Fix the tests on cyclonedds by translating qos duration values

Signed-off-by: Emerson Knapp <[email protected]>

README.md

@@ -187,15 +187,15 @@ Below is an example profile set to the default ROS2 QoS settings.
   reliability: reliable
   durability: volatile
   deadline:
-    sec: 2147483647   # LONG_MAX
-    nsec: 4294967295  # ULONG_MAX
+    sec: 0
+    nsec: 0
   lifespan:
-    sec: 2147483647
-    nsec: 4294967295
+    sec: 0
+    nsec: 0
   liveliness: system_default
   liveliness_lease_duration:
-    sec: 2147483647
-    nsec: 4294967295
+    sec: 0
+    nsec: 0
   avoid_ros_namespace_conventions: false
 ```
 

ros2bag/test/resources/empty_bag/metadata.yaml

@@ -13,13 +13,13 @@ rosbag2_bagfile_information:
         name: /parameter_events
         type: rcl_interfaces/msg/ParameterEvent
         serialization_format: cdr
-        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 2147483647\n    nsec: 4294967295\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
       message_count: 0
     - topic_metadata:
         name: /rosout
         type: rcl_interfaces/msg/Log
         serialization_format: cdr
-        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 10\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 10\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
       message_count: 0
   compression_format: ""
   compression_mode: ""

ros2bag/test/resources/incomplete_qos_duration.yaml

@@ -4,4 +4,4 @@
   reliability: reliable
   durability: volatile
   deadline:
-    sec: 2147483647  # LONG_MAX
+    sec: 0

ros2bag/test/resources/qos_profile.yaml

@@ -4,13 +4,13 @@
   reliability: reliable
   durability: transient_local
   deadline:
-    sec: 2147483647
-    nsec: 4294967295
+    sec: 0
+    nsec: 0
   lifespan:
-    sec: 2147483647
-    nsec: 4294967295
+    sec: 0
+    nsec: 0
   liveliness: automatic
   liveliness_lease_duration:
-    sec: 2147483647
-    nsec: 4294967295
+    sec: 0
+    nsec: 0
   avoid_ros_namespace_conventions: false

rosbag2_py/resources/talker/metadata.yaml

@@ -13,19 +13,19 @@ rosbag2_bagfile_information:
         name: /topic
         type: std_msgs/msg/String
         serialization_format: cdr
-        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 2147483647\n    nsec: 4294967295\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
       message_count: 10
     - topic_metadata:
         name: /rosout
         type: rcl_interfaces/msg/Log
         serialization_format: cdr
-        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 10\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 1\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 10\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
       message_count: 10
     - topic_metadata:
         name: /parameter_events
         type: rcl_interfaces/msg/ParameterEvent
         serialization_format: cdr
-        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 2147483647\n    nsec: 4294967295\n  lifespan:\n    sec: 2147483647\n    nsec: 4294967295\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 2147483647\n    nsec: 4294967295\n  avoid_ros_namespace_conventions: false"
+        offered_qos_profiles: "- history: 3\n  depth: 0\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 0\n    nsec: 0\n  lifespan:\n    sec: 0\n    nsec: 0\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 0\n    nsec: 0\n  avoid_ros_namespace_conventions: false"
       message_count: 0
   compression_format: ""
   compression_mode: ""

rosbag2_transport/src/rosbag2_transport/qos.cpp

@@ -19,20 +19,37 @@
 
 #include "qos.hpp"
 
+namespace
+{
+  // These values are returned as "unspecified" in FastDDS
+  // 0 is equivalent and is portable to other implementation
+  static constexpr uint64_t FASTDDS_UNSPECIFIED_SEC = 2147483647;
+  static constexpr uint64_t FASTDDS_UNSPECIFIED_NSEC = 4294967295;
+ }  // namespace
+
 namespace YAML
 {
 Node convert<rmw_time_t>::encode(const rmw_time_t & time)
 {
   Node node;
-  node["sec"] = time.sec;
-  node["nsec"] = time.nsec;
+  if (time.sec == FASTDDS_UNSPECIFIED_SEC && time.nsec == FASTDDS_UNSPECIFIED_NSEC) {
+    node["sec"] = 0;
+    node["nsec"] = 0;
+  } else {
+    node["sec"] = time.sec;
+    node["nsec"] = time.nsec;
+  }
   return node;
 }
 
 bool convert<rmw_time_t>::decode(const Node & node, rmw_time_t & time)
 {
   time.sec = node["sec"].as<uint64_t>();
   time.nsec = node["nsec"].as<uint64_t>();
+  if (time.sec == FASTDDS_UNSPECIFIED_SEC && time.nsec == FASTDDS_UNSPECIFIED_NSEC) {
+    time.sec = 0;
+    time.nsec = 0;
+  }
   return true;
 }