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Set disable loan to on by default. (backport #1110) #1117

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merged 1 commit into from
Nov 9, 2023
Merged

Set disable loan to on by default. (backport #1110) #1117

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2 changes: 1 addition & 1 deletion rcl/include/rcl/subscription.h
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Original file line number Diff line number Diff line change
Expand Up @@ -209,7 +209,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node);
* - qos = rmw_qos_profile_default
* - allocator = rcl_get_default_allocator()
* - rmw_subscription_options = rmw_get_default_subscription_options();
* - disable_loaned_message = false, true only if ROS_DISABLE_LOANED_MESSAGES=1
* - disable_loaned_message = true, false only if ROS_DISABLE_LOANED_MESSAGES=0
*
* \return A structure containing the default options for a subscription.
*/
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21 changes: 13 additions & 8 deletions rcl/src/rcl/subscription.c
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Expand Up @@ -24,6 +24,7 @@ extern "C"
#include "rcl/error_handling.h"
#include "rcl/node.h"
#include "rcl/node_type_cache.h"
#include "rcutils/env.h"
#include "rcutils/logging_macros.h"
#include "rcutils/strdup.h"
#include "rcutils/types/string_array.h"
Expand Down Expand Up @@ -233,15 +234,19 @@ rcl_subscription_get_default_options()
default_options.rmw_subscription_options = rmw_get_default_subscription_options();

// Load disable flag to LoanedMessage via environmental variable.
bool disable_loaned_message = false;
rcl_ret_t ret = rcl_get_disable_loaned_message(&disable_loaned_message);
if (ret == RCL_RET_OK) {
default_options.disable_loaned_message = disable_loaned_message;
} else {
// TODO(clalancette): This is kind of a copy of rcl_get_disable_loaned_message(), but we need
// more information than that function provides.
default_options.disable_loaned_message = true;

const char * env_val = NULL;
const char * env_error_str = rcutils_get_env(RCL_DISABLE_LOANED_MESSAGES_ENV_VAR, &env_val);
if (NULL != env_error_str) {
RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to get disable_loaned_message: ");
RCUTILS_SAFE_FWRITE_TO_STDERR(rcl_get_error_string().str);
rcl_reset_error();
default_options.disable_loaned_message = false;
RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(
"Error getting env var: '" RCUTILS_STRINGIFY(RCL_DISABLE_LOANED_MESSAGES_ENV_VAR) "': %s\n",
env_error_str);
} else {
default_options.disable_loaned_message = !(strcmp(env_val, "0") == 0);
}

return default_options;
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9 changes: 7 additions & 2 deletions rcl/test/rcl/test_subscription.cpp
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Expand Up @@ -720,7 +720,7 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription_option) {
{
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
EXPECT_FALSE(subscription_options.disable_loaned_message);
EXPECT_TRUE(subscription_options.disable_loaned_message);
}
{
ASSERT_TRUE(rcutils_set_env("ROS_DISABLE_LOANED_MESSAGES", "1"));
Expand All @@ -730,11 +730,16 @@ TEST_F(CLASSNAME(TestSubscriptionFixture, RMW_IMPLEMENTATION), test_subscription
{
ASSERT_TRUE(rcutils_set_env("ROS_DISABLE_LOANED_MESSAGES", "2"));
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
EXPECT_FALSE(subscription_options.disable_loaned_message);
EXPECT_TRUE(subscription_options.disable_loaned_message);
}
{
ASSERT_TRUE(rcutils_set_env("ROS_DISABLE_LOANED_MESSAGES", "Unexpected"));
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
EXPECT_TRUE(subscription_options.disable_loaned_message);
}
{
ASSERT_TRUE(rcutils_set_env("ROS_DISABLE_LOANED_MESSAGES", "0"));
rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
EXPECT_FALSE(subscription_options.disable_loaned_message);
}
}
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