Add service creation test

tracetools_test/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
 
 # Tests
 if(BUILD_TESTING)
@@ -51,6 +52,13 @@ if(BUILD_TESTING)
     rclcpp
     std_msgs
   )
+  add_executable(test_service
+    src/test_service.cpp
+  )
+  ament_target_dependencies(test_service
+    rclcpp
+    std_srvs
+  )
 
   install(TARGETS
     test_publisher
@@ -58,6 +66,7 @@ if(BUILD_TESTING)
     test_ping
     test_pong
     test_timer
+    test_service
     DESTINATION lib/${PROJECT_NAME}
   )
 
@@ -70,6 +79,7 @@ if(BUILD_TESTING)
     test/test_subscription.py
     test/test_subscription_callback.py
     test/test_timer.py
+    test/test_service.py
   )
 
   foreach(_test_path ${_tracetools_test_pytest_tests})

tracetools_test/package.xml

@@ -13,9 +13,11 @@
 
   <build_depend>rclcpp</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>std_msgs</exec_depend>
+  <exec_depend>std_srvs</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>launch_ros</test_depend>

tracetools_test/src/test_service.cpp

@@ -0,0 +1,48 @@
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_srvs/srv/empty.hpp"
+
+class ServiceNode : public rclcpp::Node
+{
+public:
+    ServiceNode(rclcpp::NodeOptions options) : Node("service_node", options)
+    {
+        srv_ = this->create_service<std_srvs::srv::Empty>(
+            "service",
+            std::bind(&ServiceNode::service_callback,
+                this,
+                std::placeholders::_1,
+                std::placeholders::_2,
+                std::placeholders::_3));
+    }
+
+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)
+    {
+        // Nothing
+        (void)request_header;
+        (void)request;
+        (void)response;
+    }
+
+    rclcpp::Service<std_srvs::srv::Empty>::SharedPtr srv_;
+};
+
+int main(int argc, char* argv[])
+{
+    rclcpp::init(argc, argv);
+
+    rclcpp::executors::SingleThreadedExecutor exec;
+    auto service_node = std::make_shared<ServiceNode>(rclcpp::NodeOptions());
+    exec.add_node(service_node);
+
+    printf("spinning once\n");
+    exec.spin_once();
+
+    rclcpp::shutdown();
+    return 0;
+}

tracetools_test/test/test_service.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_creation_events = [
+    'ros2:rcl_service_init',
+    'ros2:rclcpp_service_callback_added',
+]
+
+class TestService(unittest.TestCase):
+
+    def test_creation(self):
+        session_name_prefix = 'session-test-service-creation'
+        test_nodes = ['test_service']
+
+        exit_code, full_path = run_and_trace(BASE_PATH,
+                                             session_name_prefix,
+                                             service_creation_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_creation_events), trace_events)
+
+        cleanup_trace(full_path)
+
+
+if __name__ == '__main__':
+    unittest.main()