Add check for invalid topic statistics publish period (#1151) (#1172)

* Add check for invalid topic statistics publish period

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Update documentation

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Address review comments

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Address doc formatting comments

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Update doc spacing

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

rclcpp/include/rclcpp/create_subscription.hpp

@@ -18,6 +18,7 @@
 #include <chrono>
 #include <functional>
 #include <memory>
+#include <stdexcept>
 #include <string>
 #include <utility>
 
@@ -44,6 +45,23 @@ namespace rclcpp
  * The NodeT type only needs to have a method called get_node_topics_interface()
  * which returns a shared_ptr to a NodeTopicsInterface, or be a
  * NodeTopicsInterface pointer itself.
+ *
+ * \tparam MessageT
+ * \tparam CallbackT
+ * \tparam AllocatorT
+ * \tparam CallbackMessageT
+ * \tparam SubscriptionT
+ * \tparam MessageMemoryStrategyT
+ * \tparam NodeT
+ * \param node
+ * \param topic_name
+ * \param qos
+ * \param callback
+ * \param options
+ * \param msg_mem_strat
+ * \return the created subscription
+ * \throws std::invalid_argument if topic statistics is enabled and the publish period is
+ * less than or equal to zero.
  */
 template<
   typename MessageT,
@@ -81,6 +99,13 @@ create_subscription(
       options,
       *node_topics->get_node_base_interface()))
   {
+    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
+      throw std::invalid_argument(
+              "topic_stats_options.publish_period must be greater than 0, specified value of " +
+              std::to_string(options.topic_stats_options.publish_period.count()) +
+              " ms");
+    }
+
     std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
       create_publisher<statistics_msgs::msg::MetricsMessage>(
       node,

rclcpp/include/rclcpp/subscription_options.hpp

@@ -66,7 +66,8 @@ struct SubscriptionOptionsBase
     // Topic to which topic statistics get published when enabled. Defaults to /statistics.
     std::string publish_topic = "/statistics";
 
-    // Topic statistics publication period in ms. Defaults to one minute.
+    // Topic statistics publication period in ms. Defaults to one second.
+    // Only values greater than zero are allowed.
     std::chrono::milliseconds publish_period{std::chrono::seconds(1)};
   };
 

rclcpp/test/topic_statistics/test_subscription_topic_statistics.cpp

@@ -19,6 +19,7 @@
 #include <iostream>
 #include <memory>
 #include <set>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -219,6 +220,30 @@ protected:
   }
 };
 
+TEST(TestSubscriptionTopicStatistics, test_invalid_publish_period)
+{
+  rclcpp::init(0 /* argc */, nullptr /* argv */);
+
+  auto node = std::make_shared<rclcpp::Node>("test_period_node");
+
+  auto options = rclcpp::SubscriptionOptions();
+  options.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;
+  options.topic_stats_options.publish_period = std::chrono::milliseconds(0);
+
+  auto callback = [](Empty::UniquePtr msg) {
+      (void) msg;
+    };
+
+  ASSERT_THROW(
+    (node->create_subscription<Empty, std::function<void(Empty::UniquePtr)>>(
+      "should_throw_invalid_arg",
+      rclcpp::QoS(rclcpp::KeepAll()),
+      callback,
+      options)), std::invalid_argument);
+
+  rclcpp::shutdown();
+}
+
 TEST_F(TestSubscriptionTopicStatisticsFixture, test_manual_construction)
 {
   auto empty_subscriber = std::make_shared<EmptySubscriber>(