Add service callback test

tracetools_test/CMakeLists.txt

@@ -58,6 +58,20 @@ if(BUILD_TESTING)
     rclcpp
     std_srvs
   )
+  add_executable(test_service_ping
+    src/test_service_ping.cpp
+  )
+  ament_target_dependencies(test_service_ping
+    rclcpp
+    std_srvs
+  )
+  add_executable(test_service_pong
+    src/test_service_pong.cpp
+  )
+  ament_target_dependencies(test_service_pong
+    rclcpp
+    std_srvs
+  )
 
   install(TARGETS
     test_publisher
@@ -66,6 +80,8 @@ if(BUILD_TESTING)
     test_pong
     test_timer
     test_service
+    test_service_ping
+    test_service_pong
     DESTINATION lib/${PROJECT_NAME}
   )
 
@@ -79,6 +95,7 @@ if(BUILD_TESTING)
     test/test_subscription_callback.py
     test/test_timer.py
     test/test_service.py
+    test/test_service_callback.py
   )
 
   foreach(_test_path ${_tracetools_test_pytest_tests})

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;
+}

tracetools_test/src/test_service_pong.cpp

@@ -0,0 +1,57 @@
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_srvs/srv/empty.hpp"
+
+
+class PongNode : public rclcpp::Node
+{
+public:
+    PongNode(rclcpp::NodeOptions options) : Node("pong_node", options)
+    {
+        srv_ = this->create_service<std_srvs::srv::Empty>(
+            "ping",
+            std::bind(&PongNode::service_callback,
+                this,
+                std::placeholders::_1,
+                std::placeholders::_2,
+                std::placeholders::_3));
+        client_ = this->create_client<std_srvs::srv::Empty>(
+            "pong");
+    }
+
+
+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");
+        auto req = std::make_shared<std_srvs::srv::Empty::Request>();
+        client_->async_send_request(req);
+        rclcpp::shutdown();
+    }
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
+    rclcpp::Client<std_srvs::srv::Empty>::SharedPtr client_;
+};
+
+int main(int argc, char* argv[])
+{
+    rclcpp::init(argc, argv);
+
+    rclcpp::executors::SingleThreadedExecutor exec;
+    auto pong_node = std::make_shared<PongNode>(rclcpp::NodeOptions());
+    exec.add_node(pong_node);
+
+    printf("spinning\n");
+    exec.spin();
+
+    // Will actually be called inside the node's service callback
+    rclcpp::shutdown();
+    return 0;
+}

tracetools_test/test/test_service_callback.py

@@ -0,0 +1,37 @@
+import unittest
+from tracetools_test.utils import (
+    get_trace_event_names,
+    run_and_trace,
+    cleanup_trace,
+)
+
+BASE_PATH = '/tmp'
+PKG = 'tracetools_test'
+service_callback_events = [
+    'ros2:rclcpp_service_callback_start',
+    'ros2:rclcpp_service_callback_end',
+]
+
+class TestServiceCallback(unittest.TestCase):
+
+    def test_callback(self):
+        session_name_prefix = 'session-test-service-callback'
+        test_nodes = ['test_service_ping', 'test_service_pong']
+
+        exit_code, full_path = run_and_trace(BASE_PATH,
+                                             session_name_prefix,
+                                             service_callback_events,
+                                             None,
+                                             PKG,
+                                             test_nodes)
+        self.assertEqual(exit_code, 0)
+
+        trace_events = get_trace_event_names(full_path)
+        print(f'trace_events: {trace_events}')
+        self.assertSetEqual(set(service_callback_events), trace_events)
+
+        cleanup_trace(full_path)
+
+
+if __name__ == '__main__':
+    unittest.main()