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Implement get_actual_qos() for subscriptions (#455)

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Signed-off-by: Miaofei <miaofei@amazon.com>
This commit is contained in:
M. M 2019-06-12 08:51:15 -07:00 • committed by ivanpauno
parent ec8539b65c
commit b6f4bc97fa
4 changed files with 316 additions and 35 deletions
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26
rcl/include/rcl/subscription.h
View file

@ -445,6 +445,32 @@ rcl_subscription_get_publisher_count(
const rcl_subscription_t * subscription,
size_t * publisher_count);
/// Get the actual qos settings of the subscription.
/**
* Used to get the actual qos settings of the subscription.
* The actual configuration applied when using RMW_*_SYSTEM_DEFAULT
* can only be resolved after the creation of the subscription, and it
* depends on the underlying rmw implementation.
* If the underlying setting in use can't be represented in ROS terms,
* it will be set to RMW_*_UNKNOWN.
* The returned struct is only valid as long as the rcl_subscription_t is valid.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | No
* Thread-Safe | Yes
* Uses Atomics | No
* Lock-Free | Yes
*
* \param[in] subscription pointer to the rcl subscription
* \return qos struct if successful, otherwise `NULL`
*/
RCL_PUBLIC
RCL_WARN_UNUSED
const rmw_qos_profile_t *
rcl_subscription_get_actual_qos(const rcl_subscription_t * subscription);
#ifdef __cplusplus
}
#endif

20
rcl/src/rcl/subscription.c
View file

@ -167,6 +167,17 @@ rcl_subscription_init(
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
goto fail;
}
// get actual qos, and store it
rmw_ret = rmw_subscription_get_actual_qos(
subscription->impl->rmw_handle,
&subscription->impl->actual_qos);
if (RMW_RET_OK != rmw_ret) {
RCL_SET_ERROR_MSG(rmw_get_error_string().str);
ret = RCL_RET_ERROR;
goto fail;
}
subscription->impl->actual_qos.avoid_ros_namespace_conventions =
options->qos.avoid_ros_namespace_conventions;
// options
subscription->impl->options = *options;
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription initialized");
@ -359,6 +370,15 @@ rcl_subscription_get_publisher_count(
return RCL_RET_OK;
}
const rmw_qos_profile_t *
rcl_subscription_get_actual_qos(const rcl_subscription_t * subscription)
{
if (!rcl_subscription_is_valid(subscription)) {
return NULL;
}
return &subscription->impl->actual_qos;
}
#ifdef __cplusplus
}
#endif

1
rcl/src/rcl/subscription_impl.h
View file

@ -22,6 +22,7 @@
typedef struct rcl_subscription_impl_t
{
rcl_subscription_options_t options;
rmw_qos_profile_t actual_qos;
rmw_subscription_t * rmw_handle;
} rcl_subscription_impl_t;

