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Don't check lifespan on subscriber QoS #1002

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Mar 10, 2020
Merged

Don't check lifespan on subscriber QoS #1002

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49 changes: 30 additions & 19 deletions rclcpp/test/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2512,6 +2512,23 @@ TEST_F(TestNode, set_on_parameters_set_callback_set_on_parameters_set_callback)
}, rclcpp::exceptions::ParameterModifiedInCallbackException);
}

void expect_qos_profile_eq(
const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
{
// Depth and history are skipped because they are not retrieved.
EXPECT_EQ(qos1.reliability, qos2.reliability);
EXPECT_EQ(qos1.durability, qos2.durability);
EXPECT_EQ(qos1.deadline.sec, qos2.deadline.sec);
EXPECT_EQ(qos1.deadline.nsec, qos2.deadline.nsec);
if (is_publisher) {
EXPECT_EQ(qos1.lifespan.sec, qos2.lifespan.sec);
EXPECT_EQ(qos1.lifespan.nsec, qos2.lifespan.nsec);
}
EXPECT_EQ(qos1.liveliness, qos2.liveliness);
EXPECT_EQ(qos1.liveliness_lease_duration.sec, qos2.liveliness_lease_duration.sec);
EXPECT_EQ(qos1.liveliness_lease_duration.nsec, qos2.liveliness_lease_duration.nsec);
}

// test that calling get_publishers_info_by_topic and get_subscriptions_info_by_topic
TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
Expand Down Expand Up @@ -2554,23 +2571,10 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
EXPECT_EQ("test_msgs/msg/BasicTypes", publisher_list[0].topic_type());
EXPECT_EQ(rclcpp::EndpointType::Publisher, publisher_list[0].endpoint_type());
auto actual_qos_profile = publisher_list[0].qos_profile().get_rmw_qos_profile();

auto assert_qos_profile = [](const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2) {
// Depth and history are skipped because they are not retrieved.
EXPECT_EQ(qos1.reliability, qos2.reliability);
EXPECT_EQ(qos1.durability, qos2.durability);
EXPECT_EQ(memcmp(&qos1.deadline, &qos2.deadline, sizeof(struct rmw_time_t)), 0);
EXPECT_EQ(memcmp(&qos1.lifespan, &qos2.lifespan, sizeof(struct rmw_time_t)), 0);
EXPECT_EQ(qos1.liveliness, qos2.liveliness);
EXPECT_EQ(
memcmp(
&qos1.liveliness_lease_duration,
&qos2.liveliness_lease_duration,
sizeof(struct rmw_time_t)),
0);
};

assert_qos_profile(qos.get_rmw_qos_profile(), actual_qos_profile);
{
SCOPED_TRACE("Publisher QOS 1");
expect_qos_profile_eq(qos.get_rmw_qos_profile(), actual_qos_profile, true);
}

// Add a subscription
rclcpp::QoSInitialization qos_initialization2 =
Expand Down Expand Up @@ -2609,13 +2613,20 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
EXPECT_EQ("test_msgs/msg/BasicTypes", publisher_list[0].topic_type());
EXPECT_EQ(rclcpp::EndpointType::Publisher, publisher_list[0].endpoint_type());
auto publisher_qos_profile = publisher_list[0].qos_profile().get_rmw_qos_profile();
assert_qos_profile(qos.get_rmw_qos_profile(), publisher_qos_profile);
{
SCOPED_TRACE("Publisher QOS 2");
expect_qos_profile_eq(qos.get_rmw_qos_profile(), publisher_qos_profile, true);
}

EXPECT_EQ(node->get_name(), subscription_list[0].node_name());
EXPECT_EQ(node->get_namespace(), subscription_list[0].node_namespace());
EXPECT_EQ("test_msgs/msg/BasicTypes", subscription_list[0].topic_type());
EXPECT_EQ(rclcpp::EndpointType::Subscription, subscription_list[0].endpoint_type());
auto subscription_qos_profile = subscription_list[0].qos_profile().get_rmw_qos_profile();
assert_qos_profile(qos2.get_rmw_qos_profile(), subscription_qos_profile);
{
SCOPED_TRACE("Subscription QOS");
expect_qos_profile_eq(qos2.get_rmw_qos_profile(), subscription_qos_profile, false);
}

// Error cases
EXPECT_THROW(
Expand Down