Add function for checking QoS profile compatibility

Connected to ros2/rmw#299

Signed-off-by: Jacob Perron <[email protected]>

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_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${target_suffix}
       osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
     )
+
+    ament_add_gtest(test_qos_profiles_are_compatible${target_suffix}
+      test/test_qos_profiles_are_compatible.cpp
+      ENV ${rmw_implementation_env_var}
+    )
+    target_compile_definitions(test_qos_profiles_are_compatible${target_suffix}
+      PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+    ament_target_dependencies(test_qos_profiles_are_compatible${target_suffix}
+      rmw rmw_implementation
+    )
   endmacro()
 
   call_for_each_rmw_implementation(test_api)

test_rmw_implementation/test/test_qos_profiles_are_compatible.cpp

@@ -0,0 +1,59 @@
+// 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 "osrf_testing_tools_cpp/memory_tools/gtest_quickstart.hpp"
+
+#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) {
+  // All of the provided profiles should be compatible
+  EXPECT_TRUE(
+    rmw_qos_profile_check_compatible(rmw_qos_profile_sensor_data, rmw_qos_profile_sensor_data));
+  EXPECT_TRUE(
+    rmw_qos_profile_check_compatible(rmw_qos_profile_default, rmw_qos_profile_default));
+  EXPECT_TRUE(
+    rmw_qos_profile_check_compatible(rmw_qos_profile_parameters, rmw_qos_profile_parameters));
+  EXPECT_TRUE(
+    rmw_qos_profile_check_compatible(
+      rmw_qos_profile_parameter_events, rmw_qos_profile_parameter_events));
+  EXPECT_TRUE(
+    rmw_qos_profile_check_compatible(
+      rmw_qos_profile_services_default, rmw_qos_profile_services_default));
+  EXPECT_TRUE(
+    rmw_qos_profile_check_compatible(
+      rmw_qos_profile_system_default, rmw_qos_profile_system_default));
+}
+
+TEST(CLASSNAME(TestQoSProfilesAreCompatible, RMW_IMPLEMENTATION), not_compatible) {
+  // Nothing should be compatible with "unknown"
+  EXPECT_FALSE(
+    rmw_qos_profile_check_compatible(rmw_qos_profile_sensor_data, rmw_qos_profile_unknown));
+  EXPECT_FALSE(rmw_qos_profile_check_compatible(rmw_qos_profile_default, rmw_qos_profile_unknown));
+  EXPECT_FALSE(rmw_qos_profile_check_compatible(rmw_qos_profile_parameters, rmw_qos_profile_unknown));
+  EXPECT_FALSE(
+    rmw_qos_profile_check_compatible(rmw_qos_profile_parameter_events, rmw_qos_profile_unknown));
+  EXPECT_FALSE(
+    rmw_qos_profile_check_compatible(rmw_qos_profile_services_default, rmw_qos_profile_unknown));
+  EXPECT_FALSE(
+    rmw_qos_profile_check_compatible(rmw_qos_profile_system_default, rmw_qos_profile_unknown));
+}