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Fix subscription.is_serialized() for callbacks with message info (ros2#1950) (ros2#2622)
* Fix subscription.is_serialized() for callbacks with message info argument * Add tests + please linters Signed-off-by: Ivan Santiago Paunovic <[email protected]> Signed-off-by: roscan-tech <[email protected]> Co-authored-by: Ivan Santiago Paunovic <[email protected]>
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‎rclcpp/include/rclcpp/any_subscription_callback.hpp‎

Lines changed: 7 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -950,7 +950,13 @@ class AnySubscriptionCallback
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std::holds_alternative<UniquePtrSerializedMessageCallback>(callback_variant_) ||
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std::holds_alternative<SharedConstPtrSerializedMessageCallback>(callback_variant_) ||
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std::holds_alternative<ConstRefSharedConstPtrSerializedMessageCallback>(callback_variant_) ||
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std::holds_alternative<SharedPtrSerializedMessageCallback>(callback_variant_);
953+
std::holds_alternative<SharedPtrSerializedMessageCallback>(callback_variant_) ||
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std::holds_alternative<ConstRefSerializedMessageWithInfoCallback>(callback_variant_) ||
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std::holds_alternative<UniquePtrSerializedMessageWithInfoCallback>(callback_variant_) ||
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std::holds_alternative<SharedConstPtrSerializedMessageWithInfoCallback>(callback_variant_) ||
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std::holds_alternative<ConstRefSharedConstPtrSerializedMessageWithInfoCallback>(
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callback_variant_) ||
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std::holds_alternative<SharedPtrSerializedMessageWithInfoCallback>(callback_variant_);
954960
}
955961

956962
void

‎rclcpp/test/rclcpp/test_any_subscription_callback.cpp‎

Lines changed: 105 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -93,6 +93,111 @@ TEST_F(TestAnySubscriptionCallback, construct_destruct) {
9393
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc2(allocator);
9494
}
9595

96+
TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](const rclcpp::SerializedMessage &) {});
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EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
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asc.dispatch(
103+
std::make_shared<rclcpp::SerializedMessage>(),
104+
rclcpp::MessageInfo{}));
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}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](const rclcpp::SerializedMessage &, const rclcpp::MessageInfo &) {});
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EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
111+
asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
113+
rclcpp::MessageInfo{}));
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}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](const rclcpp::SerializedMessage &, const rclcpp::MessageInfo &) {});
118+
EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
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asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
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rclcpp::MessageInfo{}));
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}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](std::unique_ptr<rclcpp::SerializedMessage>) {});
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EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
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asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
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rclcpp::MessageInfo{}));
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}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](std::unique_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
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EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
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asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
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rclcpp::MessageInfo{}));
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}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>) {});
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EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
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asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
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rclcpp::MessageInfo{}));
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}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
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EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
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asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
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rclcpp::MessageInfo{}));
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}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](const std::shared_ptr<const rclcpp::SerializedMessage> &) {});
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EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
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asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
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rclcpp::MessageInfo{}));
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}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set(
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[](
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const std::shared_ptr<const rclcpp::SerializedMessage> &,
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const rclcpp::MessageInfo &) {});
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EXPECT_TRUE(asc.is_serialized_message_callback());
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EXPECT_NO_THROW(
177+
asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
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rclcpp::MessageInfo{}));
180+
}
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{
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rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
183+
asc.set([](std::shared_ptr<rclcpp::SerializedMessage>) {});
184+
EXPECT_TRUE(asc.is_serialized_message_callback());
185+
EXPECT_NO_THROW(
186+
asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
188+
rclcpp::MessageInfo{}));
189+
}
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{
191+
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
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asc.set([](std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
193+
EXPECT_TRUE(asc.is_serialized_message_callback());
194+
EXPECT_NO_THROW(
195+
asc.dispatch(
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std::make_shared<rclcpp::SerializedMessage>(),
197+
rclcpp::MessageInfo{}));
198+
}
199+
}
200+
96201
TEST_F(TestAnySubscriptionCallback, unset_dispatch_throw) {
97202
EXPECT_THROW(
98203
any_subscription_callback_.dispatch(msg_shared_ptr_, message_info_),

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