298
rcl/test/rcl/test_get_actual_qos.cpp
View file

@ -67,6 +67,34 @@ std::ostream & operator<<(
return out;
}
bool operator==(
const rmw_time_t & lhs,
const rmw_time_t & rhs)
{
return lhs.sec == rhs.sec && lhs.nsec == rhs.nsec;
}
bool operator>=(
const rmw_time_t & lhs,
const rmw_time_t & rhs)
{
if (lhs.sec > rhs.sec) {
return true;
} else if (lhs.sec == rhs.sec) {
return lhs.nsec >= rhs.nsec;
} else {
return false;
}
}
std::ostream & operator<<(
std::ostream & out,
const rmw_time_t & param)
{
out << "sec: " << param.sec << " nsec: " << param.nsec;
return out;
}
class TEST_FIXTURE_P_RMW (TestGetActualQoS)
: public ::testing::TestWithParam<TestParameters>
{
@ -114,7 +142,12 @@ protected:
rcl_context_t * context_ptr;
};
TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
class TEST_FIXTURE_P_RMW (TestPublisherGetActualQoS)
: public TEST_FIXTURE_P_RMW(TestGetActualQoS) {};
TEST_P_RMW(TestPublisherGetActualQoS, test_publisher_get_qos_settings)
{
TestParameters parameters = GetParam();
std::string topic_name("/test_publisher_get_actual_qos__");
rcl_ret_t ret;
@ -130,6 +163,7 @@ TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
const rmw_qos_profile_t * qos;
qos = rcl_publisher_get_actual_qos(&pub);
EXPECT_NE(nullptr, qos) << rcl_get_error_string().str;
EXPECT_EQ(
qos->history,
parameters.qos_expected.history);
@ -142,6 +176,18 @@ TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
EXPECT_EQ(
qos->durability,
parameters.qos_expected.durability);
EXPECT_GE(
qos->deadline,
parameters.qos_expected.deadline);
EXPECT_GE(
qos->lifespan,
parameters.qos_expected.lifespan);
EXPECT_EQ(
qos->liveliness,
parameters.qos_expected.liveliness);
EXPECT_GE(
qos->liveliness_lease_duration,
parameters.qos_expected.liveliness_lease_duration);
EXPECT_EQ(
qos->avoid_ros_namespace_conventions,
parameters.qos_expected.avoid_ros_namespace_conventions);
@ -151,56 +197,198 @@ TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
rcl_reset_error();
}
static constexpr rmw_qos_profile_t non_default_qos_profile()
class TEST_FIXTURE_P_RMW (TestSubscriptionGetActualQoS)
: public TEST_FIXTURE_P_RMW(TestGetActualQoS) {};
TEST_P_RMW(TestSubscriptionGetActualQoS, test_subscription_get_qos_settings)
{
TestParameters parameters = GetParam();
std::string topic_name("/test_subscription_get_qos_settings");
rcl_ret_t ret;
rcl_subscription_t pub = rcl_get_zero_initialized_subscription();
rcl_subscription_options_t pub_ops = rcl_subscription_get_default_options();
pub_ops.qos = parameters.qos_to_set;
auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
ret = rcl_subscription_init(&pub, this->node_ptr, ts, topic_name.c_str(), &pub_ops);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
const rmw_qos_profile_t * qos;
qos = rcl_subscription_get_actual_qos(&pub);
EXPECT_NE(nullptr, qos) << rcl_get_error_string().str;
EXPECT_EQ(
qos->history,
parameters.qos_expected.history);
EXPECT_EQ(
qos->depth,
parameters.qos_expected.depth);
EXPECT_EQ(
qos->reliability,
parameters.qos_expected.reliability);
EXPECT_EQ(
qos->durability,
parameters.qos_expected.durability);
EXPECT_GE(
qos->deadline,
parameters.qos_expected.deadline);
// note: lifespan is not a concept in subscriptions
EXPECT_EQ(
qos->liveliness,
parameters.qos_expected.liveliness);
EXPECT_GE(
qos->liveliness_lease_duration,
parameters.qos_expected.liveliness_lease_duration);
EXPECT_EQ(
qos->avoid_ros_namespace_conventions,
parameters.qos_expected.avoid_ros_namespace_conventions);
ret = rcl_subscription_fini(&pub, this->node_ptr);
EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
rcl_reset_error();
}
//
// other input profile settings
//
static constexpr rmw_qos_profile_t
nondefault_qos_profile()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
profile.depth = 1000;
profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
profile.deadline.sec = 1;
profile.lifespan.nsec = 500000;
profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
profile.liveliness_lease_duration.sec = 1;
profile.avoid_ros_namespace_conventions = true;
return profile;
}
static constexpr rmw_qos_profile_t expected_fastrtps_default_qos_profile()
static constexpr rmw_qos_profile_t
nondefault_qos_profile_for_fastrtps()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
profile.depth = 1000;
profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
profile.deadline.sec = 1;
profile.lifespan.nsec = 500000;
profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
// profile.liveliness_lease_duration.sec = 1; // fastrtps does not fully support liveliness
profile.avoid_ros_namespace_conventions = true;
return profile;
}
//
// expected output profile settings
//
static constexpr rmw_qos_profile_t
expected_default_qos_profile()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.deadline.sec = 2147483647;
profile.lifespan.sec = 2147483647;
profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
profile.liveliness_lease_duration.sec = 2147483647;
return profile;
