Added new functions which can be used to get rmw_qos_profile_t from W…

…riterQos and ReaderQos (#328)

Signed-off-by: Jaison Titus <[email protected]>

rmw_fastrtps_shared_cpp/CMakeLists.txt

@@ -104,6 +104,7 @@ ament_export_dependencies(rmw)
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  add_subdirectory(test)
 endif()
 
 ament_package(

rmw_fastrtps_shared_cpp/src/qos.cpp

@@ -14,6 +14,7 @@
 
 #include <limits>
 
+#include "qos_converter.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 
 #include "fastrtps/attributes/PublisherAttributes.h"
@@ -181,53 +182,7 @@ dds_attributes_to_rmw_qos(
       break;
   }
   qos->depth = static_cast<size_t>(dds_qos.topic.historyQos.depth);
-
-  switch (dds_qos.qos.m_reliability.kind) {
-    case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
-      break;
-    case eprosima::fastrtps::RELIABLE_RELIABILITY_QOS:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
-      break;
-    default:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
-      break;
-  }
-
-  switch (dds_qos.qos.m_durability.kind) {
-    case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS:
-      qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-      break;
-    case eprosima::fastrtps::VOLATILE_DURABILITY_QOS:
-      qos->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
-      break;
-    default:
-      qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
-      break;
-  }
-
-  qos->deadline.sec = dds_qos.qos.m_deadline.period.seconds;
-  qos->deadline.nsec = dds_qos.qos.m_deadline.period.nanosec;
-
-  qos->lifespan.sec = dds_qos.qos.m_lifespan.duration.seconds;
-  qos->lifespan.nsec = dds_qos.qos.m_lifespan.duration.nanosec;
-
-  switch (dds_qos.qos.m_liveliness.kind) {
-    case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
-      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
-      break;
-    case eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
-      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
-      break;
-    case eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS:
-      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
-      break;
-    default:
-      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
-      break;
-  }
-  qos->liveliness_lease_duration.sec = dds_qos.qos.m_liveliness.lease_duration.seconds;
-  qos->liveliness_lease_duration.nsec = dds_qos.qos.m_liveliness.lease_duration.nanosec;
+  dds_qos_to_rmw_qos(dds_qos.qos, qos);
 }
 
 template

rmw_fastrtps_shared_cpp/src/qos_converter.hpp

@@ -0,0 +1,86 @@
+// Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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.
+
+
+#ifndef QOS_CONVERTER_HPP_
+#define QOS_CONVERTER_HPP_
+
+#include "rmw/types.h"
+
+#include "fastrtps/qos/WriterQos.h"
+#include "fastrtps/qos/ReaderQos.h"
+
+/*
+ * Converts the low-level QOS Policy; of type WriterQos or ReaderQos into rmw_qos_profile_t.
+ * Since WriterQos or ReaderQos does not have information about history and depth, these values are not set
+ * by this function.
+ *
+ * \param[in] dds_qos of type WriterQos or ReaderQos
+ * \param[out] qos the equivalent of the data in WriterQos or ReaderQos in rmw_qos_profile_t
+ */
+template<typename DDSQoSPolicyT>
+void
+dds_qos_to_rmw_qos(
+  const DDSQoSPolicyT & dds_qos,
+  rmw_qos_profile_t * qos)
+{
+  switch (dds_qos.m_reliability.kind) {
+    case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+      break;
+    case eprosima::fastrtps::RELIABLE_RELIABILITY_QOS:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+      break;
+    default:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+      break;
+  }
+
+  switch (dds_qos.m_durability.kind) {
+    case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
+      break;
+    case eprosima::fastrtps::VOLATILE_DURABILITY_QOS:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+      break;
+    default:
+      qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
+      break;
+  }
+
+  qos->deadline.sec = dds_qos.m_deadline.period.seconds;
+  qos->deadline.nsec = dds_qos.m_deadline.period.nanosec;
+
+  qos->lifespan.sec = dds_qos.m_lifespan.duration.seconds;
+  qos->lifespan.nsec = dds_qos.m_lifespan.duration.nanosec;
+
+  switch (dds_qos.m_liveliness.kind) {
+    case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+      break;
+    case eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
+      break;
+    case eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
+      break;
+    default:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
+      break;
+  }
+  qos->liveliness_lease_duration.sec = dds_qos.m_liveliness.lease_duration.seconds;
+  qos->liveliness_lease_duration.nsec = dds_qos.m_liveliness.lease_duration.nanosec;
+}
+
+#endif  // QOS_CONVERTER_HPP_

rmw_fastrtps_shared_cpp/test/CMakeLists.txt

@@ -0,0 +1,6 @@
+find_package(ament_cmake_gtest REQUIRED)
+ament_add_gtest(test_dds_attributes_to_rmw_qos test_dds_attributes_to_rmw_qos.cpp)
+if(TARGET test_dds_attributes_to_rmw_qos)
+    ament_target_dependencies(test_dds_attributes_to_rmw_qos)
+    target_link_libraries(test_dds_attributes_to_rmw_qos ${PROJECT_NAME})
+endif()

