Add function for checking QoS profile compatibility (#180)

* Add function for checking QoS profile compatibility

Connected to ros2/rmw#299

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Update tests

Unknown values no longer cause errors, but possibly warnings instead.
We can't test this since it is dependent on the RMW.

We can test for compatibility with no default or unknown values as well as invalid input.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rmw_implementation/src/functions.cpp

@@ -599,6 +599,16 @@ RMW_INTERFACE_FN(
     bool,
     rmw_topic_endpoint_info_array_t *))
 
+RMW_INTERFACE_FN(
+  rmw_qos_profile_check_compatible,
+  rmw_ret_t, RMW_RET_ERROR,
+  5, ARG_TYPES(
+    const rmw_qos_profile_t,
+    const rmw_qos_profile_t,
+    rmw_qos_compatibility_type_t *,
+    char *,
+    size_t))
+
 #define GET_SYMBOL(x) symbol_ ## x = get_symbol(#x);
 
 void prefetch_symbols(void)
@@ -676,6 +686,7 @@ void prefetch_symbols(void)
   GET_SYMBOL(rmw_set_log_severity)
   GET_SYMBOL(rmw_get_publishers_info_by_topic)
   GET_SYMBOL(rmw_get_subscriptions_info_by_topic)
+  GET_SYMBOL(rmw_qos_profile_check_compatible)
 }
 
 void * symbol_rmw_init = nullptr;
@@ -775,6 +786,7 @@ unload_library()
   symbol_rmw_set_log_severity = nullptr;
   symbol_rmw_get_publishers_info_by_topic = nullptr;
   symbol_rmw_get_subscriptions_info_by_topic = nullptr;
+  symbol_rmw_qos_profile_check_compatible = nullptr;
   symbol_rmw_init = nullptr;
   g_rmw_lib.reset();
 }

test_rmw_implementation/CMakeLists.txt

@@ -160,6 +160,16 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_client${target_suffix}
       osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
     )
+
+    ament_add_gtest(test_qos_profile_check_compatible${target_suffix}
+      test/test_qos_profile_check_compatible.cpp
+      ENV ${rmw_implementation_env_var}
+    )
+    target_compile_definitions(test_qos_profile_check_compatible${target_suffix}
+      PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+    ament_target_dependencies(test_qos_profile_check_compatible${target_suffix}
+      rmw rmw_implementation
+    )
   endmacro()
 
   call_for_each_rmw_implementation(test_api)

test_rmw_implementation/test/test_qos_profile_check_compatible.cpp

@@ -0,0 +1,61 @@
+// Copyright 2021 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rmw/qos_profiles.h"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+TEST(CLASSNAME(TestQoSProfilesAreCompatible, RMW_IMPLEMENTATION), compatible) {
+  // A profile without system default or unknown values should be compatible with itself
+  rmw_qos_profile_t qos = {
+    RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+    5,
+    RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
+    RMW_QOS_POLICY_DURABILITY_VOLATILE,
+    {1, 0},   // deadline
+    {1, 0},   // lifespan
+    RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
+    {1, 0},   // liveliness lease duration
+    false
+  };
+  rmw_qos_compatibility_type_t compatible;
+  size_t reason_size = 100u;
+  char reason[100];
+  rmw_ret_t ret = rmw_qos_profile_check_compatible(qos, qos, &compatible, reason, reason_size);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(compatible, RMW_QOS_COMPATIBILITY_OK);
+}
+
+TEST(CLASSNAME(TestQoSProfilesAreCompatible, RMW_IMPLEMENTATION), invalid_input) {
+  // Error on null 'compatible' parameter
+  {
+    rmw_ret_t ret = rmw_qos_profile_check_compatible(
+      rmw_qos_profile_sensor_data, rmw_qos_profile_sensor_data, nullptr, nullptr, 0u);
+    EXPECT_EQ(ret, RMW_RET_INVALID_ARGUMENT);
+  }
+  // Error on null reason and non-zero size
+  {
+    rmw_qos_compatibility_type_t compatible;
+    rmw_ret_t ret = rmw_qos_profile_check_compatible(
+      rmw_qos_profile_sensor_data, rmw_qos_profile_sensor_data, &compatible, nullptr, 1u);
+    EXPECT_EQ(ret, RMW_RET_INVALID_ARGUMENT);
+  }
+}