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Fix updatability of immutable DataWriterQos (#3915)
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* Refs #19687. Add regression test.

Signed-off-by: Miguel Company <[email protected]>

* Refs #19687. Rename argument.

Signed-off-by: Miguel Company <[email protected]>

* Refs #19687. Refactor on DataWriterImpl::set_qos.

Signed-off-by: Miguel Company <[email protected]>

---------

Signed-off-by: Miguel Company <[email protected]>
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@MiguelCompany
MiguelCompany committed Oct 10, 2023
1 parent 4cbad6c commit 7db38f4
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Showing 3 changed files with 145 additions and 69 deletions.
159 changes: 91 additions & 68 deletions src/cpp/fastdds/publisher/DataWriterImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1124,7 +1124,7 @@ ReturnCode_t DataWriterImpl::set_qos(
return ReturnCode_t::RETCODE_IMMUTABLE_POLICY;
}

set_qos(qos_, qos_to_set, enabled);
set_qos(qos_, qos_to_set, !enabled);

if (enabled)
{
Expand Down Expand Up @@ -1614,114 +1614,137 @@ LivelinessLostStatus& DataWriterImpl::update_liveliness_lost_status(
void DataWriterImpl::set_qos(
DataWriterQos& to,
const DataWriterQos& from,
bool is_default)
bool update_immutable)
{
if (is_default && !(to.durability() == from.durability()))
// Check immutable policies
if (update_immutable)
{
to.durability() = from.durability();
to.durability().hasChanged = true;
}
if (is_default && !(to.durability_service() == from.durability_service()))
{
to.durability_service() = from.durability_service();
to.durability_service().hasChanged = true;
if (!(to.durability() == from.durability()))
{
to.durability() = from.durability();
to.durability().hasChanged = true;
}

if (!(to.durability_service() == from.durability_service()))
{
to.durability_service() = from.durability_service();
to.durability_service().hasChanged = true;
}

if (!(to.liveliness() == from.liveliness()))
{
to.liveliness() = from.liveliness();
to.liveliness().hasChanged = true;
}

if (!(to.reliability().kind == from.reliability().kind))
{
to.reliability().kind = from.reliability().kind;
to.reliability().hasChanged = true;
}

if (!(to.destination_order() == from.destination_order()))
{
to.destination_order() = from.destination_order();
to.destination_order().hasChanged = true;
}

if (!(to.history() == from.history()))
{
to.history() = from.history();
to.history().hasChanged = true;
}

if (!(to.resource_limits() == from.resource_limits()))
{
to.resource_limits() = from.resource_limits();
to.resource_limits().hasChanged = true;
}

if (!(to.ownership() == from.ownership()))
{
to.ownership() = from.ownership();
to.ownership().hasChanged = true;
}

to.publish_mode() = from.publish_mode();

if (!(to.representation() == from.representation()))
{
to.representation() = from.representation();
to.representation().hasChanged = true;
}

to.properties() = from.properties();

if (!(to.reliable_writer_qos() == from.reliable_writer_qos()))
{
RTPSReliableWriterQos& rel_to = to.reliable_writer_qos();
rel_to.disable_heartbeat_piggyback = from.reliable_writer_qos().disable_heartbeat_piggyback;
rel_to.disable_positive_acks.enabled = from.reliable_writer_qos().disable_positive_acks.enabled;
}

to.endpoint() = from.endpoint();

to.writer_resource_limits() = from.writer_resource_limits();

to.data_sharing() = from.data_sharing();

to.throughput_controller() = from.throughput_controller();
}

if (!(to.deadline() == from.deadline()))
{
to.deadline() = from.deadline();
to.deadline().hasChanged = true;
}

if (!(to.latency_budget() == from.latency_budget()))
{
to.latency_budget() = from.latency_budget();
to.latency_budget().hasChanged = true;
}
if (is_default && !(to.liveliness() == from.liveliness()))
{
to.liveliness() = from.liveliness();
to.liveliness().hasChanged = true;
}
if (is_default && !(to.reliability() == from.reliability()))

if (!(to.reliability().max_blocking_time == from.reliability().max_blocking_time))
{
to.reliability() = from.reliability();
to.reliability().max_blocking_time = from.reliability().max_blocking_time;
to.reliability().hasChanged = true;
}
if (is_default && !(to.destination_order() == from.destination_order()))
{
to.destination_order() = from.destination_order();
to.destination_order().hasChanged = true;
}
if (is_default && !(to.history() == from.history()))
{
to.history() = from.history();
to.history().hasChanged = true;
}
if (is_default && !(to.resource_limits() == from.resource_limits()))
{
to.resource_limits() = from.resource_limits();
to.resource_limits().hasChanged = true;
}

if (!(to.transport_priority() == from.transport_priority()))
{
to.transport_priority() = from.transport_priority();
to.transport_priority().hasChanged = true;
}

if (!(to.lifespan() == from.lifespan()))
{
to.lifespan() = from.lifespan();
to.lifespan().hasChanged = true;
}

