Add tests for RMW QoS to DDS attribute conversion.

rmw_fastrtps_shared_cpp/test/CMakeLists.txt

@@ -7,6 +7,11 @@ if(TARGET test_dds_attributes_to_rmw_qos)
     target_link_libraries(test_dds_attributes_to_rmw_qos ${PROJECT_NAME})
 endif()
 
+ament_add_gtest(test_rmw_qos_to_dds_attributes test_rmw_qos_to_dds_attributes.cpp)
+if(TARGET test_rmw_qos_to_dds_attributes)
+  target_link_libraries(test_rmw_qos_to_dds_attributes ${PROJECT_NAME})
+endif()
+
 ament_add_gmock(test_security_logging test_security_logging.cpp)
 if(TARGET test_security_logging)
     ament_target_dependencies(test_security_logging)

rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp

@@ -0,0 +1,171 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <tuple>
+
+#include "gtest/gtest.h"
+
+#include "fastrtps/attributes/PublisherAttributes.h"
+#include "fastrtps/attributes/SubscriberAttributes.h"
+
+#include "rmw_fastrtps_shared_cpp/qos.hpp"
+
+#include "rmw/error_handling.h"
+
+
+using eprosima::fastrtps::SubscriberAttributes;
+
+class GetDataReaderQoSTest : public ::testing::Test
+{
+protected:
+  rmw_qos_profile_t qos_profile_{rmw_qos_profile_default};
+  SubscriberAttributes subscriber_attributes_{};
+};
+
+TEST_F(GetDataReaderQoSTest, test_unknown_history_policy_conversion_fails) {
+  qos_profile_.history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
+  EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_attributes_));
+  EXPECT_TRUE(rmw_error_is_set());
+  rmw_reset_error();
+}
+
+TEST_F(GetDataReaderQoSTest, unknown_reliability_policy_conversion_fails) {
+  qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+  EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_attributes_));
+  EXPECT_TRUE(rmw_error_is_set());
+  rmw_reset_error();
+}
+
+TEST_F(GetDataReaderQoSTest, unknown_durability_policy_conversion_fails) {
+  qos_profile_.durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
+  EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_attributes_));
+  EXPECT_TRUE(rmw_error_is_set());
+  rmw_reset_error();
+}
+
+TEST_F(GetDataReaderQoSTest, unknown_liveliness_policy_conversion_fails) {
+  qos_profile_.liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
+  EXPECT_FALSE(get_datareader_qos(qos_profile_, subscriber_attributes_));
+  EXPECT_TRUE(rmw_error_is_set());
+  rmw_reset_error();
+}
+
+TEST_F(GetDataReaderQoSTest, nominal_conversion) {
+  qos_profile_.depth = 10u;
+  qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
+  qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  qos_profile_.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+  qos_profile_.lifespan.sec = 0u;
+  qos_profile_.lifespan.nsec = 500000000u;
+  qos_profile_.deadline.sec = 0u;
+  qos_profile_.deadline.nsec = 100000000u;
+  qos_profile_.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  qos_profile_.liveliness_lease_duration.sec = 10u;
+  qos_profile_.liveliness_lease_duration.nsec = 0u;
+
+  EXPECT_TRUE(get_datareader_qos(qos_profile_, subscriber_attributes_));
+
+  EXPECT_EQ(
+    eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS,
+    subscriber_attributes_.qos.m_reliability.kind);
+  EXPECT_EQ(
+    eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
+    subscriber_attributes_.qos.m_durability.kind);
+  EXPECT_EQ(
+    eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS,
+    subscriber_attributes_.qos.m_liveliness.kind);
+  EXPECT_EQ(0, subscriber_attributes_.qos.m_lifespan.duration.seconds);
+  EXPECT_EQ(500000000u, subscriber_attributes_.qos.m_lifespan.duration.nanosec);
