Add QoS decoding translation for infinite durations to RMW_DURATION_INFINITE (#684)

* Add QoS decoding translation for infinite durations to RMW_DURATION_INFINITE

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

Author: emersonknapp

rosbag2_transport/src/rosbag2_transport/qos.cpp

@@ -19,6 +19,26 @@
 
 #include "qos.hpp"
 
+namespace
+{
+/**
+ * The following constants were the "Inifinity" value returned by RMW implementations before
+ * the introduction of RMW_DURATION_INFINITE and associated RMW fixes
+ * RMW: https://github.com/ros2/rmw/pull/301
+ * Fast-DDS: https://github.com/ros2/rmw_fastrtps/pull/515
+ * CycloneDDS: https://github.com/ros2/rmw_cyclonedds/pull/288
+ * RTI Connext: https://github.com/ros2/rmw_connext/pull/491
+ *
+ * These values exist in bags recorded in Foxy, they need to be translated to RMW_DURATION_INFINITE
+ * to be consistently understood for playback.
+ * With those values, if a bag is played back in a different implementation than it was recorded,
+ * the publishers will fail to be created with an error indicating an invalid QoS value..
+ */
+static const rmw_time_t RMW_CYCLONEDDS_FOXY_INFINITE = rmw_time_from_nsec(0x7FFFFFFFFFFFFFFFll);
+static const rmw_time_t RMW_FASTRTPS_FOXY_INFINITE {0x7FFFFFFFll, 0xFFFFFFFFll};
+static const rmw_time_t RMW_CONNEXT_FOXY_INFINITE  {0x7FFFFFFFll, 0x7FFFFFFFll};
+}  // namespace
+
 namespace YAML
 {
 Node convert<rmw_time_t>::encode(const rmw_time_t & time)
@@ -33,6 +53,13 @@ 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 (
+    rmw_time_equal(time, RMW_CYCLONEDDS_FOXY_INFINITE) ||
+    rmw_time_equal(time, RMW_FASTRTPS_FOXY_INFINITE) ||
+    rmw_time_equal(time, RMW_CONNEXT_FOXY_INFINITE))
+  {
+    time = RMW_DURATION_INFINITE;
+  }
   return true;
 }
 

rosbag2_transport/test/rosbag2_transport/test_qos.cpp

@@ -96,6 +96,53 @@ TEST(TestQoS, detect_new_qos_fields)
   EXPECT_EQ(profile.history, RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT);  // fix "unused variable"
 }
 
+TEST(TestQoS, translates_bad_infinity_values)
+{
+  // Copied from hidden symbols in qos.cpp
+  const rmw_time_t bad_infinities[3] {
+    rmw_time_from_nsec(0x7FFFFFFFFFFFFFFFll),  // cyclone
+    {0x7FFFFFFFll, 0xFFFFFFFFll},  // fastrtps
+    {0x7FFFFFFFll, 0x7FFFFFFFll}  // connext
+  };
+  rmw_time_t infinity = RMW_DURATION_INFINITE;
+  const auto expected_qos = rosbag2_transport::Rosbag2QoS{}
+  .default_history()
+  .reliable()
+  .durability_volatile()
+  .deadline(infinity)
+  .lifespan(infinity)
+  .liveliness(RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT)
+  .liveliness_lease_duration(infinity)
+  .get_rmw_qos_profile();
+
+  for (const auto & infinity : bad_infinities) {
+    std::ostringstream serialized_profile;
+    serialized_profile <<
+      "history: 1\n"
+      "depth: 10\n"
+      "reliability: 1\n"
+      "durability: 2\n"
+      "deadline:\n"
+      "  sec: " << infinity.sec << "\n"
+      "  nsec: " << infinity.nsec << "\n"
+      "lifespan:\n"
+      "  sec: " << infinity.sec << "\n"
+      "  nsec: " << infinity.nsec << "\n"
+      "liveliness: 0\n"
+      "liveliness_lease_duration:\n"
+      "  sec: " << infinity.sec << "\n"
+      "  nsec: " << infinity.nsec << "\n"
+      "avoid_ros_namespace_conventions: false\n";
+    const YAML::Node loaded_node = YAML::Load(serialized_profile.str());
+    const auto deserialized_profile = loaded_node.as<rosbag2_transport::Rosbag2QoS>();
+    const auto actual_qos = deserialized_profile.get_rmw_qos_profile();
+    EXPECT_TRUE(rmw_time_equal(actual_qos.lifespan, expected_qos.lifespan));
+    EXPECT_TRUE(rmw_time_equal(actual_qos.deadline, expected_qos.deadline));
+    EXPECT_TRUE(
+      rmw_time_equal(
+        actual_qos.liveliness_lease_duration, expected_qos.liveliness_lease_duration));
+  }
+}
 
 using rosbag2_transport::Rosbag2QoS;  // NOLINT
 class AdaptiveQoSTest : public ::testing::Test