Regression test for FastCDR typesupport.

test_rclcpp/CMakeLists.txt

@@ -299,7 +299,14 @@ if(BUILD_TESTING)
     PUBLIC ${GTEST_INCLUDE_DIRS})
   target_link_libraries(test_client_scope_consistency_client_cpp
     ${GTEST_LIBRARIES})
+
+  find_package(rmw_fastrtps_cpp REQUIRED)
+  ament_add_gtest(test_typesupport "test/test_typesupport.cpp")
+  target_include_directories(test_typesupport PUBLIC ${rmw_fastrtps_cpp_INCLUDE_DIRS})
+  target_link_libraries(test_typesupport ${rmw_fastrtps_cpp_LIBRARIES})
+  ament_target_dependencies(test_typesupport "rclcpp" "rmw_fastrtps_cpp")
 endif()  # BUILD_TESTING
 
+
 # TODO should not install anything
 ament_package()

test_rclcpp/test/test_typesupport.cpp

@@ -0,0 +1,126 @@
+// Copyright 2018 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.
+
+/*
+ * This is a Fast-RTPS/Fast-CDR specific regression test for Ubuntu Bionic.
+ * We encountered a segfault in some of the deserialization routines, and this
+ * tests the same conditions that trigger that segfault
+ *
+ * Issue: https://github.com/ros2/rclcpp/issues/464
+ */
+
+#include <string>
+#include <memory>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "rmw_fastrtps_cpp/ServiceTypeSupport.hpp"
+
+#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
+#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
+#include "rosidl_typesupport_introspection_cpp/service_type_support_decl.hpp"
+
+#include "rcl_interfaces/srv/set_parameters.hpp"
+#include "rcl_interfaces/srv/set_parameters__rosidl_typesupport_introspection_cpp.hpp"
+
+#include "fastcdr/Cdr.h"
+#include "fastcdr/FastBuffer.h"
+
+using RequestTypeSupport_cpp =
+  rmw_fastrtps_cpp::RequestTypeSupport<
+  rosidl_typesupport_introspection_cpp::ServiceMembers,
+  rosidl_typesupport_introspection_cpp::MessageMembers
+  >;
+
+using ResponseTypeSupport_cpp =
+  rmw_fastrtps_cpp::ResponseTypeSupport<
+  rosidl_typesupport_introspection_cpp::ServiceMembers,
+  rosidl_typesupport_introspection_cpp::MessageMembers
+  >;
+
+
+class FastCdrTest : public ::testing::Test
+{
+protected:
+  using SetParameters = rcl_interfaces::srv::SetParameters;
+
+  void add_result(bool successful, std::string reason)
+  {
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = successful;
+    result.reason = reason;
+    response_in->results.push_back(result);
+  }
+
+  void check_results()
+  {
+    for (size_t ii = 0; ii < 3; ++ii) {
+      EXPECT_EQ(response_in->results[ii].successful, response_out->results[ii].successful);
+      EXPECT_EQ(response_in->results[ii].reason, response_out->results[ii].reason);
+    }
+  }
+
+  virtual void SetUp()
+  {
+    response_in = std::make_shared<SetParameters::Response>();
+    response_out = std::make_shared<SetParameters::Response>();
+
+    add_result(true, "foo");
+    add_result(false, "bar");
+    add_result(true, "");
+
+    auto handle =
+      rosidl_typesupport_introspection_cpp::get_service_type_support_handle<SetParameters>();
+    auto service_members = const_cast<rosidl_typesupport_introspection_cpp::ServiceMembers *>(
+      static_cast<const ::rosidl_typesupport_introspection_cpp::ServiceMembers *>(
+        handle->data));
+    response_ts = std::make_shared<ResponseTypeSupport_cpp>(service_members);
+  }
+
+  std::shared_ptr<SetParameters::Response> response_in, response_out;
+  std::shared_ptr<ResponseTypeSupport_cpp> response_ts;
+};
+
+TEST_F(FastCdrTest, roundtrip_prealloc) {
+  eprosima::fastcdr::FastBuffer buffer;
+  eprosima::fastcdr::Cdr ser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+    eprosima::fastcdr::Cdr::DDS_CDR);
+
+  response_ts->serializeROSmessage(response_in.get(), ser);
+
+  response_out->results.resize(3);
+  ASSERT_NO_THROW(response_ts->deserializeROSmessage(&buffer, response_out.get()));
+  check_results();
+}
+
+TEST_F(FastCdrTest, roundtrip_no_prealloc) {
+  eprosima::fastcdr::FastBuffer buffer;
+  eprosima::fastcdr::Cdr ser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+    eprosima::fastcdr::Cdr::DDS_CDR);
+
+  response_ts->serializeROSmessage(response_in.get(), ser);
+  ASSERT_NO_THROW(response_ts->deserializeROSmessage(&buffer, response_out.get()));
+  check_results();
+}
+
+int main(int argc, char ** argv)
+{
+  // NOTE: use custom main to ensure that rclcpp::init is called only once
+  rclcpp::init(0, nullptr);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}