def test_declare_qos_parameters_with_overrides():
node = Node('my_node',
parameter_overrides=[
Parameter('qos_overrides./my_topic.publisher.depth',
value=100),
Parameter('qos_overrides./my_topic.publisher.reliability',
value='best_effort'),
])
for i in range(
2
): # try twice, the second time the parameters will be get and not declared
_declare_qos_parameters(Publisher, node, '/my_topic',
QoSProfile(depth=10),
QoSOverridingOptions.with_default_policies())
qos_overrides = node.get_parameters_by_prefix('qos_overrides')
assert len(qos_overrides) == 3
expected_params = (
('/my_topic.publisher.depth', 100),
('/my_topic.publisher.history', 'keep_last'),
('/my_topic.publisher.reliability', 'best_effort'),
)
for actual, expected in zip(
sorted(qos_overrides.items(), key=lambda x: x[0]),
expected_params):
assert actual[0] == expected[0] # same param name
assert actual[1].value == expected[1] # same param value
def __init__(self):
super().__init__('qos_overrides_listener')
self.sub = self.create_subscription(
String, 'qos_overrides_chatter', self.chatter_callback, 10,
qos_overriding_options=QoSOverridingOptions.with_default_policies(
callback=self.qos_callback,
# entity_id='my_custom_id', # Use this if you want a custo qos override id.
))
def __init__(self):
super().__init__('qos_overrides_talker')
self.i = 0
self.pub = self.create_publisher(
String, 'qos_overrides_chatter', 10,
qos_overriding_options=QoSOverridingOptions.with_default_policies(
callback=self.qos_callback,
# entity_id='my_custom_id', # Use this if you want a custo qos override id.
))
timer_period = 1.0
self.tmr = self.create_timer(timer_period, self.timer_callback)
def test_declare_qos_parameters_with_unhappy_callback():
def qos_validation_callback(qos):
result = QosCallbackResult()
result.successful = False
result.reason = 'my_custom_error_message'
return result
node = Node('my_node')
with pytest.raises(InvalidQosOverridesError) as err:
_declare_qos_parameters(
Publisher, node, '/my_topic', QoSProfile(depth=10),
QoSOverridingOptions.with_default_policies(
callback=qos_validation_callback))
assert 'my_custom_error_message' in str(err.value)
def test_declare_qos_parameters():
node = Node('my_node')
_declare_qos_parameters(Publisher, node, '/my_topic', QoSProfile(depth=10),
QoSOverridingOptions.with_default_policies())
qos_overrides = node.get_parameters_by_prefix('qos_overrides')
assert len(qos_overrides) == 3
expected_params = (
('/my_topic.publisher.depth', 10),
('/my_topic.publisher.history', 'keep_last'),
('/my_topic.publisher.reliability', 'reliable'),
)
for actual, expected in zip(
sorted(qos_overrides.items(), key=lambda x: x[0]),
expected_params):
assert actual[0] == expected[0] # same param name
assert actual[1].value == expected[1] # same param value
def test_declare_qos_parameters_with_happy_callback():
def qos_validation_callback(qos):
result = QosCallbackResult()
result.successful = True
return result
node = Node('my_node')
_declare_qos_parameters(
Publisher, node, '/my_topic', QoSProfile(depth=10),
QoSOverridingOptions.with_default_policies(
callback=qos_validation_callback))
qos_overrides = node.get_parameters_by_prefix('qos_overrides')
assert len(qos_overrides) == 3
expected_params = (
('/my_topic.publisher.depth', 10),
('/my_topic.publisher.history', 'keep_last'),
('/my_topic.publisher.reliability', 'reliable'),
)
for actual, expected in zip(
sorted(qos_overrides.items(), key=lambda x: x[0]),
expected_params):
assert actual[0] == expected[0] # same param name
assert actual[1].value == expected[1] # same param value