+  EXPECT_EQ(0, subscriber_attributes_.qos.m_deadline.period.seconds);
+  EXPECT_EQ(100000000u, subscriber_attributes_.qos.m_deadline.period.nanosec);
+  EXPECT_EQ(10, subscriber_attributes_.qos.m_liveliness.lease_duration.seconds);
+  EXPECT_EQ(0u, subscriber_attributes_.qos.m_liveliness.lease_duration.nanosec);
+  EXPECT_EQ(
+    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
+    subscriber_attributes_.topic.historyQos.kind);
+  EXPECT_EQ(10, subscriber_attributes_.topic.historyQos.depth);
+}
+
+using eprosima::fastrtps::PublisherAttributes;
+
+class GetDataWriterQoSTest : public ::testing::Test
+{
+protected:
+  rmw_qos_profile_t qos_profile_{rmw_qos_profile_default};
+  PublisherAttributes publisher_attributes_{};
+};
+
+TEST_F(GetDataWriterQoSTest, test_unknown_history_policy_conversion_fails) {
+  qos_profile_.history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
+  EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_attributes_));
+  EXPECT_TRUE(rmw_error_is_set());
+  rmw_reset_error();
+}
+
+TEST_F(GetDataWriterQoSTest, unknown_reliability_policy_conversion_fails) {
+  qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+  EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_attributes_));
+  EXPECT_TRUE(rmw_error_is_set());
+  rmw_reset_error();
+}
+
+TEST_F(GetDataWriterQoSTest, unknown_durability_policy_conversion_fails) {
+  qos_profile_.durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
+  EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_attributes_));
+  EXPECT_TRUE(rmw_error_is_set());
+  rmw_reset_error();
+}
+
+TEST_F(GetDataWriterQoSTest, unknown_liveliness_policy_conversion_fails) {
+  qos_profile_.liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
+  EXPECT_FALSE(get_datawriter_qos(qos_profile_, publisher_attributes_));
+  EXPECT_TRUE(rmw_error_is_set());
+  rmw_reset_error();
+}
+
+TEST_F(GetDataWriterQoSTest, nominal_conversion) {
+  qos_profile_.depth = 10u;
+  qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
+  qos_profile_.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  qos_profile_.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+  qos_profile_.lifespan.sec = 0u;
+  qos_profile_.lifespan.nsec = 500000000u;
+  qos_profile_.deadline.sec = 0u;
+  qos_profile_.deadline.nsec = 100000000u;
+  qos_profile_.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+  qos_profile_.liveliness_lease_duration.sec = 10u;
+  qos_profile_.liveliness_lease_duration.nsec = 0u;
+
+  EXPECT_TRUE(get_datawriter_qos(qos_profile_, publisher_attributes_));
+
+  EXPECT_EQ(
+    eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS,
+    publisher_attributes_.qos.m_reliability.kind);
+  EXPECT_EQ(
+    eprosima::fastrtps::VOLATILE_DURABILITY_QOS,
+    publisher_attributes_.qos.m_durability.kind);
+  EXPECT_EQ(
+    eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS,
+    publisher_attributes_.qos.m_liveliness.kind);
+  EXPECT_EQ(0, publisher_attributes_.qos.m_lifespan.duration.seconds);
+  EXPECT_EQ(500000000u, publisher_attributes_.qos.m_lifespan.duration.nanosec);
+  EXPECT_EQ(0, publisher_attributes_.qos.m_deadline.period.seconds);
+  EXPECT_EQ(100000000u, publisher_attributes_.qos.m_deadline.period.nanosec);
+  EXPECT_EQ(10, publisher_attributes_.qos.m_liveliness.lease_duration.seconds);
+  EXPECT_EQ(0u, publisher_attributes_.qos.m_liveliness.lease_duration.nanosec);
+  EXPECT_EQ(
+    eprosima::fastrtps::KEEP_LAST_HISTORY_QOS,
+    publisher_attributes_.topic.historyQos.kind);
+  EXPECT_EQ(10, publisher_attributes_.topic.historyQos.depth);
+}