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Throw nice errors when creating a publisher with intraprocess communication and incompatible qos policy #729

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May 22, 2019
Merged

Throw nice errors when creating a publisher with intraprocess communication and incompatible qos policy #729

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c9ab139
Throw nice errors when creating a publisher with intraprocess communi…
ivanpauno May 21, 2019
07cf3e4
Correct with PR comment
ivanpauno May 22, 2019
bb6b25e
Correct excetion type in setup_intra_process. Updated invalid qos test
ivanpauno May 22, 2019
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8 changes: 8 additions & 0 deletions rclcpp/src/rclcpp/node_interfaces/node_topics.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,14 @@ NodeTopics::create_publisher(
// Get the intra process manager instance for this context.
auto ipm = context->get_sub_context<rclcpp::intra_process_manager::IntraProcessManager>();
// Register the publisher with the intra process manager.
if (publisher_options.qos.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
throw std::invalid_argument(
"intraprocess communication is not allowed with keep all history qos policy");
}
if (publisher_options.qos.depth == 0) {
throw std::invalid_argument(
"intraprocess communication is not allowed with a zero qos history depth value");
}
uint64_t intra_process_publisher_id = ipm->add_publisher(publisher);
publisher->setup_intra_process(
intra_process_publisher_id,
Expand Down
2 changes: 1 addition & 1 deletion rclcpp/src/rclcpp/publisher_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,7 +265,7 @@ PublisherBase::setup_intra_process(
{
// Intraprocess configuration is not allowed with "durability" qos policy non "volatile".
if (this->get_actual_qos().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
throw exceptions::InvalidParametersException(
throw std::invalid_argument(
"intraprocess communication is not allowed with durability qos policy non-volatile");
}
const char * topic_name = this->get_topic_name();
Expand Down
75 changes: 51 additions & 24 deletions rclcpp/test/test_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,7 @@

#include <string>
#include <memory>
#include <vector>

#include "rclcpp/exceptions.hpp"
#include "rclcpp/rclcpp.hpp"
Expand All @@ -24,12 +25,13 @@

class TestPublisher : public ::testing::Test
{
protected:
public:
static void SetUpTestCase()
{
rclcpp::init(0, nullptr);
}

protected:
void initialize(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions())
{
node = std::make_shared<rclcpp::Node>("my_node", "/ns", node_options);
Expand All @@ -43,6 +45,25 @@ class TestPublisher : public ::testing::Test
rclcpp::Node::SharedPtr node;
};

struct TestParameters
{
TestParameters(rclcpp::QoS qos, std::string description)
: qos(qos), description(description) {}
rclcpp::QoS qos;
std::string description;
};

std::ostream & operator<<(std::ostream & out, const TestParameters & params)
{
out << params.description;
return out;
}

class TestPublisherInvalidIntraprocessQos
: public TestPublisher,
public ::testing::WithParamInterface<TestParameters>
{};

class TestPublisherSub : public ::testing::Test
{
protected:
Expand All @@ -65,14 +86,6 @@ class TestPublisherSub : public ::testing::Test
rclcpp::Node::SharedPtr subnode;
};

static constexpr rmw_qos_profile_t invalid_qos_profile()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.depth = 1;
profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
return profile;
}

/*
Testing publisher construction and destruction.
*/
Expand Down Expand Up @@ -165,29 +178,43 @@ TEST_F(TestPublisher, various_creation_signatures) {
/*
Testing publisher with intraprocess enabled and invalid QoS
*/
TEST_F(TestPublisher, intraprocess_with_invalid_qos) {
TEST_P(TestPublisherInvalidIntraprocessQos, test_publisher_throws) {
initialize(rclcpp::NodeOptions().use_intra_process_comms(true));
rmw_qos_profile_t qos = invalid_qos_profile();
rclcpp::QoS qos = GetParam().qos;
using rcl_interfaces::msg::IntraProcessMessage;
{
#if !defined(_WIN32)
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#else // !defined(_WIN32)
# pragma warning(push)
# pragma warning(disable: 4996)
#endif
ASSERT_THROW(
{auto publisher = node->create_publisher<IntraProcessMessage>("topic", qos);},
rclcpp::exceptions::InvalidParametersException);
#if !defined(_WIN32)
# pragma GCC diagnostic pop
#else // !defined(_WIN32)
# pragma warning(pop)
#endif
std::invalid_argument);
}
}

static std::vector<TestParameters> invalid_qos_profiles()
{
std::vector<TestParameters> parameters;

parameters.reserve(3);
parameters.push_back(
TestParameters(
rclcpp::QoS(rclcpp::KeepLast(10)).transient_local(),
"transient_local_qos"));
parameters.push_back(
TestParameters(
rclcpp::QoS(rclcpp::KeepLast(0)),
"keep_last_qos_with_zero_history_depth"));
parameters.push_back(
TestParameters(
rclcpp::QoS(rclcpp::KeepAll()),
"keep_all_qos"));

return parameters;
}

INSTANTIATE_TEST_CASE_P(
TestPublisherThrows, TestPublisherInvalidIntraprocessQos,
::testing::ValuesIn(invalid_qos_profiles()),
::testing::PrintToStringParamName());

/*
Testing publisher construction and destruction for subnodes.
*/
Expand Down