rmw_fastrtps_shared_cpp/test/test_dds_attributes_to_rmw_qos.cpp

@@ -0,0 +1,138 @@
+// 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"
+
+using eprosima::fastrtps::PublisherAttributes;
+using eprosima::fastrtps::SubscriberAttributes;
+
+class DDSAttributesToRMWQosTest : public ::testing::Test
+{
+protected:
+  rmw_qos_profile_t qos_profile_ {};
+  PublisherAttributes publisher_attributes_ {};
+  SubscriberAttributes subscriber_attributes_ {};
+};
+
+
+TEST_F(DDSAttributesToRMWQosTest, test_publisher_depth_conversion) {
+  publisher_attributes_.topic.historyQos.depth = 0;
+  dds_attributes_to_rmw_qos(publisher_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.depth, 0u);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_publisher_history_conversion) {
+  publisher_attributes_.topic.historyQos.kind = eprosima::fastrtps::KEEP_ALL_HISTORY_QOS;
+  dds_attributes_to_rmw_qos(publisher_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.history, RMW_QOS_POLICY_HISTORY_KEEP_ALL);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_publisher_durability_conversion) {
+  publisher_attributes_.qos.m_durability.kind = eprosima::fastrtps::TRANSIENT_DURABILITY_QOS;
+  dds_attributes_to_rmw_qos(publisher_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.durability, RMW_QOS_POLICY_DURABILITY_UNKNOWN);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_publisher_reliability_conversion) {
+  publisher_attributes_.qos.m_reliability.kind = eprosima::fastrtps::RELIABLE_RELIABILITY_QOS;
+  dds_attributes_to_rmw_qos(publisher_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.reliability, RMW_QOS_POLICY_RELIABILITY_RELIABLE);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_publisher_liveliness_conversion) {
+  publisher_attributes_.qos.m_liveliness.kind = eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS;
+  dds_attributes_to_rmw_qos(publisher_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.liveliness, RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_publisher_liveliness_lease_duration_conversion) {
+  publisher_attributes_.qos.m_liveliness.lease_duration = {8, 78901234};
+  dds_attributes_to_rmw_qos(publisher_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.liveliness_lease_duration.sec, 8u);
+  EXPECT_EQ(qos_profile_.liveliness_lease_duration.nsec, 78901234u);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_publisher_deadline_conversion) {
+  publisher_attributes_.qos.m_deadline.period = {12, 1234};
+  dds_attributes_to_rmw_qos(publisher_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.deadline.sec, 12u);
+  EXPECT_EQ(qos_profile_.deadline.nsec, 1234u);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_publisher_lifespan_conversion) {
+  publisher_attributes_.qos.m_lifespan.duration = {19, 5432};
+  dds_attributes_to_rmw_qos(publisher_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.lifespan.sec, 19u);
+  EXPECT_EQ(qos_profile_.lifespan.nsec, 5432u);
+}
+
+
+TEST_F(DDSAttributesToRMWQosTest, test_subscriber_depth_conversion) {
+  subscriber_attributes_.topic.historyQos.depth = 1;
+  dds_attributes_to_rmw_qos(subscriber_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.depth, 1u);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_subscriber_history_conversion) {
+  subscriber_attributes_.topic.historyQos.kind = eprosima::fastrtps::KEEP_LAST_HISTORY_QOS;
+  dds_attributes_to_rmw_qos(subscriber_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.history, RMW_QOS_POLICY_HISTORY_KEEP_LAST);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_subscriber_durability_conversion) {
+  subscriber_attributes_.qos.m_durability.kind = eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS;
+  dds_attributes_to_rmw_qos(subscriber_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.durability, RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_subscriber_reliability_conversion) {
+  subscriber_attributes_.qos.m_reliability.kind = eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS;
+  dds_attributes_to_rmw_qos(subscriber_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.reliability, RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_subscriber_liveliness_conversion) {
+  subscriber_attributes_.qos.m_liveliness.kind =
+    eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
+  dds_attributes_to_rmw_qos(subscriber_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.liveliness, RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_subscriber_liveliness_lease_duration_conversion) {
+  subscriber_attributes_.qos.m_liveliness.lease_duration = {80, 34567};
+  dds_attributes_to_rmw_qos(subscriber_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.liveliness_lease_duration.sec, 80u);
+  EXPECT_EQ(qos_profile_.liveliness_lease_duration.nsec, 34567u);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_subscriber_deadline_conversion) {
+  subscriber_attributes_.qos.m_deadline.period = {1, 3324};
+  dds_attributes_to_rmw_qos(subscriber_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.deadline.sec, 1u);
+  EXPECT_EQ(qos_profile_.deadline.nsec, 3324u);
+}
+
+TEST_F(DDSAttributesToRMWQosTest, test_subscriber_lifespan_conversion) {
+  subscriber_attributes_.qos.m_lifespan.duration = {9, 432};
+  dds_attributes_to_rmw_qos(subscriber_attributes_, &qos_profile_);
+  EXPECT_EQ(qos_profile_.lifespan.sec, 9u);
+  EXPECT_EQ(qos_profile_.lifespan.nsec, 432u);
+}