def test_compatible(self):
qos = QoSProfile(
depth=1,
reliability=QoSReliabilityPolicy.RELIABLE,
durability=QoSDurabilityPolicy.VOLATILE,
lifespan=Duration(seconds=1),
deadline=Duration(seconds=1),
liveliness=QoSLivelinessPolicy.AUTOMATIC,
liveliness_lease_duration=Duration(seconds=1),
)
compatibility, reason = qos_check_compatible(
qos, qos
)
assert compatibility == QoSCompatibility.OK
assert reason == ''
def test_warn_of_possible_incompatibility(self):
"""
This test is assuming a DDS implementation.
It's possible that a "best effort" publisher and "reliable"
subscription is a valid match in a non-DDS implementation.
"""
pub_qos = QoSPresetProfiles.SYSTEM_DEFAULT.value
sub_qos = QoSProfile(
depth=1,
reliability=QoSReliabilityPolicy.RELIABLE,
)
compatibility, reason = qos_check_compatible(
pub_qos, sub_qos
)
assert compatibility == QoSCompatibility.WARNING
assert reason != ''
def test_incompatible(self):
"""
This test is assuming a DDS implementation.
It's possible that a "best effort" publisher and "reliable"
subscription is a valid match in a non-DDS implementation.
"""
pub_qos = QoSProfile(
depth=1,
reliability=QoSReliabilityPolicy.BEST_EFFORT,
)
sub_qos = QoSProfile(
depth=1,
reliability=QoSReliabilityPolicy.RELIABLE,
)
compatibility, reason = qos_check_compatible(
pub_qos, sub_qos
)
assert compatibility == QoSCompatibility.ERROR
assert reason != ''
def report(self):
report = Report('QOS COMPATIBILITY LIST')
to_be_reported = get_topic_names()
with NodeStrategy(None) as node:
for topic in to_be_reported:
for pub in node.get_publishers_info_by_topic(topic):
for sub in node.get_subscriptions_info_by_topic(topic):
compatibility, reason = qos_check_compatible(
pub.qos_profile, sub.qos_profile)
report.add_to_report('topic [type]',
f'{topic} [{pub.topic_type}]')
report.add_to_report('publisher node', pub.node_name)
report.add_to_report('subscriber node', sub.node_name)
if compatibility == QoSCompatibility.OK:
compatibility_msg = 'OK'
else:
compatibility_msg = reason
report.add_to_report('compatibility status',
compatibility_msg)
if self._is_report_empty(report):
report.add_to_report('compatibility status',
'No publisher/subscriber pairs found')
return report
def check(self):
"""Check publisher and subscriber counts."""
result = Result()
to_be_checked = get_topic_names()
with NodeStrategy(None) as node:
for topic in to_be_checked:
for pub in node.get_publishers_info_by_topic(topic):
for sub in node.get_subscriptions_info_by_topic(topic):
compatibility, reason = qos_check_compatible(
pub.qos_profile, sub.qos_profile)
reason_message = self._strip_leading_warning_or_error_from_string(
reason)
if compatibility == QoSCompatibility.WARNING:
doctor_warn(
f"QoS compatibility warning found on topic '{topic}': "
f'{reason_message}')
result.add_warning()
elif compatibility == QoSCompatibility.ERROR:
doctor_error(
f"QoS compatibility error found on topic '{topic}': "
f'{reason_message}')
result.add_error()
return result