check request header for intraprocess (#139)

* check request header for intraprocess

* set request header intraprocess to false in execute_service

Author: bpwilcox

rclcpp/include/rclcpp/experimental/service_intra_process.hpp

@@ -160,6 +160,7 @@ class ServiceIntraProcess : public ServiceIntraProcessBase
     // we are overloading the rmw_request_id semantics to provide the intra process client ID.
     auto req_id = std::make_shared<rmw_request_id_t>();
     req_id->sequence_number = intra_process_client_id;
+    req_id->from_intra_process = true;
 
     SharedResponse response = any_callback_.dispatch(serv_handle, req_id, std::move(typed_request));
 

rclcpp/include/rclcpp/service.hpp

@@ -545,8 +545,12 @@ class Service
   void
   send_response(rmw_request_id_t & req_id, typename ServiceT::Response & response)
   {
-    if (use_intra_process_)
-    {
+    if (!use_intra_process_ && req_id.from_intra_process) {
+      throw std::invalid_argument(
+        "intraprocess request incompatible with non-intraprocess service");
+    }
+
+    if (use_intra_process_ && req_id.from_intra_process) {
       auto intra_response = std::make_shared<typename ServiceT::Response>(response);
       // The sequence number here is used as a proxy for the intra-process client ID
       service_intra_process_->send_response(req_id.sequence_number, intra_response);

rclcpp/src/rclcpp/executor.cpp

@@ -673,6 +673,7 @@ void
 Executor::execute_service(rclcpp::ServiceBase::SharedPtr service)
 {
   auto request_header = service->create_request_header();
+  request_header->from_intra_process = false;
   std::shared_ptr<void> request = service->create_request();
   take_and_do_error_handling(
     "taking a service server request from service",