-
Notifications
You must be signed in to change notification settings - Fork 163
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Add function to get publisher actual qos settings (#406)
* Add rcl_publisher_get_actual_qos function Signed-off-by: ivanpauno <[email protected]> * Add test for rcl_publisher_get_actual_qos Signed-off-by: ivanpauno <[email protected]> * Correct RMW_IMPLEMENTATION checking. Add opensplice system default qos test Signed-off-by: ivanpauno <[email protected]> * Add system default test for connext Signed-off-by: ivanpauno <[email protected]> * Solve windows build problem Signed-off-by: ivanpauno <[email protected]>
- Loading branch information
Showing
4 changed files
with
279 additions
and
1 deletion.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,223 @@ | ||
| // Copyright 2019 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 <string> | ||
| #include <vector> | ||
|
|
||
| #include "rcl/error_handling.h" | ||
| #include "rcl/rcl.h" | ||
| #include "rcl/publisher.h" | ||
|
|
||
| #include "rcutils/logging_macros.h" | ||
| #include "rcutils/macros.h" | ||
|
|
||
| #include "test_msgs/msg/primitives.h" | ||
| #include "test_msgs/srv/primitives.h" | ||
|
|
||
| #ifdef RMW_IMPLEMENTATION | ||
| # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX | ||
| # define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX) | ||
| # define RMW_IMPLEMENTATION_STR RCUTILS_STRINGIFY(RMW_IMPLEMENTATION) | ||
| #else | ||
| # define CLASSNAME(NAME, SUFFIX) NAME | ||
| #endif | ||
|
|
||
| #define EXPAND(x) x | ||
| #define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME(test_fixture_name, \ | ||
| RMW_IMPLEMENTATION) | ||
| #define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__)) | ||
| #define TEST_P_RMW(test_case_name, test_name) \ | ||
| APPLY(TEST_P, \ | ||
| CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name) | ||
| #define INSTANTIATE_TEST_CASE_P_RMW(instance_name, test_case_name, ...) \ | ||
| EXPAND(APPLY(INSTANTIATE_TEST_CASE_P, instance_name, \ | ||
| CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__)) | ||
|
|
||
| /** | ||
| * Parameterized test. | ||
| * The first param are the NodeOptions used to create the nodes. | ||
| * The second param are the expect intraprocess count results. | ||
| */ | ||
| struct TestParameters | ||
| { | ||
| rmw_qos_profile_t qos_to_set; | ||
| rmw_qos_profile_t qos_expected; | ||
| std::string description; | ||
| }; | ||
|
|
||
| std::ostream & operator<<( | ||
| std::ostream & out, | ||
| const TestParameters & params) | ||
| { | ||
| out << params.description; | ||
| return out; | ||
| } | ||
|
|
||
| class TEST_FIXTURE_P_RMW (TestGetActualQoS) | ||
| : public ::testing::TestWithParam<TestParameters> | ||
| { | ||
| public: | ||
| rcl_node_t * node_ptr; | ||
| rcl_context_t * context_ptr; | ||
| void SetUp() | ||
| { | ||
| rcl_ret_t ret; | ||
| rcl_node_options_t node_options = rcl_node_get_default_options(); | ||
|
|
||
| rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); | ||
| ret = rcl_init_options_init(&init_options, rcl_get_default_allocator()); | ||
| ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; | ||
| this->context_ptr = new rcl_context_t; | ||
| *this->context_ptr = rcl_get_zero_initialized_context(); | ||
| ret = rcl_init(0, nullptr, &init_options, this->context_ptr); | ||
| ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; | ||
| this->node_ptr = new rcl_node_t; | ||
| *this->node_ptr = rcl_get_zero_initialized_node(); | ||
| const char * name = "test_get_actual_qos_node"; | ||
