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Implementing get_qos_for_publishers/subscribers
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- Implemented the functions defined in ros2#511
  - rcl_get_qos_for_publishers
  - rcl_get_qos_for_subscribers
- Wrote tests for the same

Note: colcon build --packages-up-to rcl && colcon test --packages-select rcl && colcon test-result --verbose --test-result-base build/rcl
runs successfully without any errors or failures.

Signed-off-by: Jaison Titus <jaisontj92@gmail.com>
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@jaisontj
jaisontj committed Oct 8, 2019
1 parent 4b1aea0 commit 4d20bda
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Showing 2 changed files with 193 additions and 0 deletions.
61 changes: 61 additions & 0 deletions rcl/src/rcl/graph.c
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Original file line number Diff line number Diff line change
Expand Up @@ -375,6 +375,67 @@ rcl_count_subscribers(
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}


typedef rmw_ret_t (* get_qos_func)(
const rmw_node_t * node, const char * topic_name,
rmw_participants_t * participants);

rcl_ret_t
__rcl_get_qos_for_participants(
const rcl_node_t * node,
const char * topic_name,
rmw_participants_t * participants,
get_qos_func get_qos_for_participants)
{
if (!rcl_node_is_valid(node)) {
RCL_SET_ERROR_MSG("Invalid node provided.");
return RCL_RET_NODE_INVALID; // error already set
}
const rcl_node_options_t * node_options = rcl_node_get_options(node);
if (!node_options) {
RCL_SET_ERROR_MSG("Node options are invalid.");
return RCL_RET_NODE_INVALID; // shouldn't happen, but error is already set if so
}
RCL_CHECK_ARGUMENT_FOR_NULL(topic_name, RCL_RET_INVALID_ARGUMENT);
RCL_CHECK_ARGUMENT_FOR_NULL(participants, RCL_RET_INVALID_ARGUMENT);
if (participants->participants != NULL) {
RCL_SET_ERROR_MSG("The variable participants inside rmw_participants_t should be set to null. "
"It will be malloc'd where it gets populated.");
return RCL_RET_INVALID_ARGUMENT;
}
rmw_ret_t rmw_ret = get_qos_for_participants(
rcl_node_get_rmw_handle(node),
topic_name,
participants);
return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
}

rcl_ret_t
rcl_get_qos_for_publishers(
const rcl_node_t * node,
const char * topic_name,
rmw_participants_t * publishers)
{
return __rcl_get_qos_for_participants(
node,
topic_name,
publishers,
rmw_get_qos_for_publishers);
}

rcl_ret_t
rcl_get_qos_for_subscribers(
const rcl_node_t * node,
const char * topic_name,
rmw_participants_t * subscribers)
{
return __rcl_get_qos_for_participants(
node,
topic_name,
subscribers,
rmw_get_qos_for_subscribers);
}

rcl_ret_t
rcl_service_server_is_available(
const rcl_node_t * node,
Expand Down
132 changes: 132 additions & 0 deletions rcl/test/rcl/test_graph.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,9 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
rcl_wait_set_t * wait_set_ptr;
const char * test_graph_node_name = "test_graph_node";

rmw_participants_t * participants;
const char * topic_name = "valid_topic_name";

void SetUp()
{
rcl_ret_t ret;
Expand Down Expand Up @@ -101,6 +104,12 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
ret = rcl_wait_set_init(
this->wait_set_ptr, 0, 1, 0, 0, 0, 0, this->context_ptr, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;

rmw_participants_t valid_participants = {
0, /*count*/
nullptr /*participants*/
};
this->participants = &valid_participants;
}

void TearDown()
Expand Down Expand Up @@ -1321,3 +1330,126 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_rcl_service_server_
wait_for_service_state_to_change(false, is_available);
ASSERT_FALSE(is_available);
}


/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_publishers_null_node)
{
auto ret = rcl_get_qos_for_publishers(nullptr, this->topic_name, this->participants);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_subscribers_null_node)
{
auto ret = rcl_get_qos_for_subscribers(nullptr, this->topic_name, this->participants);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_publishers_invalid_node)
{
// this->old_node_ptr is a pointer to an invalid node.
auto ret =
rcl_get_qos_for_publishers(this->old_node_ptr, this->topic_name, this->participants);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_subscribers_invalid_node)
{
// this->old_node_ptr is a pointer to an invalid node.
auto ret = rcl_get_qos_for_subscribers(this->old_node_ptr, this->topic_name,
this->participants);
EXPECT_EQ(RCL_RET_NODE_INVALID, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_publishers_null_topic)
{
auto ret = rcl_get_qos_for_publishers(this->node_ptr, nullptr, this->participants);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_subscribers_null_topic)
{
auto ret = rcl_get_qos_for_subscribers(this->node_ptr, nullptr, this->participants);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_publishers_null_participants)
{
auto ret = rcl_get_qos_for_publishers(this->node_ptr, this->topic_name, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_subscribers_null_participants)
{
auto ret = rcl_get_qos_for_subscribers(this->node_ptr, this->topic_name, nullptr);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_publishers_invalid_participants)
{
// this participant is invalid as the pointer "participants" inside is expected to be null.
this->participants->participants =
reinterpret_cast<rmw_participant_qos_profile_t *>(malloc(
sizeof(rmw_participant_qos_profile_t *)));
auto ret = rcl_get_qos_for_publishers(this->node_ptr, this->topic_name, this->participants);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}

/*
* This does not test content of the response.
* It only tests if the return code is the one expected.
*/
TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION),
test_rcl_get_qos_for_subscribers_invalid_participants)
{
// this participant is invalid as the pointer "participants" inside is expected to be null.
this->participants->participants =
reinterpret_cast<rmw_participant_qos_profile_t *>(malloc(
sizeof(rmw_participant_qos_profile_t *)));
auto ret = rcl_get_qos_for_subscribers(this->node_ptr, this->topic_name, this->participants);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
}

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