Make qos event test resilient to unimplemented events

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
ros2 · May 3, 2019 · 9f845e6 · 9f845e6
1 parent fb95404
commit 9f845e6
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Showing 2 changed files with 59 additions and 40 deletions.
diff --git a/rclpy/src/rclpy/_rclpy_qos_event.c b/rclpy/src/rclpy/_rclpy_qos_event.c
@@ -342,9 +342,16 @@ rclpy_take_event(PyObject * Py_UNUSED(self), PyObject * args)
   }
 
   ret = rcl_take_event(event, &event_data);
-  if (!_check_rcl_return(ret, "Failed to take event")) {
-    return NULL;
+  if (RCL_RET_UNSUPPORTED == ret) {
+    PyErr_Format(PyExc_NotImplementedError,
+      "Take event is not implemented in the current RMW implementation: %s",
+      rcl_get_error_string().str);
+    rcl_reset_error();
+  } else if (RCL_RET_OK != ret) {
+    PyErr_Format(PyExc_RuntimeError, "Failed to take event: %s", rcl_get_error_string().str);
+    rcl_reset_error();
+  } else {
+    return event_filler(&event_data);
   }
-
-  return event_filler(&event_data);
+  return NULL;
 }
diff --git a/rclpy/test/test_qos_event.py b/rclpy/test/test_qos_event.py
@@ -155,23 +155,29 @@ def test_call_publisher_rclpy_event_apis(self):
 
         # Calling take data even though not ready should provide me an empty initialized message
         # Tests data conversion utilities in C side
-        with deadline_event_handle as event_capsule, publisher.handle as publisher_capsule:
-            event_data = _rclpy.rclpy_take_event(
-                event_capsule,
-                publisher_capsule,
-                QoSPublisherEventType.RCL_PUBLISHER_OFFERED_DEADLINE_MISSED)
-        self.assertIsInstance(event_data, QoSOfferedDeadlineMissedInfo)
-        self.assertEqual(event_data.total_count, 0)
-        self.assertEqual(event_data.total_count_change, 0)
-
-        with liveliness_event_handle as event_capsule, publisher.handle as publisher_capsule:
-            event_data = _rclpy.rclpy_take_event(
-                event_capsule,
-                publisher_capsule,
-                QoSPublisherEventType.RCL_PUBLISHER_LIVELINESS_LOST)
-        self.assertIsInstance(event_data, QoSLivelinessLostInfo)
-        self.assertEqual(event_data.total_count, 0)
-        self.assertEqual(event_data.total_count_change, 0)
+        try:
+            with deadline_event_handle as event_capsule, publisher.handle as publisher_capsule:
+                event_data = _rclpy.rclpy_take_event(
+                    event_capsule,
+                    publisher_capsule,
+                    QoSPublisherEventType.RCL_PUBLISHER_OFFERED_DEADLINE_MISSED)
+            self.assertIsInstance(event_data, QoSOfferedDeadlineMissedInfo)
+            self.assertEqual(event_data.total_count, 0)
+            self.assertEqual(event_data.total_count_change, 0)
+        except NotImplementedError:
+            pass
+
+        try:
+            with liveliness_event_handle as event_capsule, publisher.handle as publisher_capsule:
+                event_data = _rclpy.rclpy_take_event(
+                    event_capsule,
+                    publisher_capsule,
+                    QoSPublisherEventType.RCL_PUBLISHER_LIVELINESS_LOST)
+            self.assertIsInstance(event_data, QoSLivelinessLostInfo)
+            self.assertEqual(event_data.total_count, 0)
+            self.assertEqual(event_data.total_count_change, 0)
+        except NotImplementedError:
+            pass
 
         self.node.destroy_publisher(publisher)
 
@@ -202,24 +208,30 @@ def test_call_subscription_rclpy_event_apis(self):
 
         # Calling take data even though not ready should provide me an empty initialized message
         # Tests data conversion utilities in C side
-        with deadline_event_handle as event_capsule, subscription.handle as parent_capsule:
-            event_data = _rclpy.rclpy_take_event(
-                event_capsule,
-                parent_capsule,
-                QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED)
-        self.assertIsInstance(event_data, QoSRequestedDeadlineMissedInfo)
-        self.assertEqual(event_data.total_count, 0)
-        self.assertEqual(event_data.total_count_change, 0)
-
-        with liveliness_event_handle as event_capsule, subscription.handle as parent_capsule:
-            event_data = _rclpy.rclpy_take_event(
-                event_capsule,
-                parent_capsule,
-                QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED)
-        self.assertIsInstance(event_data, QoSLivelinessChangedInfo)
-        self.assertEqual(event_data.alive_count, 0)
-        self.assertEqual(event_data.alive_count_change, 0)
-        self.assertEqual(event_data.not_alive_count, 0)
-        self.assertEqual(event_data.not_alive_count_change, 0)
+        try:
+            with deadline_event_handle as event_capsule, subscription.handle as parent_capsule:
+                event_data = _rclpy.rclpy_take_event(
+                    event_capsule,
+                    parent_capsule,
+                    QoSSubscriptionEventType.RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED)
+            self.assertIsInstance(event_data, QoSRequestedDeadlineMissedInfo)
+            self.assertEqual(event_data.total_count, 0)
+            self.assertEqual(event_data.total_count_change, 0)
+        except NotImplementedError:
+            pass
+
+        try:
+            with liveliness_event_handle as event_capsule, subscription.handle as parent_capsule:
+                event_data = _rclpy.rclpy_take_event(
+                    event_capsule,
+                    parent_capsule,
+                    QoSSubscriptionEventType.RCL_SUBSCRIPTION_LIVELINESS_CHANGED)
+            self.assertIsInstance(event_data, QoSLivelinessChangedInfo)
+            self.assertEqual(event_data.alive_count, 0)
+            self.assertEqual(event_data.alive_count_change, 0)
+            self.assertEqual(event_data.not_alive_count, 0)
+            self.assertEqual(event_data.not_alive_count_change, 0)
+        except NotImplementedError:
+            pass
 
         self.node.destroy_subscription(subscription)