| ret = rcl_node_init(this->node_ptr, name, "", this->context_ptr, &node_options); | ||
| ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; | ||
| } | ||
|
|
||
| void TearDown() | ||
| { | ||
| rcl_ret_t ret; | ||
|
|
||
| ret = rcl_node_fini(this->node_ptr); | ||
| delete this->node_ptr; | ||
| EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; | ||
|
|
||
| ret = rcl_shutdown(this->context_ptr); | ||
| EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; | ||
|
|
||
| ret = rcl_context_fini(this->context_ptr); | ||
| delete this->context_ptr; | ||
| EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; | ||
| } | ||
| }; | ||
|
|
||
| TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) { | ||
| TestParameters parameters = GetParam(); | ||
| std::string topic_name("/test_publisher_get_actual_qos__"); | ||
| rcl_ret_t ret; | ||
|
|
||
| rcl_publisher_t pub = rcl_get_zero_initialized_publisher(); | ||
| rcl_publisher_options_t pub_ops = rcl_publisher_get_default_options(); | ||
| pub_ops.qos = parameters.qos_to_set; | ||
| auto ts = ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Primitives); | ||
| ret = rcl_publisher_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_publisher_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_EQ( | ||
| qos->avoid_ros_namespace_conventions, | ||
| parameters.qos_expected.avoid_ros_namespace_conventions); | ||
|
|
||
| ret = rcl_publisher_fini(&pub, this->node_ptr); | ||
| EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str; | ||
| rcl_reset_error(); | ||
| } | ||
|
|
||
| std::vector<TestParameters> | ||
| get_parameters() | ||
| { | ||
| 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. | ||
| */ | ||
| { | ||
| { | ||
| RMW_QOS_POLICY_HISTORY_KEEP_ALL, | ||
| 1000, | ||
| RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT, | ||
| RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, | ||
| true | ||
| }, | ||
| { | ||
| RMW_QOS_POLICY_HISTORY_KEEP_ALL, | ||
| 1000, | ||
| RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT, | ||
| RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, | ||
| true | ||
| }, | ||
| "publisher_non_default_qos" | ||
| } | ||
| }); | ||
|
|
||
| #ifdef RMW_IMPLEMENTATION_STR | ||
| std::string rmw_implementation_str = RMW_IMPLEMENTATION_STR; | ||
| if (!rmw_implementation_str.compare("rmw_fastrtps_cpp") || | ||
| !rmw_implementation_str.compare("rmw_fastrtps_dynamic_cpp")) | ||
| { | ||
| rmw_qos_profile_t expected_system_default_qos = { | ||
| RMW_QOS_POLICY_HISTORY_KEEP_LAST, | ||
| 1, | ||
| RMW_QOS_POLICY_RELIABILITY_RELIABLE, | ||
| RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, | ||
| false}; | ||
| parameters.push_back({ | ||
| rmw_qos_profile_system_default, | ||
| expected_system_default_qos, | ||
| "publisher_system_default_qos"}); | ||
| } else { | ||
| if (!rmw_implementation_str.compare("rmw_opensplice_cpp") || | ||
| !rmw_implementation_str.compare("rmw_connext_cpp") || | ||
| !rmw_implementation_str.compare("rmw_connext_dynamic_cpp")) | ||
| { | ||
| rmw_qos_profile_t expected_system_default_qos = { | ||
| RMW_QOS_POLICY_HISTORY_KEEP_LAST, | ||
| 1, | ||
| RMW_QOS_POLICY_RELIABILITY_RELIABLE, | ||
| RMW_QOS_POLICY_DURABILITY_VOLATILE, | ||
| false}; | ||
| parameters.push_back({ | ||
| rmw_qos_profile_system_default, | ||
| expected_system_default_qos, | ||
| "publisher_system_default_qos"}); | ||
| } | ||
| } | ||
| #endif | ||
| return parameters; | ||
| } | ||
|
|
||
| INSTANTIATE_TEST_CASE_P_RMW( | ||
| TestWithDifferentQoSSettings, | ||
| TestGetActualQoS, | ||
| ::testing::ValuesIn(get_parameters()), | ||
| ::testing::PrintToStringParamName()); |