From 33427e3812fad828160559b18b1566f417030bbb Mon Sep 17 00:00:00 2001
From: Michel Hidalgo <michel@ekumenlabs.com>
Date: Mon, 24 Aug 2020 18:13:06 -0300
Subject: [PATCH] Ensure compliant publisher QoS queries. (#425)

Follow-up after 8fc9ca3d98a64118590a205b2162559e17309a27.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
---
 rmw_fastrtps_cpp/src/rmw_publisher.cpp         | 8 ++++++++
 rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp | 8 ++++++++
 rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp  | 9 ---------
 3 files changed, 16 insertions(+), 9 deletions(-)

diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index adf25311e..4f5fc611c 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -147,6 +147,14 @@ rmw_publisher_get_actual_qos(
   const rmw_publisher_t * publisher,
   rmw_qos_profile_t * qos)
 {
+  RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher,
+    publisher->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
   return rmw_fastrtps_shared_cpp::__rmw_publisher_get_actual_qos(
     publisher, qos);
 }
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index 8864c4259..baaedcba5 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -151,6 +151,14 @@ rmw_publisher_get_actual_qos(
   const rmw_publisher_t * publisher,
   rmw_qos_profile_t * qos)
 {
+  RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
+    publisher,
+    publisher->implementation_identifier,
+    eprosima_fastrtps_identifier,
+    return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
+  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
+
   return rmw_fastrtps_shared_cpp::__rmw_publisher_get_actual_qos(
     publisher, qos);
 }
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
index 5fd26dce9..fb8cd2a49 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
@@ -121,17 +121,8 @@ __rmw_publisher_get_actual_qos(
   const rmw_publisher_t * publisher,
   rmw_qos_profile_t * qos)
 {
-  RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
-  RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);
-
   auto info = static_cast<CustomPublisherInfo *>(publisher->data);
-  if (info == nullptr) {
-    return RMW_RET_ERROR;
-  }
   eprosima::fastrtps::Publisher * fastrtps_pub = info->publisher_;
-  if (fastrtps_pub == nullptr) {
-    return RMW_RET_ERROR;
-  }
   const eprosima::fastrtps::PublisherAttributes & attributes =
     fastrtps_pub->getAttributes();