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[Foxy backport] Validate QoS profile values are not negative. (#483) #490

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Merged
Karsten1987 merged 1 commit into from
Aug 5, 2020
Merged

[Foxy backport] Validate QoS profile values are not negative. (#483) #490

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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))
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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)