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Fixed wait set test on zenoh #2644

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Fixed wait set test on zenoh #2644

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19 changes: 14 additions & 5 deletions rclcpp/test/rclcpp/test_wait_set.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -260,7 +260,10 @@ TEST_F(TestWaitSet, add_guard_condition_to_two_different_wait_set) {
}, std::runtime_error);

rclcpp::PublisherOptions po;
po.event_callbacks.deadline_callback = [](rclcpp::QOSDeadlineOfferedInfo &) {};
std::string rmw_implementation_str = std::string(rmw_get_implementation_identifier());
if (rmw_implementation_str != "rmw_zenoh_cpp") {
po.event_callbacks.deadline_callback = [](rclcpp::QOSDeadlineOfferedInfo &) {};
}
Comment on lines +263 to +266
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@ahcorde i am not really sure what needs to be avoided here... what happens if this if statement is not there, exception? and this is user application does to configure PublisherOptions, that means just switching rmw would break the user application?

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I believe if we run this test with rmw_zenoh, an exception will be thrown when rcl will initialize a liveliness or deadline event since we don't support this yet. This happens when we set certain event callbacks in pub/sub options which internally invoke rmw_publisher_event_init/rmw_subscription_event_init. See below.

108: C++ exception with description "Failed to initialize event: provided event_type 7 is not supported by rmw_zenoh_cpp, at /home/yadunund/ros2_rolling/src/ros2/rmw_zenoh/rmw_zenoh_cpp/src/rmw_event.cpp:60" thrown in the test body.

Having said that I think the way to address this would be to set the matched or qos_incompatible callbacks for po.event_callbacks and subscription_options.event_callbacks. instead of the liveliness or deadlines one if rmw_implementation_str == "rmw_zenoh_cpp"

auto pub = node->create_publisher<test_msgs::msg::BasicTypes>("~/test", 1, po);
auto qos_event = pub->get_event_handlers().begin()->second;
wait_set1.add_waitable(qos_event, pub);
Expand All @@ -276,6 +279,8 @@ TEST_F(TestWaitSet, add_guard_condition_to_two_different_wait_set) {
* Testing adding each entity and waiting, and removing each entity and waiting
*/
TEST_F(TestWaitSet, add_remove_wait) {
std::string rmw_implementation_str = std::string(rmw_get_implementation_identifier());

rclcpp::WaitSet wait_set;
auto node = std::make_shared<rclcpp::Node>("add_remove_wait");

Expand All @@ -284,8 +289,10 @@ TEST_F(TestWaitSet, add_remove_wait) {

// For coverage reasons, this subscription should have event handlers
rclcpp::SubscriptionOptions subscription_options;
subscription_options.event_callbacks.deadline_callback = [](auto) {};
subscription_options.event_callbacks.liveliness_callback = [](auto) {};
if (rmw_implementation_str != "rmw_zenoh_cpp") {
subscription_options.event_callbacks.deadline_callback = [](auto) {};
subscription_options.event_callbacks.liveliness_callback = [](auto) {};
}
auto do_nothing = [](std::shared_ptr<const test_msgs::msg::BasicTypes>) {};
auto sub =
node->create_subscription<test_msgs::msg::BasicTypes>(
Expand All @@ -302,8 +309,10 @@ TEST_F(TestWaitSet, add_remove_wait) {
node->create_service<rcl_interfaces::srv::ListParameters>("~/test", srv_do_nothing);

rclcpp::PublisherOptions publisher_options;
publisher_options.event_callbacks.deadline_callback =
[](rclcpp::QOSDeadlineOfferedInfo &) {};
if (rmw_implementation_str != "rmw_zenoh_cpp") {
publisher_options.event_callbacks.deadline_callback =
[](rclcpp::QOSDeadlineOfferedInfo &) {};
}
auto pub = node->create_publisher<test_msgs::msg::BasicTypes>(
"~/test", 1, publisher_options);
auto qos_event = pub->get_event_handlers().begin()->second;
Expand Down