if (!(to.user_data() == from.user_data()))
{
to.user_data() = from.user_data();
to.user_data().hasChanged = true;
}
if (is_default && !(to.ownership() == from.ownership()))
{
to.ownership() = from.ownership();
to.ownership().hasChanged = true;
}

if (!(to.ownership_strength() == from.ownership_strength()))
{
to.ownership_strength() = from.ownership_strength();
to.ownership_strength().hasChanged = true;
}

if (!(to.writer_data_lifecycle() == from.writer_data_lifecycle()))
{
to.writer_data_lifecycle() = from.writer_data_lifecycle();
}
if (is_default && !(to.publish_mode() == from.publish_mode()))
{
to.publish_mode() = from.publish_mode();
}
if (!(to.representation() == from.representation()))
{
to.representation() = from.representation();
to.representation().hasChanged = true;
}
if (is_default && !(to.properties() == from.properties()))
{
to.properties() = from.properties();
}
if (is_default && !(to.reliable_writer_qos() == from.reliable_writer_qos()))
{
to.reliable_writer_qos() = from.reliable_writer_qos();
}
if (is_default && !(to.endpoint() == from.endpoint()))
{
to.endpoint() = from.endpoint();
}
if (is_default && !(to.writer_resource_limits() == from.writer_resource_limits()))
{
to.writer_resource_limits() = from.writer_resource_limits();
}
if (is_default && !(to.throughput_controller() == from.throughput_controller()))
{
to.throughput_controller() = from.throughput_controller();
}
if (is_default && !(to.data_sharing() == from.data_sharing()))

if (!(to.reliable_writer_qos() == from.reliable_writer_qos()))
{
to.data_sharing() = from.data_sharing();
RTPSReliableWriterQos& rel_to = to.reliable_writer_qos();
rel_to.times = from.reliable_writer_qos().times;
rel_to.disable_positive_acks.duration = from.reliable_writer_qos().disable_positive_acks.duration;
}
}

Expand Down
2 changes: 1 addition & 1 deletion src/cpp/fastdds/publisher/DataWriterImpl.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -587,7 +587,7 @@ class DataWriterImpl : protected rtps::IReaderDataFilter
static void set_qos(
DataWriterQos& to,
const DataWriterQos& from,
bool is_default);
bool update_immutable);

/**
* Extends the check_qos() call, including the check for
Expand Down
53 changes: 53 additions & 0 deletions test/unittest/dds/publisher/DataWriterTests.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -429,6 +429,59 @@ TEST(DataWriterTests, ChangeDataWriterQos)
ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(DataWriterTests, ChangeImmutableDataWriterQos)
{
DomainParticipant* participant =
DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);
ASSERT_NE(participant, nullptr);

PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
pub_qos.entity_factory().autoenable_created_entities = false;
Publisher* publisher = participant->create_publisher(pub_qos);
ASSERT_NE(publisher, nullptr);

TypeSupport type(new TopicDataTypeMock());
type.register_type(participant);

Topic* topic = participant->create_topic("footopic", type.get_type_name(), TOPIC_QOS_DEFAULT);
ASSERT_NE(topic, nullptr);

DataWriter* datawriter = publisher->create_datawriter(topic, DATAWRITER_QOS_DEFAULT);
ASSERT_NE(datawriter, nullptr);

ASSERT_FALSE(datawriter->is_enabled());

DataWriterQos qos;
datawriter->get_qos(qos);
ASSERT_EQ(qos, DATAWRITER_QOS_DEFAULT);

qos.reliable_writer_qos().disable_positive_acks.enabled = true;

ASSERT_TRUE(datawriter->set_qos(qos) == ReturnCode_t::RETCODE_OK);
DataWriterQos wqos;
datawriter->get_qos(wqos);

ASSERT_EQ(qos, wqos);
ASSERT_TRUE(wqos.reliable_writer_qos().disable_positive_acks.enabled);

ASSERT_TRUE(datawriter->enable() == ReturnCode_t::RETCODE_OK);
ASSERT_TRUE(datawriter->is_enabled());

qos.reliable_writer_qos().disable_positive_acks.enabled = false;
ASSERT_FALSE(qos == wqos);
ASSERT_TRUE(datawriter->set_qos(qos) == ReturnCode_t::RETCODE_IMMUTABLE_POLICY);

DataWriterQos wqos2;
datawriter->get_qos(wqos2);
ASSERT_EQ(wqos, wqos2);
ASSERT_TRUE(wqos2.reliable_writer_qos().disable_positive_acks.enabled);

ASSERT_TRUE(publisher->delete_datawriter(datawriter) == ReturnCode_t::RETCODE_OK);
ASSERT_TRUE(participant->delete_topic(topic) == ReturnCode_t::RETCODE_OK);
ASSERT_TRUE(participant->delete_publisher(publisher) == ReturnCode_t::RETCODE_OK);
ASSERT_TRUE(DomainParticipantFactory::get_instance()->delete_participant(participant) == ReturnCode_t::RETCODE_OK);
}

TEST(DataWriterTests, ForcedDataSharing)
{
DomainParticipant* participant =
Expand Down

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