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Use rmw_event_type_is_supported in test_qos_event #2761

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Use rmw_event_type_is_supported in test_qos_event #2761

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43 changes: 29 additions & 14 deletions rclcpp/test/rclcpp/test_qos_event.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,9 @@ TEST_F(TestQosEvent, test_publisher_constructor)
auto publisher = node->create_publisher<test_msgs::msg::Empty>(
topic_name, 10, options);

if (rmw_implementation_str != "rmw_zenoh_cpp") {
if (rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_LOST))
{
// options arg with one of the callbacks
options.event_callbacks.deadline_callback =
[node = node.get()](rclcpp::QOSDeadlineOfferedInfo & event) {
Expand Down Expand Up @@ -121,7 +123,9 @@ TEST_F(TestQosEvent, test_subscription_constructor)
auto subscription = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, options);

if (rmw_implementation_str != "rmw_zenoh_cpp") {
if (rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_CHANGED))
{
// options arg with one of the callbacks
options.event_callbacks.deadline_callback =
[node = node.get()](rclcpp::QOSDeadlineRequestedInfo & event) {
Expand Down Expand Up @@ -211,10 +215,9 @@ TEST_F(TestQosEvent, test_default_incompatible_qos_callbacks)
const auto timeout = std::chrono::seconds(10);
ex.spin_until_future_complete(log_msgs_future, timeout);

if (rmw_implementation_str == "rmw_zenoh_cpp") {
EXPECT_EQ(rclcpp::QoSCompatibility::Ok,
qos_check_compatible(qos_profile_publisher, qos_profile_subscription).compatibility);
} else {
if (qos_check_compatible(qos_profile_publisher,
qos_profile_subscription).compatibility != rclcpp::QoSCompatibility::Ok)
{
EXPECT_EQ(
"New subscription discovered on topic '/ns/test_topic', requesting incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
Expand All @@ -235,7 +238,8 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {

// This callback requires some type of parameter, but it could be anything
auto callback = [](int) {};
const rcl_publisher_event_type_t event_type = rmw_implementation_str == "rmw_zenoh_cpp" ?
const rcl_publisher_event_type_t event_type =
!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) ?
RCL_PUBLISHER_MATCHED : RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;

{
Expand Down Expand Up @@ -273,9 +277,10 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {
}

TEST_F(TestQosEvent, execute) {
if (rmw_implementation_str == "rmw_zenoh_cpp") {
if (!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED)) {
GTEST_SKIP();
}

auto publisher = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
auto rcl_handle = publisher->get_publisher_handle();

Expand Down Expand Up @@ -308,9 +313,11 @@ TEST_F(TestQosEvent, add_to_wait_set) {
// This callback requires some type of parameter, but it could be anything
auto callback = [](int) {};

const rcl_publisher_event_type_t event_type = rmw_implementation_str == "rmw_zenoh_cpp" ?
const rcl_publisher_event_type_t event_type =
!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) ?
RCL_PUBLISHER_MATCHED : RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(

rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
callback, rcl_publisher_event_init, rcl_handle, event_type);

EXPECT_EQ(1u, handler.get_number_of_ready_events());
Expand All @@ -331,7 +338,9 @@ TEST_F(TestQosEvent, add_to_wait_set) {

TEST_F(TestQosEvent, test_on_new_event_callback)
{
if (rmw_implementation_str == "rmw_zenoh_cpp") {
if (!rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED) ||
!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED))
{
GTEST_SKIP();
}

Expand Down Expand Up @@ -380,7 +389,9 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
auto dummy_cb = [](size_t count_events) {(void)count_events;};

if (rmw_implementation_str != "rmw_zenoh_cpp") {
if (rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_LOST))
{
EXPECT_NO_THROW(
pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED));

Expand All @@ -405,7 +416,9 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
EXPECT_NO_THROW(
pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_MATCHED));

if (rmw_implementation_str == "rmw_zenoh_cpp") {
if (rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_CHANGED))
{
EXPECT_NO_THROW(
sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));

Expand All @@ -430,7 +443,9 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
EXPECT_NO_THROW(
sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_MATCHED));

if (rmw_implementation_str != "rmw_zenoh_cpp") {
if (rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED))
{
std::function<void(size_t)> invalid_cb;

rclcpp::SubscriptionOptions sub_options;
Expand Down