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verify client gid uniqueness for a single service event. #2636

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merged 1 commit into from
Oct 1, 2024
Merged

verify client gid uniqueness for a single service event. #2636

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14 changes: 14 additions & 0 deletions rclcpp/test/rclcpp/test_service_introspection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,20 @@ TEST_F(TestServiceIntrospection, service_introspection_nominal)
ASSERT_THAT(
client_gid_arr,
testing::Eq(event_map[ServiceEventInfo::REQUEST_SENT]->info.client_gid));
// TODO(@fujitatomoya): Remove this if statement once other rmw implementations support test.
// Only rmw_connextdds can pass this test requirement for now.
// See more details for https://github.com/ros2/rmw/issues/357
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
ASSERT_THAT(
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confirmed that rmw_fastrtps and rmw_cyclonedds fail in this ASSERTION.

client_gid_arr,
testing::Eq(event_map[ServiceEventInfo::REQUEST_RECEIVED]->info.client_gid));
ASSERT_THAT(
client_gid_arr,
testing::Eq(event_map[ServiceEventInfo::RESPONSE_SENT]->info.client_gid));
}
ASSERT_THAT(
client_gid_arr,
testing::Eq(event_map[ServiceEventInfo::RESPONSE_RECEIVED]->info.client_gid));

ASSERT_EQ(
event_map[ServiceEventInfo::REQUEST_SENT]->info.sequence_number,
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