Fix qos tests

* Refactor test_events
** Change EXPECT_EQ argument order for consistency
* Amend actual_qos tests

Signed-off-by: Ross Desmond <44277324+ross-desmond@users.noreply.github.com>

rcl/include/rcl/node.h

@@ -361,6 +361,32 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id);
 
+/// Manually assert that this node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE)
+/**
+ * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator of
+ * this node may manually call `assert_liveliness` at some point in time to signal to the rest
+ * of the system that this Node is still alive.
+ * This function must be called at least as often as the qos_profile's liveliness_lease_duration
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] node handle to the node that needs liveliness to be asserted
+ * \return `RCL_RET_OK` if the liveliness assertion was completed successfully, or
+ * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
+ * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_ERROR` if an unspecified error occurs.
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_node_assert_liveliness(const rcl_node_t * node);
+
 /// Return the rmw node handle.
 /**
  * The handle returned is a pointer to the internally held rmw handle.

rcl/src/rcl/event.c

@@ -139,11 +139,11 @@ rcl_take_event(
   }
   if (!taken) {
     RCUTILS_LOG_DEBUG_NAMED(
-        ROS_PACKAGE_NAME, "take_event request complete, unable to take event");
+      ROS_PACKAGE_NAME, "take_event request complete, unable to take event");
     return RCL_RET_EVENT_TAKE_FAILED;
   }
   RCUTILS_LOG_DEBUG_NAMED(
-      ROS_PACKAGE_NAME, "take_event request success");
+    ROS_PACKAGE_NAME, "take_event request success");
   return rcl_convert_rmw_ret_to_rcl_ret(ret);
 }
 

rcl/src/rcl/node.c

@@ -525,6 +525,19 @@ rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id)
   return RCL_RET_OK;
 }
 
+rcl_ret_t
+rcl_node_assert_liveliness(const rcl_node_t * node)
+{
+  if (!rcl_node_is_valid(node)) {
+    return RCL_RET_NODE_INVALID;  // error already set
+  }
+  if (rmw_node_assert_liveliness(node->impl->rmw_node_handle) != RMW_RET_OK) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+    return RCL_RET_ERROR;
+  }
+  return RCL_RET_OK;
+}
+
 rmw_node_t *
 rcl_node_get_rmw_handle(const rcl_node_t * node)
 {

rcl/test/rcl/test_count_matched.cpp

@@ -214,7 +214,7 @@ TEST_F(CLASSNAME(TestCountFixture, RMW_IMPLEMENTATION),
 
   rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
 
-  rcl_subscription_options_t sub_ops;
+  rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
   sub_ops.qos.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
   sub_ops.qos.depth = 10;
   sub_ops.qos.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;