From 83a1e906e7969d811d30274bcd08ccccf2172a7a Mon Sep 17 00:00:00 2001
From: Miaofei <miaofei@amazon.com>
Date: Fri, 12 Apr 2019 11:46:11 -0700
Subject: [PATCH] correct initialization of rmw_qos_profile_t struct instances

Signed-off-by: Miaofei <miaofei@amazon.com>
---
 rcl/test/rcl/test_get_actual_qos.cpp        | 60 ++++++++++++---------
 rcl_action/include/rcl_action/default_qos.h |  4 ++
 2 files changed, 38 insertions(+), 26 deletions(-)

diff --git a/rcl/test/rcl/test_get_actual_qos.cpp b/rcl/test/rcl/test_get_actual_qos.cpp
index e15659dd31..d931529611 100644
--- a/rcl/test/rcl/test_get_actual_qos.cpp
+++ b/rcl/test/rcl/test_get_actual_qos.cpp
@@ -145,6 +145,35 @@ TEST_P_RMW(TestGetActualQoS, test_publisher_get_qos_settings) {
   rcl_reset_error();
 }
 
+static constexpr rmw_qos_profile_t non_default_qos_profile()
+{
+  rmw_qos_profile_t profile = rmw_qos_profile_default;
+  profile.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
+  profile.depth = 1000;
+  profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+  profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  profile.avoid_ros_namespace_conventions = true;
+  return profile;
+}
+
+static constexpr rmw_qos_profile_t expected_fastrtps_default_qos_profile()
+{
+  rmw_qos_profile_t profile = rmw_qos_profile_default;
+  profile.depth = 1;
+  profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+  profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  return profile;
+}
+
+static constexpr rmw_qos_profile_t expected_system_default_qos_profile()
+{
+  rmw_qos_profile_t profile = rmw_qos_profile_default;
+  profile.depth = 1;
+  profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  return profile;
+}
+
 std::vector<TestParameters>
 get_parameters()
 {
@@ -162,20 +191,8 @@ get_parameters()
       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
-      },
+      non_default_qos_profile(),
+      non_default_qos_profile(),
       "publisher_non_default_qos"
     }
   });
@@ -185,12 +202,7 @@ get_parameters()
   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};
+    rmw_qos_profile_t expected_system_default_qos = expected_fastrtps_default_qos_profile();
     parameters.push_back({
       rmw_qos_profile_system_default,
       expected_system_default_qos,
@@ -200,12 +212,7 @@ get_parameters()
       !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};
+      rmw_qos_profile_t expected_system_default_qos = expected_system_default_qos_profile();
       parameters.push_back({
         rmw_qos_profile_system_default,
         expected_system_default_qos,
@@ -213,6 +220,7 @@ get_parameters()
     }
   }
 #endif
+
   return parameters;
 }
 
diff --git a/rcl_action/include/rcl_action/default_qos.h b/rcl_action/include/rcl_action/default_qos.h
index 5504f388ba..c1952b708e 100644
--- a/rcl_action/include/rcl_action/default_qos.h
+++ b/rcl_action/include/rcl_action/default_qos.h
@@ -29,6 +29,10 @@ static const rmw_qos_profile_t rcl_action_qos_profile_status_default =
   1,
   RMW_QOS_POLICY_RELIABILITY_RELIABLE,
   RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
   false
 };