Add a test for the subscription option 'ignore_local_publications' (ros2#1239) (ros2#1245)

* Add a test for subscription option 'ignore_local_publications'



* Update the explanatory content.



---------


(cherry picked from commit 75d1522)

Signed-off-by: Barry Xu <barry.xu@sony.com>
Co-authored-by: Barry Xu <barry.xu@sony.com>

Author: mergify[bot]

rcl/test/rcl/test_subscription.cpp

@@ -1396,6 +1396,150 @@ TEST_F(TestSubscriptionFixtureInit, test_subscription_bad_take) {
   rcl_reset_error();
 }
 
+TEST_F(TestSubscriptionFixture, test_subscription_option_ignore_local_publications) {
+  // The current Implementations for ignoring local publications
+  // While creating a subscription, the ignore_local_publications option is set to true
+  //                                                      Notification of message
+  //                   Connected to local publications    from local publication      Take data
+  //                   -------------------------------    -----------------------      ---------
+  // rmw_fastrtps               Yes                               Yes                     No
+  // rmw_cyclonedds             No                                No                      No
+  // rmw_zenoh                  Yes                               No                      No
+  // rmw_connextdds             Yes                               Yes                     No
+
+  rcl_ret_t ret;
+
+  // Create a publisher
+  rcl_publisher_t pub = rcl_get_zero_initialized_publisher();
+  const rosidl_message_type_support_t * ts =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, Strings);
+  constexpr char topic[] = "rcl_test_subscription_option_ignore_local_publications";
+  rcl_publisher_options_t publisher_options = rcl_publisher_get_default_options();
+  ret = rcl_publisher_init(&pub, this->node_ptr, ts, topic, &publisher_options);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_publisher_fini(&pub, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+
+  // Create two subscriptions: one with ignore_local_publications set to false,
+  // and another with it set to true.
+  rcl_subscription_t sub = rcl_get_zero_initialized_subscription();
+  rcl_subscription_t sub_ignorelocal = rcl_get_zero_initialized_subscription();
+  rcl_subscription_options_t sub_opts = rcl_subscription_get_default_options();
+
+  // sub with ignore_local_publications set to false
+  ret = rcl_subscription_init(&sub, this->node_ptr, ts, topic, &sub_opts);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_subscription_fini(&sub, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+
+  // sub_ignorelocal with ignore_local_publications set to true
+  sub_opts.rmw_subscription_options.ignore_local_publications = true;
+  ret = rcl_subscription_init(&sub_ignorelocal, this->node_ptr, ts, topic, &sub_opts);
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rcl_ret_t ret = rcl_subscription_fini(&sub_ignorelocal, this->node_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+
+  // Wait for at least 1 subscription to be established
+  ASSERT_TRUE(wait_for_established_subscription(&pub, 5, 1000));
+
+  // Test with rcl_take
+  // publish a message
+  constexpr char test_string[] = "message";
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
+    ret = rcl_publish(&pub, &msg, nullptr);
+    test_msgs__msg__Strings__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  // Wait for one subscription to be ready
+  ASSERT_TRUE(wait_for_subscription_to_be_ready(&sub, context_ptr, 2, 1000));
+
+  // ignore_local_publications is false
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__Strings__fini(&msg);
+    });
+    ret = rcl_take(&sub, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ASSERT_EQ(
+      std::string(test_string),
+      std::string(msg.string_value.data, msg.string_value.size));
+  }
+
+  // ignore_local_publications is true
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      test_msgs__msg__Strings__fini(&msg);
+    });
+    ret = rcl_take(&sub, &msg, nullptr, nullptr);
+    ASSERT_EQ(RCL_RET_SUBSCRIPTION_TAKE_FAILED, ret);
+  }
+
+  // Test with rcl_take_serialized_message
+  // publish message again
+  {
+    test_msgs__msg__Strings msg;
+    test_msgs__msg__Strings__init(&msg);
+    ASSERT_TRUE(rosidl_runtime_c__String__assign(&msg.string_value, test_string));
+    ret = rcl_publish(&pub, &msg, nullptr);
+    test_msgs__msg__Strings__fini(&msg);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  // Wait for one subscription to be ready
+  ASSERT_TRUE(wait_for_subscription_to_be_ready(&sub, context_ptr, 2, 1000));
+
+  // ignore_local_publications is false
+  {
+    rmw_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
+    size_t initial_serialization_capacity = 0u;
+    auto allocator = rcl_get_default_allocator();
+    rmw_message_info_t message_info;
+    ASSERT_EQ(RCL_RET_OK,
+      rmw_serialized_message_init(&serialized_msg, initial_serialization_capacity, &allocator));
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      EXPECT_EQ(RCL_RET_OK, rmw_serialized_message_fini(&serialized_msg));
+    });
+    ret = rcl_take_serialized_message(&sub, &serialized_msg, &message_info, nullptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  // ignore_local_publications is true
+  {
+    rmw_serialized_message_t serialized_msg = rmw_get_zero_initialized_serialized_message();
+    size_t initial_serialization_capacity = 0u;
+    auto allocator = rcl_get_default_allocator();
+    rmw_message_info_t message_info;
+    ASSERT_EQ(RCL_RET_OK,
+      rmw_serialized_message_init(&serialized_msg, initial_serialization_capacity, &allocator));
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+    {
+      EXPECT_EQ(RCL_RET_OK, rmw_serialized_message_fini(&serialized_msg));
+    });
+    ret = rcl_take_serialized_message(&sub_ignorelocal, &serialized_msg, &message_info, nullptr);
+    ASSERT_EQ(RCL_RET_SUBSCRIPTION_TAKE_FAILED, ret);
+  }
+}
+
 /* bad take_serialized
  */
 TEST_F(TestSubscriptionFixtureInit, test_subscription_bad_take_serialized) {