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Add tests for 'best available' QoS policies (#501)
* Add tests for 'best available' QoS policies Testing feature added in ros2/rmw#320 for all supported rmw implementations. Test creating a subscription and publisher with 'best available' policies and confirm the actual QoS policies are what we expect (adapting to an existing endpoint). * Add tests for services and clients Signed-off-by: Jacob Perron <[email protected]>
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‎test_quality_of_service/CMakeLists.txt‎

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@@ -18,10 +18,12 @@ if(BUILD_TESTING)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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find_package(rcl REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rcutils)
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find_package(rmw REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(test_msgs REQUIRED)
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# get the rmw implementations ahead of time
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find_package(rmw_implementation_cmake REQUIRED)
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target_compile_definitions(${target}${target_suffix}
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PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
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target_link_libraries(${target}${target_suffix} ${PROJECT_NAME}_support)
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ament_target_dependencies(${target}${target_suffix} rclcpp rcutils std_msgs)
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ament_target_dependencies(${target}${target_suffix} rcl rclcpp rcutils std_msgs test_msgs)
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endfunction()
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macro(tests)
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add_custom_gtest(test_deadline test/test_deadline.cpp)
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add_custom_gtest(test_lifespan test/test_lifespan.cpp)
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add_custom_gtest(test_liveliness test/test_liveliness.cpp)
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add_custom_gtest(test_best_available test/test_best_available.cpp)
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endmacro()
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call_for_each_rmw_implementation(tests)

‎test_quality_of_service/package.xml‎

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<test_depend>ament_cmake_gtest</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend>rcl</test_depend>
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<test_depend>rclcpp</test_depend>
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<test_depend>rcutils</test_depend>
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<test_depend>rmw</test_depend>
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<test_depend>rmw_implementation</test_depend>
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<test_depend>rmw_implementation_cmake</test_depend>
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<test_depend>std_msgs</test_depend>
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<test_depend>test_msgs</test_depend>
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<export>
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<build_type>ament_cmake</build_type>

