Add service callback test

tracetools_test/src/test_service_ping.cpp

@@ -0,0 +1,68 @@
+#include <memory>
+#include <chrono>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_srvs/srv/empty.hpp"
+
+using namespace std::chrono_literals;
+
+
+class PingNode : public rclcpp::Node
+{
+public:
+    PingNode(rclcpp::NodeOptions options) : Node("ping_node", options)
+    {
+        srv_ = this->create_service<std_srvs::srv::Empty>(
+            "pong",
+            std::bind(&PingNode::service_callback,
+                this,
+                std::placeholders::_1,
+                std::placeholders::_2,
+                std::placeholders::_3));
+        client_ = this->create_client<std_srvs::srv::Empty>(
+            "ping");
+        timer_ = this->create_wall_timer(
+            500ms,
+            std::bind(&PingNode::timer_callback, this));
+    }
+
+
+private:
+    void service_callback(
+        const std::shared_ptr<rmw_request_id_t> request_header,
+        const std::shared_ptr<std_srvs::srv::Empty::Request> request,
+        const std::shared_ptr<std_srvs::srv::Empty::Response> response)
+    {
+        (void)request_header;
+        (void)request;
+        (void)response;
+        RCLCPP_INFO(this->get_logger(), "got request");
+        rclcpp::shutdown();
+    }
+
+    void timer_callback()
+    {
+        auto req = std::make_shared<std_srvs::srv::Empty::Request>();
+        client_->async_send_request(req);
+    }
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
+    rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client_;
+    rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char* argv[])
+{
+    rclcpp::init(argc, argv);
+
+    rclcpp::executors::SingleThreadedExecutor exec;
+    auto ping_node = std::make_shared<PingNode>(rclcpp::NodeOptions());
+    exec.add_node(ping_node);
+
+    printf("spinning\n");
+    exec.spin();
+
+    // Will actually be called inside the node's service callback
+    rclcpp::shutdown();
+    return 0;
+}