decorator should not be callable. (#1050) (#1051)

#1047 Signed-off-by: Tomoya Fujita <[email protected]> Signed-off-by: Tomoya Fujita <[email protected]> (cherry picked from commit 2da35a4) Co-authored-by: Tomoya Fujita <[email protected]>
ros2 · Dec 22, 2022 · 6b6617a · 6b6617a
1 parent d7346f5
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diff --git a/rclpy/rclpy/qos_overriding_options.py b/rclpy/rclpy/qos_overriding_options.py
@@ -162,7 +162,7 @@ def _get_qos_policy_parameter(qos: QoSProfile, policy: QoSPolicyKind) -> Union[s
     if policy in (
         QoSPolicyKind.LIFESPAN, QoSPolicyKind.DEADLINE, QoSPolicyKind.LIVELINESS_LEASE_DURATION
     ):
-        value = value.nanoseconds()
+        value = value.nanoseconds
     return value
 
 

diff --git a/rclpy/test/test_qos_overriding_options.py b/rclpy/test/test_qos_overriding_options.py
@@ -15,14 +15,21 @@
 import pytest
 
 import rclpy
+from rclpy.duration import Duration
 from rclpy.node import Node
 from rclpy.parameter import Parameter
 from rclpy.publisher import Publisher
+from rclpy.qos import QoSDurabilityPolicy
+from rclpy.qos import QoSHistoryPolicy
+from rclpy.qos import QoSLivelinessPolicy
 from rclpy.qos import QoSProfile
+from rclpy.qos import QoSReliabilityPolicy
 from rclpy.qos_overriding_options import _declare_qos_parameters
+from rclpy.qos_overriding_options import _get_qos_policy_parameter
 from rclpy.qos_overriding_options import InvalidQosOverridesError
 from rclpy.qos_overriding_options import QosCallbackResult
 from rclpy.qos_overriding_options import QoSOverridingOptions
+from rclpy.qos_overriding_options import QoSPolicyKind
 
 
 @pytest.fixture(autouse=True)
@@ -32,6 +39,35 @@ def init_shutdown():
     rclpy.shutdown()
 
 
+def test_get_qos_policy_parameter():
+    qos = QoSProfile(
+        history=QoSHistoryPolicy.KEEP_LAST,
+        depth=10,
+        reliability=QoSReliabilityPolicy.RELIABLE,
+        durability=QoSDurabilityPolicy.VOLATILE,
+        lifespan=Duration(nanoseconds=1e3),
+        deadline=Duration(nanoseconds=1e6),
+        liveliness=QoSLivelinessPolicy.SYSTEM_DEFAULT,
+        liveliness_lease_duration=Duration(nanoseconds=1e9)
+        )
+    value = _get_qos_policy_parameter(qos, QoSPolicyKind.HISTORY)
+    assert value == 'keep_last'
+    value = _get_qos_policy_parameter(qos, QoSPolicyKind.DEPTH)
+    assert value == qos.depth
+    value = _get_qos_policy_parameter(qos, QoSPolicyKind.RELIABILITY)
+    assert value == 'reliable'
+    value = _get_qos_policy_parameter(qos, QoSPolicyKind.DURABILITY)
+    assert value == 'volatile'
+    value = _get_qos_policy_parameter(qos, QoSPolicyKind.LIFESPAN)
+    assert value == qos.lifespan.nanoseconds
+    value = _get_qos_policy_parameter(qos, QoSPolicyKind.DEADLINE)
+    assert value == qos.deadline.nanoseconds
+    value = _get_qos_policy_parameter(qos, QoSPolicyKind.LIVELINESS)
+    assert value == 'system_default'
+    value = _get_qos_policy_parameter(qos, QoSPolicyKind.LIVELINESS_LEASE_DURATION)
+    assert value == qos.liveliness_lease_duration.nanoseconds
+
+
 def test_declare_qos_parameters():
     node = Node('my_node')
     _declare_qos_parameters(