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test_serialized_message.cpp
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// Copyright 2020 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.
#include <gtest/gtest.h>
#include <cstring>
#include <memory>
#include <string>
#include <utility>
#include "rclcpp/serialization.hpp"
#include "rclcpp/serialized_message.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/asserts.hpp"
#include "test_msgs/message_fixtures.hpp"
#include "test_msgs/msg/basic_types.hpp"
TEST(TestSerializedMessage, empty_initialize) {
rclcpp::SerializedMessage serialized_message;
EXPECT_EQ(0u, serialized_message.size());
EXPECT_EQ(0u, serialized_message.capacity());
}
TEST(TestSerializedMessage, initialize_with_capacity) {
rclcpp::SerializedMessage serialized_message(13);
EXPECT_EQ(0u, serialized_message.size());
EXPECT_EQ(13u, serialized_message.capacity());
}
TEST(TestSerializedMessage, various_constructors) {
const std::string content = "Hello World";
const auto content_size = content.size() + 1; // accounting for null terminator
rclcpp::SerializedMessage serialized_message(content_size);
// manually copy some content
auto & rcl_handle = serialized_message.get_rcl_serialized_message();
std::memcpy(rcl_handle.buffer, content.c_str(), content.size());
rcl_handle.buffer[content.size()] = '\0';
rcl_handle.buffer_length = content_size;
EXPECT_STREQ(content.c_str(), reinterpret_cast<char *>(rcl_handle.buffer));
EXPECT_EQ(content_size, serialized_message.capacity());
EXPECT_EQ(content_size, serialized_message.size());
// Copy Constructor
rclcpp::SerializedMessage other_serialized_message(serialized_message);
EXPECT_EQ(content_size, other_serialized_message.capacity());
EXPECT_EQ(content_size, other_serialized_message.size());
auto & other_rcl_handle = other_serialized_message.get_rcl_serialized_message();
EXPECT_STREQ(
reinterpret_cast<char *>(rcl_handle.buffer),
reinterpret_cast<char *>(other_rcl_handle.buffer));
// Move Constructor
rclcpp::SerializedMessage yet_another_serialized_message(std::move(other_serialized_message));
auto & yet_another_rcl_handle = yet_another_serialized_message.get_rcl_serialized_message();
EXPECT_TRUE(nullptr == other_rcl_handle.buffer);
EXPECT_EQ(0u, other_serialized_message.capacity());
EXPECT_EQ(0u, other_serialized_message.size());
EXPECT_TRUE(nullptr != yet_another_rcl_handle.buffer);
EXPECT_EQ(content_size, yet_another_serialized_message.size());
EXPECT_EQ(content_size, yet_another_serialized_message.capacity());
}
TEST(TestSerializedMessage, various_constructors_from_rcl) {
const std::string content = "Hello World";
const auto content_size = content.size() + 1; // accounting for null terminator
auto default_allocator = rcl_get_default_allocator();
auto rcl_serialized_msg = rmw_get_zero_initialized_serialized_message();
auto ret = rmw_serialized_message_init(&rcl_serialized_msg, 13, &default_allocator);
ASSERT_EQ(RCL_RET_OK, ret);
// manually copy some content
std::memcpy(rcl_serialized_msg.buffer, content.c_str(), content.size());
rcl_serialized_msg.buffer[content.size()] = '\0';
rcl_serialized_msg.buffer_length = content_size;
EXPECT_EQ(13u, rcl_serialized_msg.buffer_capacity);
// Copy Constructor from rcl_serialized_message_t
rclcpp::SerializedMessage serialized_message(rcl_serialized_msg);
EXPECT_EQ(13u, serialized_message.capacity());
EXPECT_EQ(content_size, serialized_message.size());
// Move Constructor from rcl_serialized_message_t
rclcpp::SerializedMessage another_serialized_message(std::move(rcl_serialized_msg));
