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Lobotuerkahcorde
Lobotuerk
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Add tests service/client request/response with bad arguments (#141)
Signed-off-by: lobotuerk <[email protected]>
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‎test_rmw_implementation/test/test_client.cpp‎

Lines changed: 105 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -204,3 +204,108 @@ TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), destroy_client_of_another_i
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EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
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rmw_reset_error();
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}
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TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), send_request_with_bad_arguments) {
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constexpr char service_name[] = "/test";
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const rosidl_service_type_support_t * ts =
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ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
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test_msgs__srv__BasicTypes_Request client_request;
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ASSERT_TRUE(test_msgs__srv__BasicTypes_Request__init(&client_request));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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test_msgs__srv__BasicTypes_Request__fini(&client_request);
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});
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client_request.bool_value = false;
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client_request.uint8_value = 1;
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client_request.uint32_value = 2;
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int64_t sequence_number;
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rmw_client_t * client =
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rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
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ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
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rmw_ret_t ret = rmw_send_request(nullptr, &client_request, &sequence_number);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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rmw_reset_error();
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ret = rmw_send_request(client, nullptr, &sequence_number);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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rmw_reset_error();
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ret = rmw_send_request(client, &client_request, nullptr);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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rmw_reset_error();
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const char * implementation_identifier = client->implementation_identifier;
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client->implementation_identifier = "not-an-rmw-implementation-identifier";
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ret = rmw_send_request(client, &client_request, &sequence_number);
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EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret) << rmw_get_error_string().str;
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rmw_reset_error();
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client->implementation_identifier = implementation_identifier;
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ret = rmw_destroy_client(node, client);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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rmw_reset_error();
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}
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TEST_F(CLASSNAME(TestClient, RMW_IMPLEMENTATION), take_response_with_bad_arguments) {
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constexpr char service_name[] = "/test";
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const rosidl_service_type_support_t * ts =
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ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
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test_msgs__srv__BasicTypes_Request client_request;
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ASSERT_TRUE(test_msgs__srv__BasicTypes_Request__init(&client_request));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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test_msgs__srv__BasicTypes_Request__fini(&client_request);
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});
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client_request.bool_value = false;
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client_request.uint8_value = 1;
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client_request.uint32_value = 2;
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bool taken = false;
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rmw_service_info_t header;
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rmw_client_t * client =
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rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
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ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
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rmw_ret_t ret = rmw_take_response(nullptr, &header, &client_request, &taken);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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EXPECT_EQ(false, client_request.bool_value); // Verify post conditions
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EXPECT_EQ(1u, client_request.uint8_value);
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EXPECT_EQ(2u, client_request.uint32_value);
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EXPECT_EQ(false, taken);
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rmw_reset_error();
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ret = rmw_take_response(client, nullptr, &client_request, &taken);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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EXPECT_EQ(false, client_request.bool_value); // Verify post conditions
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EXPECT_EQ(1u, client_request.uint8_value);
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EXPECT_EQ(2u, client_request.uint32_value);
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EXPECT_EQ(false, taken);
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rmw_reset_error();
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ret = rmw_take_response(client, &header, nullptr, &taken);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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EXPECT_EQ(false, taken);
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rmw_reset_error();
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ret = rmw_take_response(client, &header, &client_request, nullptr);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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EXPECT_EQ(false, client_request.bool_value); // Verify post conditions
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EXPECT_EQ(1u, client_request.uint8_value);
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EXPECT_EQ(2u, client_request.uint32_value);
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rmw_reset_error();
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const char * implementation_identifier = client->implementation_identifier;
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client->implementation_identifier = "not-an-rmw-implementation-identifier";
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ret = rmw_take_response(client, &header, &client_request, &taken);
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EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret) << rmw_get_error_string().str;
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EXPECT_EQ(false, client_request.bool_value); // Verify post conditions
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EXPECT_EQ(1u, client_request.uint8_value);
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EXPECT_EQ(2u, client_request.uint32_value);
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EXPECT_EQ(false, taken);
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rmw_reset_error();
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client->implementation_identifier = implementation_identifier;
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ret = rmw_destroy_client(node, client);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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rmw_reset_error();
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}