}
static constexpr rmw_qos_profile_t
expected_nondefault_qos_profile()
{
return nondefault_qos_profile();
}
static constexpr rmw_qos_profile_t
expected_nondefault_qos_profile_for_fastrtps()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
profile.depth = 1000;
profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
profile.deadline.sec = 1;
profile.lifespan.nsec = 500000;
profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
profile.liveliness_lease_duration.sec = 2147483647;
profile.avoid_ros_namespace_conventions = true;
return profile;
}
static constexpr rmw_qos_profile_t
expected_system_default_publisher_qos_profile()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.depth = 1;
profile.deadline.sec = 2147483647;
profile.lifespan.sec = 2147483647;
profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
profile.liveliness_lease_duration.sec = 2147483647;
return profile;
}
static constexpr rmw_qos_profile_t
expected_system_default_publisher_qos_profile_for_fastrtps()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.depth = 1;
profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
profile.liveliness_lease_duration.sec = 2147483647;
return profile;
}
static constexpr rmw_qos_profile_t expected_system_default_qos_profile()
static constexpr rmw_qos_profile_t
expected_system_default_subscription_qos_profile()
{
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.depth = 1;
profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
profile.deadline.sec = 2147483647;
profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
profile.liveliness_lease_duration.sec = 2147483647;
return profile;
}
std::vector<TestParameters>
get_parameters()
static constexpr rmw_qos_profile_t
expected_system_default_subscription_qos_profile_for_fastrtps()
{
std::vector<TestParameters>
parameters({
/*
Testing with default qos settings.
*/
{
rmw_qos_profile_default,
rmw_qos_profile_default,
"publisher_default_qos"
},
/*
Test with non-default settings.
*/
{
non_default_qos_profile(),
non_default_qos_profile(),
"publisher_non_default_qos"
rmw_qos_profile_t profile = rmw_qos_profile_default;
profile.depth = 1;
profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
profile.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
profile.deadline.sec = 2147483647;
profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
profile.liveliness_lease_duration.sec = 2147483647;
return profile;
}
//
// create set of input and expected output profile setting pairs
//
std::vector<TestParameters>
get_parameters(bool for_publisher)
{
std::vector<TestParameters> parameters;
/*
* Testing with default qos settings.
*/
parameters.push_back({
rmw_qos_profile_default,
expected_default_qos_profile(),
"default_qos"
});
#ifdef RMW_IMPLEMENTATION_STR
@ -208,21 +396,61 @@ get_parameters()
if (rmw_implementation_str == "rmw_fastrtps_cpp" ||
rmw_implementation_str == "rmw_fastrtps_dynamic_cpp")
{
rmw_qos_profile_t expected_system_default_qos = expected_fastrtps_default_qos_profile();
/*
* Test with non-default settings.
*/
parameters.push_back({
nondefault_qos_profile_for_fastrtps(),
expected_nondefault_qos_profile_for_fastrtps(),
"nondefault_qos"
});
/*
* Test with system default settings.
*/
if (for_publisher) {
parameters.push_back({
rmw_qos_profile_system_default,
expected_system_default_qos,
"publisher_system_default_qos"});
expected_system_default_publisher_qos_profile_for_fastrtps(),
"system_default_publisher_qos"
});
} else {
parameters.push_back({
rmw_qos_profile_system_default,
expected_system_default_subscription_qos_profile_for_fastrtps(),
"system_default_publisher_qos"
});
}
} else {
if (rmw_implementation_str == "rmw_connext_cpp" ||
rmw_implementation_str == "rmw_connext_dynamic_cpp" ||
rmw_implementation_str == "rmw_opensplice_cpp")
{
rmw_qos_profile_t expected_system_default_qos = expected_system_default_qos_profile();
/*
* Test with non-default settings.
*/
parameters.push_back({
nondefault_qos_profile(),
expected_nondefault_qos_profile(),
"nondefault_qos"
});
/*
* Test with system default settings.
*/
if (for_publisher) {
parameters.push_back({
rmw_qos_profile_system_default,
expected_system_default_qos,
"publisher_system_default_qos"});
expected_system_default_publisher_qos_profile(),
"system_default_publisher_qos"
});
} else {
parameters.push_back({
rmw_qos_profile_system_default,
expected_system_default_subscription_qos_profile(),
"system_default_publisher_qos"
});
}
}
}
#endif
@ -231,7 +459,13 @@ get_parameters()
}
INSTANTIATE_TEST_CASE_P_RMW(
TestWithDifferentQoSSettings,
TestGetActualQoS,
::testing::ValuesIn(get_parameters()),
TestPublisherWithDifferentQoSSettings,
TestPublisherGetActualQoS,
::testing::ValuesIn(get_parameters(true)),
::testing::PrintToStringParamName());
INSTANTIATE_TEST_CASE_P_RMW(
TestSubscriptionWithDifferentQoSSettings,
TestSubscriptionGetActualQoS,
::testing::ValuesIn(get_parameters(false)),
::testing::PrintToStringParamName());