EXPECT_TRUE(nullptr == rcl_serialized_msg.buffer);
EXPECT_EQ(0u, rcl_serialized_msg.buffer_capacity);
EXPECT_EQ(0u, rcl_serialized_msg.buffer_length);
EXPECT_EQ(13u, another_serialized_message.capacity());
EXPECT_EQ(content_size, another_serialized_message.size());
// Verify that despite being fini'd, the copy is real
ret = rmw_serialized_message_fini(&rcl_serialized_msg);
ASSERT_EQ(RCUTILS_RET_INVALID_ARGUMENT, ret); // Buffer is null, because it was moved
EXPECT_EQ(nullptr, rcl_serialized_msg.buffer);
EXPECT_EQ(0u, rcl_serialized_msg.buffer_capacity);
EXPECT_EQ(0u, rcl_serialized_msg.buffer_length);
EXPECT_EQ(13u, serialized_message.capacity());
EXPECT_EQ(content_size, serialized_message.size());
auto rcl_handle = serialized_message.get_rcl_serialized_message();
EXPECT_TRUE(nullptr != rcl_handle.buffer);
}
TEST(TestSerializedMessage, release) {
const std::string content = "Hello World";
const auto content_size = content.size() + 1; // accounting for null terminator
rcl_serialized_message_t released_handle = rmw_get_zero_initialized_serialized_message();
{
rclcpp::SerializedMessage serialized_msg(13);
// manually copy some content
auto & rcl_serialized_msg = serialized_msg.get_rcl_serialized_message();
std::memcpy(rcl_serialized_msg.buffer, content.c_str(), content.size());
rcl_serialized_msg.buffer[content.size()] = '\0';
rcl_serialized_msg.buffer_length = content_size;
EXPECT_EQ(13u, serialized_msg.capacity());
released_handle = serialized_msg.release_rcl_serialized_message();
// scope exit of serialized_msg
}
EXPECT_TRUE(nullptr != released_handle.buffer);
EXPECT_EQ(13u, released_handle.buffer_capacity);
EXPECT_EQ(content_size, released_handle.buffer_length);
// cleanup memory manually
EXPECT_EQ(RCL_RET_OK, rmw_serialized_message_fini(&released_handle));
}
TEST(TestSerializedMessage, serialization) {
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
auto basic_type_ros_msgs = get_messages_basic_types();
for (const auto & ros_msg : basic_type_ros_msgs) {
// convert ros msg to serialized msg
rclcpp::SerializedMessage serialized_msg;
serializer.serialize_message(ros_msg.get(), &serialized_msg);
// convert serialized msg back to ros msg
MessageT deserialized_ros_msg;
serializer.deserialize_message(&serialized_msg, &deserialized_ros_msg);
EXPECT_EQ(*ros_msg, deserialized_ros_msg);
}
}
void serialize_default_ros_msg()
{
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
MessageT ros_msg;
rclcpp::SerializedMessage serialized_msg;
serializer.serialize_message(&ros_msg, &serialized_msg);
}
void serialize_default_ros_msg_into_nullptr()
{
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
MessageT ros_msg;
serializer.serialize_message(&ros_msg, nullptr);
}
void deserialize_default_serialized_message()
{
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
MessageT ros_msg;
rclcpp::SerializedMessage serialized_msg;
serializer.deserialize_message(&serialized_msg, &ros_msg);
}
void deserialize_nullptr()
{
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
MessageT ros_msg;
rclcpp::SerializedMessage serialized_msg;
serializer.deserialize_message(&serialized_msg, &ros_msg);
}
TEST(TestSerializedMessage, serialization_empty_messages)
{
EXPECT_NO_THROW(serialize_default_ros_msg());
EXPECT_THROW(serialize_default_ros_msg_into_nullptr(), rcpputils::IllegalStateException);
EXPECT_THROW(serialize_default_ros_msg_into_nullptr(), rcpputils::IllegalStateException);
EXPECT_THROW(deserialize_default_serialized_message(), rcpputils::IllegalStateException);
EXPECT_THROW(deserialize_nullptr(), rcpputils::IllegalStateException);
}