‎test_rmw_implementation/test/test_service.cpp‎

Lines changed: 152 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -204,3 +204,155 @@ TEST_F(CLASSNAME(TestServiceUse, RMW_IMPLEMENTATION), destroy_service_of_another
204204
EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret);
205205
rmw_reset_error();
206206
}
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TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), take_request_with_bad_arguments) {
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constexpr char service_name[] = "/test";
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const rosidl_service_type_support_t * ts =
211+
ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
212+
test_msgs__srv__BasicTypes_Request service_request;
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ASSERT_TRUE(test_msgs__srv__BasicTypes_Request__init(&service_request));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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test_msgs__srv__BasicTypes_Request__fini(&service_request);
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});
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service_request.bool_value = false;
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service_request.uint8_value = 1;
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service_request.uint32_value = 2;
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bool taken = false;
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rmw_service_info_t header;
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rmw_service_t * srv =
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rmw_create_service(node, ts, service_name, &rmw_qos_profile_default);
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ASSERT_NE(nullptr, srv) << rmw_get_error_string().str;
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rmw_ret_t ret = rmw_take_request(nullptr, &header, &service_request, &taken);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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EXPECT_EQ(false, service_request.bool_value); // Verify post conditions
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EXPECT_EQ(1u, service_request.uint8_value);
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EXPECT_EQ(2u, service_request.uint32_value);
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EXPECT_EQ(false, taken);
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rmw_reset_error();
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ret = rmw_take_request(srv, nullptr, &service_request, &taken);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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EXPECT_EQ(false, service_request.bool_value); // Verify post conditions
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EXPECT_EQ(1u, service_request.uint8_value);
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EXPECT_EQ(2u, service_request.uint32_value);
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EXPECT_EQ(false, taken);
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rmw_reset_error();
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ret = rmw_take_request(srv, &header, nullptr, &taken);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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EXPECT_EQ(false, taken);
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rmw_reset_error();
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ret = rmw_take_request(srv, &header, &service_request, nullptr);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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EXPECT_EQ(false, service_request.bool_value); // Verify post conditions
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EXPECT_EQ(1u, service_request.uint8_value);
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EXPECT_EQ(2u, service_request.uint32_value);
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rmw_reset_error();
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const char * implementation_identifier = srv->implementation_identifier;
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srv->implementation_identifier = "not-an-rmw-implementation-identifier";
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ret = rmw_take_request(srv, &header, &service_request, &taken);
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EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret) << rmw_get_error_string().str;
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EXPECT_EQ(false, service_request.bool_value); // Verify post conditions
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EXPECT_EQ(1u, service_request.uint8_value);
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EXPECT_EQ(2u, service_request.uint32_value);
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EXPECT_EQ(false, taken);
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rmw_reset_error();
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srv->implementation_identifier = implementation_identifier;
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ret = rmw_destroy_service(node, srv);
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EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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rmw_reset_error();
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}
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TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), send_reponse_with_bad_arguments) {
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constexpr char service_name[] = "/test";
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const rosidl_service_type_support_t * ts =
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ROSIDL_GET_SRV_TYPE_SUPPORT(test_msgs, srv, BasicTypes);
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test_msgs__srv__BasicTypes_Response service_response;
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ASSERT_TRUE(test_msgs__srv__BasicTypes_Response__init(&service_response));
277+
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
278+
{
279+
test_msgs__srv__BasicTypes_Response__fini(&service_response);
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});
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service_response.bool_value = false;
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service_response.uint8_value = 1;
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service_response.uint32_value = 2;
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test_msgs__srv__BasicTypes_Request request;
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ASSERT_TRUE(test_msgs__srv__BasicTypes_Request__init(&request));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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test_msgs__srv__BasicTypes_Request__fini(&request);
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});
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request.bool_value = false;
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request.uint8_value = 1;
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request.uint32_value = 2;
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int64_t sequence_number;
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rmw_service_info_t header;
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rmw_service_t * srv =
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rmw_create_service(node, ts, service_name, &rmw_qos_profile_default);
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ASSERT_NE(nullptr, srv) << rmw_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rmw_ret_t ret = rmw_destroy_service(node, srv);
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EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
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});
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rmw_client_t * client =
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rmw_create_client(node, ts, service_name, &rmw_qos_profile_default);
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ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rmw_ret_t ret = rmw_destroy_client(node, client);
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EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
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});
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rmw_ret_t ret = rmw_send_request(client, &request, &sequence_number);
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ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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size_t number_of_services = 1u;
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rmw_wait_set_t * wait_set = rmw_create_wait_set(&context, number_of_services);
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ASSERT_NE(nullptr, wait_set) << rmw_get_error_string().str;
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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rmw_ret_t ret = rmw_destroy_wait_set(wait_set);
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EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
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});
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void * array[1];
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array[0] = srv->data;
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rmw_services_t srv_array;
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srv_array.service_count = 1u;
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srv_array.services = array;
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rmw_time_t timeout;
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timeout.sec = 0;
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timeout.nsec = rmw_intraprocess_discovery_delay.count() * 1000;
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ret = rmw_wait(nullptr, nullptr, &srv_array, nullptr, nullptr, wait_set, &timeout);
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ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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ASSERT_NE(nullptr, srv_array.services[0]);
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bool taken = false;
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ret = rmw_take_request(srv, &header, &request, &taken);
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ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
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ASSERT_EQ(true, taken);
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ret = rmw_send_response(nullptr, &header.request_id, &service_response);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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rmw_reset_error();
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ret = rmw_send_response(srv, nullptr, &service_response);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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rmw_reset_error();
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ret = rmw_send_response(srv, &header.request_id, nullptr);
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EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret);
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rmw_reset_error();
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const char * implementation_identifier = srv->implementation_identifier;
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srv->implementation_identifier = "not-an-rmw-implementation-identifier";
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ret = rmw_send_response(srv, &header.request_id, &service_response);
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EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret) << rmw_get_error_string().str;
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rmw_reset_error();
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srv->implementation_identifier = implementation_identifier;
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}

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