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Validate QoS profile values are not negative. #483

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Merged
jikawa-az merged 15 commits into from
Aug 5, 2020
Merged

Validate QoS profile values are not negative. #483

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3eae854
add negative check to init py
Aug 1, 2020
67955dd
add unit test
Aug 1, 2020
b702cac
modify unit test
Aug 3, 2020
25ec407
revert test_play
Aug 3, 2020
2e8583e
typo string to int
Aug 4, 2020
336abcb
add history value to unit tests
Aug 4, 2020
ceb344e
add validation to duration keys
Aug 4, 2020
12884e1
modify duration validation
Aug 4, 2020
8330193
fix syntax
Aug 4, 2020
4e3631e
modify duration validation
Aug 4, 2020
c2773c6
fix syntax
Aug 4, 2020
6c25bcc
modify comparison
Aug 4, 2020
a15ed88
fix syntax
Aug 4, 2020
9fe17cb
modify style
Aug 4, 2020
b648c7e
modify style
Aug 4, 2020
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5 changes: 5 additions & 0 deletions ros2bag/ros2bag/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,9 @@ def dict_to_duration(time_dict: Optional[Dict[str, int]]) -> Duration:
"""Convert a QoS duration profile from YAML into an rclpy Duration."""
if time_dict:
try:
if (Duration(seconds=time_dict['sec'], nanoseconds=time_dict['nsec']) <
Duration(seconds=0)):
raise ValueError('Time duration may not be a negative value.')
return Duration(seconds=time_dict['sec'], nanoseconds=time_dict['nsec'])
except KeyError:
raise ValueError(
Expand All @@ -61,6 +64,8 @@ def interpret_dict_as_qos_profile(qos_profile_dict: Dict) -> QoSProfile:
elif policy_key in _QOS_POLICY_FROM_SHORT_NAME:
new_profile_dict[policy_key] = _QOS_POLICY_FROM_SHORT_NAME[policy_key](policy_value)
elif policy_key in _VALUE_KEYS:
if policy_value < 0:
raise ValueError('`{}` may not be a negative value.'.format(policy_key))
new_profile_dict[policy_key] = policy_value
else:
raise ValueError('Unexpected key `{}` for QoS profile.'.format(policy_key))
Expand Down
14 changes: 14 additions & 0 deletions ros2bag/test/test_api.py
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Expand Up @@ -74,3 +74,17 @@ def test_convert_yaml_to_qos_profile(self):
assert qos_profiles[topic_name_2].avoid_ros_namespace_conventions == expected_convention
assert qos_profiles[topic_name_2].history == \
QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_ALL

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)