def test_interpret_dict_as_qos_profile_valid(self):
qos_dict = {'history': 'keep_last', 'depth': 10}
qos_profile = interpret_dict_as_qos_profile(qos_dict)
assert qos_profile.history == QoSHistoryPolicy.KEEP_LAST
expected_seconds = 1
expected_nanoseconds = int((expected_seconds * 1e9))
qos_dict = {'history': 'keep_all', 'deadline': {'sec': expected_seconds, 'nsec': 0}}
qos_profile = interpret_dict_as_qos_profile(qos_dict)
assert qos_profile.deadline.nanoseconds == expected_nanoseconds
expected_convention = False
qos_dict = {'history': 'keep_all', 'avoid_ros_namespace_conventions': expected_convention}
qos_profile = interpret_dict_as_qos_profile(qos_dict)
assert qos_profile.avoid_ros_namespace_conventions == expected_convention
def test_interpret_dict_as_qos_profile_negative(self):
qos_dict = {'history': 'keep_all', 'depth': -1}
with self.assertRaises(ValueError):
interpret_dict_as_qos_profile(qos_dict)
qos_dict = {'history': 'keep_all', 'deadline': {'sec': -1, 'nsec': -1}}
with self.assertRaises(ValueError):
interpret_dict_as_qos_profile(qos_dict)
qos_dict = {'history': 'keep_all', 'lifespan': {'sec': -1, 'nsec': -1}}
with self.assertRaises(ValueError):
interpret_dict_as_qos_profile(qos_dict)
qos_dict = {'history': 'keep_all', 'liveliness_lease_duration': {'sec': -1, 'nsec': -1}}
with self.assertRaises(ValueError):
interpret_dict_as_qos_profile(qos_dict)
def test_interpret_dict_as_qos_profile_invalid(self):
qos_dict = {'foo': 'bar'}
with self.assertRaises(ValueError):
interpret_dict_as_qos_profile(qos_dict)