORT( example_interfaces, srv, AddTwoInts); const char * topic = "add_two_ints"; rcl_service_t service = rcl_get_zero_initialized_service(); rcl_service_options_t service_options = rcl_service_get_default_options(); ret = rcl_service_init(&service, this->node_ptr, ts, topic, &service_options); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); // Check that the service name matches what we assigned. EXPECT_EQ(strcmp(rcl_service_get_service_name(&service), topic), 0); auto service_exit = make_scope_exit([&service, this]() { stop_memory_checking(); rcl_ret_t ret = rcl_service_fini(&service, this->node_ptr); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); }); 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, topic, &client_options); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); auto client_exit = make_scope_exit([&client, this]() { stop_memory_checking(); rcl_ret_t ret = rcl_client_fini(&client, this->node_ptr); EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); }); // TODO(wjwwood): add logic to wait for the connection to be established // use count_services busy wait mechanism // until then we will sleep for a short period of time std::this_thread::sleep_for(std::chrono::milliseconds(1000)); // Initialize a request. example_interfaces__srv__AddTwoInts_Request client_request; example_interfaces__srv__AddTwoInts_Request__init(&client_request); client_request.a = 1; client_request.b = 2; int64_t sequence_number; ret = rcl_send_request(&client, &client_request, &sequence_number); EXPECT_EQ(sequence_number, 1); example_interfaces__srv__AddTwoInts_Request__fini(&client_request); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); bool success; wait_for_service_to_be_ready(&service, 10, 100, success); ASSERT_TRUE(success); // This scope simulates the service responding in a different context so that we can // test take_request/send_response in a single-threaded, deterministic execution. { // Initialize a response. example_interfaces__srv__AddTwoInts_Response service_response; example_interfaces__srv__AddTwoInts_Response__init(&service_response); auto msg_exit = make_scope_exit([&service_response]() { stop_memory_checking(); example_interfaces__srv__AddTwoInts_Response__fini(&service_response); }); // Initialize a separate instance of the request and take the pending request. example_interfaces__srv__AddTwoInts_Request service_request; example_interfaces__srv__AddTwoInts_Request__init(&service_request); rmw_request_id_t header; ret = rcl_take_request(&service, &header, &service_request); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(1, service_request.a); EXPECT_EQ(2, service_request.b); // Simulate a response callback by summing the request and send the response.. service_response.sum = service_request.a + service_request.b; ret = rcl_send_response(&service, &header, &service_response); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); } wait_for_service_to_be_ready(&service, 10, 100, success); // Initialize the response owned by the client and take the response. example_interfaces__srv__AddTwoInts_Response client_response; example_interfaces__srv__AddTwoInts_Response__init(&client_response); rmw_request_id_t header; ret = rcl_take_response(&client, &header, &client_response); ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string_safe(); EXPECT_EQ(client_response.sum, 3); EXPECT_EQ(header.sequence_number, 1); }