‎test_quality_of_service/test/test_best_available.cpp‎

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// Copyright 2022 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <chrono>
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#include <functional>
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#include <memory>
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#include <string>
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#include "gtest/gtest.h"
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#include "rcl/graph.h"
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#include "rclcpp/rclcpp.hpp"
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#include "test_msgs/srv/empty.hpp"
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#include "test_quality_of_service/qos_test_publisher.hpp"
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#include "test_quality_of_service/qos_test_subscriber.hpp"
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#include "test_quality_of_service/qos_utilities.hpp"
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TEST_F(QosRclcppTestFixture, test_best_available_policies_subscription) {
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const std::string topic = "/test_best_available_subscription";
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const std::chrono::milliseconds publish_period{5000};
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const std::chrono::milliseconds publisher_deadline{2};
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const std::chrono::milliseconds publisher_liveliness_lease_duration{3};
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rclcpp::QoS publisher_qos_profile(1);
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publisher_qos_profile
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.best_effort()
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.transient_local()
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.deadline(publisher_deadline)
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.liveliness(rclcpp::LivelinessPolicy::Automatic)
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.liveliness_lease_duration(publisher_liveliness_lease_duration);
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rclcpp::BestAvailableQoS subscription_qos_profile;
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publisher = std::make_shared<QosTestPublisher>(
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"publisher", topic, publisher_qos_profile, publish_period);
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publisher->toggle();
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subscriber = std::make_shared<QosTestSubscriber>(
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"subscriber", topic, subscription_qos_profile);
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// Wait for discovery before creating subscription
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auto allocator = subscriber->get_node_options().allocator();
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bool discovery_successful = false;
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rcl_ret_t rcl_ret = rcl_wait_for_publishers(
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subscriber->get_node_base_interface()->get_rcl_node_handle(),
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&allocator,
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topic.c_str(),
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1u,
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static_cast<rcutils_duration_value_t>(5e9), // 5 second timeout
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&discovery_successful);
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ASSERT_EQ(rcl_ret, RCL_RET_OK) << rcl_get_error_string().str;
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ASSERT_TRUE(discovery_successful);
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subscriber->toggle();
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// Check actual subscription QoS
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// We expect it to have exactly the same policies as the publisher for some subset of policies
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std::vector<rclcpp::TopicEndpointInfo> subscriptions_info =
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subscriber->get_subscriptions_info_by_topic(topic);
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ASSERT_EQ(subscriptions_info.size(), 1u);
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const auto & actual_qos = subscriptions_info[0].qos_profile();
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EXPECT_EQ(actual_qos.reliability(), publisher_qos_profile.reliability());
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EXPECT_EQ(actual_qos.durability(), publisher_qos_profile.durability());
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EXPECT_EQ(actual_qos.deadline(), publisher_qos_profile.deadline());
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EXPECT_EQ(actual_qos.liveliness(), publisher_qos_profile.liveliness());
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EXPECT_EQ(
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actual_qos.liveliness_lease_duration(), publisher_qos_profile.liveliness_lease_duration());
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}
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TEST_F(QosRclcppTestFixture, test_best_available_policies_publisher) {
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const std::string topic = "/test_best_available_publisher";
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const std::chrono::milliseconds publish_period{5000};
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const std::chrono::milliseconds subscription_deadline{2};
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const std::chrono::milliseconds subscription_liveliness_lease_duration{3};
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rclcpp::QoS subscription_qos_profile(1);
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subscription_qos_profile
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.best_effort()
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.durability_volatile()
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.deadline(subscription_deadline)
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.liveliness(rclcpp::LivelinessPolicy::ManualByTopic)
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.liveliness_lease_duration(subscription_liveliness_lease_duration);
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rclcpp::BestAvailableQoS publisher_qos_profile;
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publisher = std::make_shared<QosTestPublisher>(
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"publisher", topic, publisher_qos_profile, publish_period);
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subscriber = std::make_shared<QosTestSubscriber>(
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"subscriber", topic, subscription_qos_profile);
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subscriber->toggle();
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// Wait for discovery before creating publisher
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auto allocator = publisher->get_node_options().allocator();
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bool discovery_successful = false;
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rcl_ret_t rcl_ret = rcl_wait_for_subscribers(
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publisher->get_node_base_interface()->get_rcl_node_handle(),
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&allocator,
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topic.c_str(),
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1u,
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static_cast<rcutils_duration_value_t>(5e9), // 5 second timeout
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&discovery_successful);
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ASSERT_EQ(rcl_ret, RCL_RET_OK) << rcl_get_error_string().str;
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ASSERT_TRUE(discovery_successful);
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publisher->toggle();
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// Check actual publisher QoS
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// We expect it to have exactly the same policies as the publisher for some subset of policies
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// However, it should always be reliable and transient local (for DDS middlewares)
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std::vector<rclcpp::TopicEndpointInfo> publishers_info =
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publisher->get_publishers_info_by_topic(topic);
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ASSERT_EQ(publishers_info.size(), 1u);
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const auto & actual_qos = publishers_info[0].qos_profile();
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EXPECT_EQ(actual_qos.reliability(), rclcpp::ReliabilityPolicy::Reliable);
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EXPECT_EQ(actual_qos.durability(), rclcpp::DurabilityPolicy::TransientLocal);
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EXPECT_EQ(actual_qos.deadline(), subscription_qos_profile.deadline());
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EXPECT_EQ(actual_qos.liveliness(), subscription_qos_profile.liveliness());
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EXPECT_EQ(
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actual_qos.liveliness_lease_duration(), subscription_qos_profile.liveliness_lease_duration());
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}
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TEST_F(QosRclcppTestFixture, test_best_available_policies_services) {
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// Test no errors occur when creating a service with best available policies
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rclcpp::Node node("test_create_service_with_best_available_policies");
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node.create_service<test_msgs::srv::Empty>(
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"test_best_available_service",
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[](
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std::shared_ptr<rmw_request_id_t>,
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std::shared_ptr<test_msgs::srv::Empty::Request>,
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std::shared_ptr<test_msgs::srv::Empty::Response>) {},
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rmw_qos_profile_best_available);
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}
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TEST_F(QosRclcppTestFixture, test_best_available_policies_clients) {
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// Test no errors occur when creating a client with best available policies
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rclcpp::Node node("test_create_client_with_best_available_policies");
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node.create_client<test_msgs::srv::Empty>(
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"test_best_available_client", rmw_qos_profile_best_available);
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}

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