test for rclcpp::serializedmessage

Karsten1987 · Karsten1987 · commit dd6564518d49 · 2020-04-18T12:52:47.000-07:00
Signed-off-by: Karsten Knese &lt;karsten@openrobotics.org&gt;
diff --git a/rclcpp/include/rclcpp/subscription_traits.hpp b/rclcpp/include/rclcpp/subscription_traits.hpp
@@ -18,6 +18,7 @@
 #include <memory>
 
 #include "rclcpp/function_traits.hpp"
+#include "rclcpp/serialized_message.hpp"
 #include "rclcpp/subscription_options.hpp"
 #include "rcl/types.h"
 
@@ -50,6 +51,15 @@ struct is_serialized_subscription_argument<std::shared_ptr<rcl_serialized_messag
   : std::true_type
 {};
 
+template<>
+struct is_serialized_subscription_argument<rclcpp::SerializedMessage>: std::true_type
+{};
+
+template<>
+struct is_serialized_subscription_argument<std::shared_ptr<rclcpp::SerializedMessage>>
+  : std::true_type
+{};
+
 template<typename T>
 struct is_serialized_subscription : is_serialized_subscription_argument<T>
 {};
diff --git a/rclcpp/test/test_publisher.cpp b/rclcpp/test/test_publisher.cpp
@@ -149,7 +149,6 @@ TEST_F(TestPublisher, various_creation_signatures) {
  */
 TEST_F(TestPublisher, test_is_serialized) {
   initialize();
-
   using test_msgs::msg::Empty;
   {
     auto publisher = node->create_publisher<Empty>("topic", 42);
diff --git a/rclcpp/test/test_subscription.cpp b/rclcpp/test/test_subscription.cpp
@@ -231,6 +231,40 @@ TEST_F(TestSubscription, various_creation_signatures) {
   }
 }
 
+/*
+   Testing for serialized subscriptions
+ */
+TEST_F(TestSubscription, test_is_serialized) {
+  initialize();
+  using test_msgs::msg::Empty;
+  auto cb = [](test_msgs::msg::Empty::SharedPtr) {};
+  auto cb_rcl_serialized = [](std::shared_ptr<rcl_serialized_message_t>) {};
+  auto cb_rclcpp_serialized = [](std::shared_ptr<rclcpp::SerializedMessage>) {};
+  {
+    auto sub = node->create_subscription<Empty>("topic", 1, cb);
+    EXPECT_FALSE(sub->is_serialized());
+  }
+  {
+    auto sub = rclcpp::create_subscription<Empty>(node, "topic", rclcpp::QoS(1), cb);
+    EXPECT_FALSE(sub->is_serialized());
+  }
+  {
+    auto sub = rclcpp::create_subscription<Empty>(node, "topic", rclcpp::QoS(1), cb_rcl_serialized);
+    EXPECT_TRUE(sub->is_serialized());
+  }
+  {
+    auto ts = *rosidl_typesupport_cpp::get_message_type_support_handle<Empty>();
+    auto sub = rclcpp::create_subscription<rcl_serialized_message_t>(
+      node, "topic", ts, rclcpp::QoS(1), cb_rcl_serialized);
+    EXPECT_TRUE(sub->is_serialized());
+  }
+  {
+    auto ts = *rosidl_typesupport_cpp::get_message_type_support_handle<Empty>();
+    auto sub = rclcpp::create_subscription<rclcpp::SerializedMessage>(
+      node, "topic", ts, rclcpp::QoS(1), cb_rclcpp_serialized);
+    EXPECT_TRUE(sub->is_serialized());
+  }
+}
 /*
    Testing subscriptions using std::bind.
  */
diff --git a/rclcpp/test/test_subscription_traits.cpp b/rclcpp/test/test_subscription_traits.cpp
@@ -52,6 +52,16 @@ void not_serialized_unique_ptr_callback(
   (void) unused;
 }
 
+void rclcpp_serialized_callback_copy(rclcpp::SerializedMessage unused)
+{
+  (void) unused;
+}
+
+void rclcpp_serialized_callback_shared_ptr(std::shared_ptr<rclcpp::SerializedMessage> unused)
+{
+  (void) unused;
+}
+
 TEST(TestSubscriptionTraits, is_serialized_callback) {
   // Test regular functions
   auto cb1 = &serialized_callback_copy;
@@ -97,6 +107,16 @@ TEST(TestSubscriptionTraits, is_serialized_callback) {
   static_assert(
     rclcpp::subscription_traits::is_serialized_callback<decltype(cb7)>::value == false,
     "passing a fancy unique_ptr of test_msgs::msg::Empty is not a serialized callback");
+
+  auto cb8 = &rclcpp_serialized_callback_copy;
+  static_assert(
+    rclcpp::subscription_traits::is_serialized_callback<decltype(cb8)>::value == true,
+    "rclcpp::SerializedMessage in a first argument callback makes it a serialized callback");
+
+  auto cb9 = &rclcpp_serialized_callback_shared_ptr;
+  static_assert(
+    rclcpp::subscription_traits::is_serialized_callback<decltype(cb9)>::value == true,
+    "std::shared_ptr<rclcpp::SerializedMessage> in a callback makes it a serialized callback");
 }
 
 TEST(TestSubscriptionTraits, callback_messages) {

Original file line number	Diff line number	Diff line change
`@@ -149,7 +149,6 @@ TEST_F(TestPublisher, various_creation_signatures) {`
`149`	`149`	`*/`
`150`	`150`	`TEST_F(TestPublisher, test_is_serialized) {`
`151`	`151`	`initialize();`
`152`		`-`
`153`	`152`	`using test_msgs::msg::Empty;`
`154`	`153`	`{`
`155`	`154`	`auto publisher = node->create_publisher<Empty>("topic", 42);`