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Don't check lifespan on publisher QoS (#1002)

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Signed-off-by: Dan Rose <dan@digilabs.io>
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Dan Rose 2020-03-10 15:51:40 -05:00 • committed by GitHub
parent d508ce3492
commit 96ebf59a60
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1 changed files with 30 additions and 19 deletions
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49
rclcpp/test/test_node.cpp
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@ -2512,6 +2512,23 @@ TEST_F(TestNode, set_on_parameters_set_callback_set_on_parameters_set_callback)
}, rclcpp::exceptions::ParameterModifiedInCallbackException); }, 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 that calling get_publishers_info_by_topic and get_subscriptions_info_by_topic
TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) { TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns"); auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
@ -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("test_msgs/msg/BasicTypes", publisher_list[0].topic_type());
EXPECT_EQ(rclcpp::EndpointType::Publisher, publisher_list[0].endpoint_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 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) { SCOPED_TRACE("Publisher QOS 1");
// Depth and history are skipped because they are not retrieved. expect_qos_profile_eq(qos.get_rmw_qos_profile(), actual_qos_profile, true);
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);
// Add a subscription // Add a subscription
rclcpp::QoSInitialization qos_initialization2 = rclcpp::QoSInitialization qos_initialization2 =
@ -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("test_msgs/msg/BasicTypes", publisher_list[0].topic_type());
EXPECT_EQ(rclcpp::EndpointType::Publisher, publisher_list[0].endpoint_type()); EXPECT_EQ(rclcpp::EndpointType::Publisher, publisher_list[0].endpoint_type());
auto publisher_qos_profile = publisher_list[0].qos_profile().get_rmw_qos_profile(); 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_name(), subscription_list[0].node_name());
EXPECT_EQ(node->get_namespace(), subscription_list[0].node_namespace()); EXPECT_EQ(node->get_namespace(), subscription_list[0].node_namespace());
EXPECT_EQ("test_msgs/msg/BasicTypes", subscription_list[0].topic_type()); EXPECT_EQ("test_msgs/msg/BasicTypes", subscription_list[0].topic_type());
EXPECT_EQ(rclcpp::EndpointType::Subscription, subscription_list[0].endpoint_type()); EXPECT_EQ(rclcpp::EndpointType::Subscription, subscription_list[0].endpoint_type());
auto subscription_qos_profile = subscription_list[0].qos_profile().get_rmw_qos_profile(); 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 // Error cases
EXPECT_THROW( EXPECT_THROW(