Add RMW_DURATION_INFINITE basic compliance test (#194)

Signed-off-by: Emerson Knapp <[email protected]>

Author: emersonknapp

test_rmw_implementation/CMakeLists.txt

@@ -170,6 +170,16 @@ if(BUILD_TESTING)
     ament_target_dependencies(test_qos_profile_check_compatible${target_suffix}
       rmw rmw_implementation
     )
+
+    ament_add_gtest(test_duration_infinite${target_suffix}
+      test/test_duration_infinite.cpp
+      ENV ${rmw_implementation_env_var}
+    )
+    target_compile_definitions(test_duration_infinite${target_suffix}
+      PUBLIC "RMW_IMPLEMENTATION=${rmw_implementation}")
+    ament_target_dependencies(test_duration_infinite${target_suffix}
+      osrf_testing_tools_cpp rcutils rmw rmw_implementation test_msgs
+    )
   endmacro()
 
   call_for_each_rmw_implementation(test_api)

test_rmw_implementation/test/test_duration_infinite.cpp

@@ -0,0 +1,115 @@
+// Copyright 2021 Amazon.com Inc or its affiliates. All rights reserved.
+//
+// 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 <gtest/gtest.h>
+
+#include "rcutils/strdup.h"
+
+#include "rmw/rmw.h"
+#include "rmw/error_handling.h"
+
+#include "test_msgs/msg/basic_types.h"
+
+#include "./config.hpp"
+#include "./testing_macros.hpp"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+class CLASSNAME (TestDurationInfinite, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+protected:
+  void SetUp() override
+  {
+    init_options = rmw_get_zero_initialized_init_options();
+    rmw_ret_t ret = rmw_init_options_init(&init_options, rcutils_get_default_allocator());
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+    init_options.enclave = rcutils_strdup("/", rcutils_get_default_allocator());
+    ASSERT_STREQ("/", init_options.enclave);
+    context = rmw_get_zero_initialized_context();
+    ret = rmw_init(&init_options, &context);
+    ASSERT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
+    constexpr char node_name[] = "infinite_duration_test_node";
+    constexpr char node_namespace[] = "/inifinite_duration_test_ns";
+    node = rmw_create_node(&context, node_name, node_namespace);
+    ASSERT_NE(nullptr, node) << rcutils_get_error_string().str;
+  }
+
+  void TearDown() override
+  {
+    rmw_ret_t ret = rmw_destroy_node(node);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_shutdown(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_context_fini(&context);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    ret = rmw_init_options_fini(&init_options);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  }
+
+  rmw_init_options_t init_options;
+  rmw_context_t context;
+  rmw_node_t * node;
+};
+
+TEST_F(CLASSNAME(TestDurationInfinite, RMW_IMPLEMENTATION), create_publisher)
+{
+  rmw_ret_t ret = RMW_RET_ERROR;
+  size_t match_count = 0;
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, BasicTypes);
+  constexpr char topic_name[] = "/test";
+
+  rmw_publisher_options_t pub_options = rmw_get_default_publisher_options();
+  rmw_qos_profile_t offer_qos = rmw_qos_profile_default;
+  offer_qos.deadline = RMW_DURATION_INFINITE;
+  offer_qos.lifespan = RMW_DURATION_INFINITE;
+  offer_qos.liveliness_lease_duration = RMW_DURATION_INFINITE;
+
+  rmw_subscription_options_t sub_options = rmw_get_default_subscription_options();
+  rmw_qos_profile_t request_qos = rmw_qos_profile_default;
+  request_qos.deadline = RMW_DURATION_INFINITE;
+  request_qos.lifespan = RMW_DURATION_INFINITE;
+  request_qos.liveliness_lease_duration = RMW_DURATION_INFINITE;
+
+  // Must be able to successfully create a publisher with these offered values
+  rmw_publisher_t * pub =
+    rmw_create_publisher(node, ts, topic_name, &offer_qos, &pub_options);
+  ASSERT_NE(nullptr, pub) << rmw_get_error_string().str;
+
+  // Must be able to match with a subscription requesting infinite durations
+  rmw_subscription_t * sub =
+    rmw_create_subscription(node, ts, topic_name, &request_qos, &sub_options);
+  ASSERT_NE(nullptr, sub) << rmw_get_error_string().str;
+
+  SLEEP_AND_RETRY_UNTIL(rmw_intraprocess_discovery_delay, rmw_intraprocess_discovery_delay * 10) {
+    ret = rmw_publisher_count_matched_subscriptions(pub, &match_count);
+    if (RMW_RET_OK == ret && 1u == match_count) {
+      break;
+    }
+  }
+  ret = rmw_publisher_count_matched_subscriptions(pub, &match_count);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  EXPECT_EQ(1u, match_count);
+
+  ret = rmw_destroy_subscription(node, sub);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+
+  ret = rmw_destroy_publisher(node, pub);
+  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+}