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Expose qos setting for /rosout #722

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merged 4 commits into from
Aug 4, 2020
Merged

Expose qos setting for /rosout #722

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fa18df9
Expose qos setting for /rosout
Ada-King Jul 21, 2020
5d89c57
Modify some details based on review
Ada-King Jul 28, 2020
3f34e28
Add test
Ada-King Jul 29, 2020
1ae0b91
Modify based on reviews
Ada-King Aug 4, 2020
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27 changes: 27 additions & 0 deletions rcl/test/rcl/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp"
#include "osrf_testing_tools_cpp/scope_exit.hpp"
#include "rcl/error_handling.h"
#include "rcl/logging_rosout.h"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
Expand All @@ -39,6 +40,28 @@ using osrf_testing_tools_cpp::memory_tools::on_unexpected_realloc;
using osrf_testing_tools_cpp::memory_tools::on_unexpected_calloc;
using osrf_testing_tools_cpp::memory_tools::on_unexpected_free;

bool operator==(
const rmw_time_t & lhs,
const rmw_time_t & rhs)
{
return lhs.sec == rhs.sec && lhs.nsec == rhs.nsec;
}

bool operator==(
const rmw_qos_profile_t & lhs,
const rmw_qos_profile_t & rhs)
{
return lhs.history == rhs.history &&
lhs.depth == rhs.depth &&
lhs.reliability == rhs.reliability &&
lhs.durability == rhs.durability &&
lhs.deadline == rhs.deadline &&
lhs.lifespan == rhs.lifespan &&
lhs.liveliness == rhs.liveliness &&
lhs.liveliness_lease_duration == rhs.liveliness_lease_duration &&
lhs.avoid_ros_namespace_conventions == rhs.avoid_ros_namespace_conventions;
}

class CLASSNAME (TestNodeFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
public:
Expand Down Expand Up @@ -723,11 +746,13 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names) {
TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
rcl_node_options_t default_options = rcl_node_get_default_options();
rcl_node_options_t not_ini_options = rcl_node_get_default_options();
memset(&not_ini_options.rosout_qos, 0, sizeof(rmw_qos_profile_t));

EXPECT_TRUE(default_options.use_global_arguments);
EXPECT_TRUE(default_options.enable_rosout);
EXPECT_TRUE(rcutils_allocator_is_valid(&(default_options.allocator)));

EXPECT_EQ(rcl_qos_profile_rosout_default, default_options.rosout_qos);
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(nullptr, &default_options));
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(&default_options, nullptr));
EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(&default_options, &default_options));
Expand All @@ -740,9 +765,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
rcl_parse_arguments(argc, argv, default_options.allocator, &(default_options.arguments)));
default_options.use_global_arguments = false;
default_options.enable_rosout = false;
default_options.rosout_qos = rcl_qos_profile_rosout_default;
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EXPECT_EQ(RCL_RET_OK, rcl_node_options_copy(&default_options, &not_ini_options));
EXPECT_FALSE(not_ini_options.use_global_arguments);
EXPECT_FALSE(not_ini_options.enable_rosout);
EXPECT_EQ(rcl_qos_profile_rosout_default, not_ini_options.rosout_qos);
EXPECT_EQ(
rcl_arguments_get_count_unparsed(&(default_options.arguments)),
rcl_arguments_get_count_unparsed(&(not_ini_options.arguments)));
Expand Down