Refs #20849: Add tests in DDS layer

Signed-off-by: elianalf <62831776+elianalf@users.noreply.github.com>

test/blackbox/api/dds-pim/PubSubWriter.hpp

@@ -280,10 +280,11 @@ class PubSubWriter
     typedef typename type_support::type type;
 
     PubSubWriter(
-            const std::string& topic_name)
+            const std::string& topic_name,
+            eprosima::fastdds::dds::DomainParticipant* participant = nullptr)
         : participant_listener_(*this)
         , listener_(*this)
-        , participant_(nullptr)
+        , participant_(participant)
         , topic_(nullptr)
         , publisher_(nullptr)
         , datawriter_(nullptr)

test/blackbox/common/DDSBlackboxTestsBasic.cpp

@@ -760,6 +760,101 @@ TEST(DDSBasic, endpoint_custom_payload_pools)
     participant->delete_contained_entities();
 }
 
+/**
+ * @test Set the maximum number of bytes allowed for a datagram generated by a DomainParticipant.
+ */
+TEST(DDSBasic, max_output_message_size_participant)
+{
+    PubSubReader<Data1mbPubSubType> reader(TEST_TOPIC_NAME);
+    reader.init();
+    EXPECT_TRUE(reader.isInitialized());
+
+    auto testTransport =  std::make_shared<eprosima::fastdds::rtps::test_UDPv4TransportDescriptor>();
+    const uint32_t segment_size = 1470;
+    std::string segment_size_str = std::to_string(segment_size);
+    testTransport->messages_filter_ = [segment_size](eprosima::fastrtps::rtps::CDRMessage_t& datagram)
+            {
+                EXPECT_LE(datagram.length, segment_size);
+                // Never drop samples
+                return false;
+            };
+
+    // Create the DomainParticipants with the appropriate value for the property
+    DomainParticipantQos participant_qos;
+    participant_qos.properties().properties().emplace_back("fastdds.max_message_size", segment_size_str);
+    DomainParticipant* participant =
+            DomainParticipantFactory::get_instance()->create_participant((uint32_t)GET_PID() % 230, participant_qos);
+    PubSubWriter<Data1mbPubSubType> writer(TEST_TOPIC_NAME, participant);
+    writer.disable_builtin_transport()
+            .add_user_transport_to_pparams(testTransport).init();
+    EXPECT_TRUE(writer.isInitialized());
+
+    // Wait for discovery
+    writer.wait_discovery(std::chrono::seconds(2));
+    reader.wait_discovery(std::chrono::seconds(2));
+    EXPECT_EQ(writer.get_matched(), 1u);
+    EXPECT_EQ(reader.get_matched(), 1u);
+
+    // Send samples
+    auto samples = default_data16kb_data_generator(1);
+    reader.startReception(samples);
+    writer.send(samples);
+    EXPECT_TRUE(samples.empty());
+
+    // Wait for reception
+    reader.block_for_all(std::chrono::seconds(1));
+    EXPECT_EQ(reader.getReceivedCount(), 1u);
+
+    DomainParticipantFactory::get_instance()->delete_participant(participant);
+}
+
+/**
+ * @test Set the maximum number of bytes allowed for a datagram generated by a DataWriter.
+ */
+TEST(DDSBasic, max_output_message_size_writer)
+{
+    const uint32_t segment_size = 1470;
+    std::string segment_size_str = std::to_string(segment_size);
+
+    auto testTransport = std::make_shared<eprosima::fastdds::rtps::test_UDPv4TransportDescriptor>();
+    testTransport->messages_filter_ = [segment_size](eprosima::fastrtps::rtps::CDRMessage_t& datagram)
+            {
+                EXPECT_LE(datagram.length, segment_size);
+                // Never drop samples
+                return false;
+            };
+
+    // Create the DataWriter with the appropriate value for the property
+    eprosima::fastrtps::rtps::PropertyPolicy property_policy;
+    property_policy.properties().emplace_back("fastdds.max_message_size", segment_size_str);
+    PubSubWriter<Data1mbPubSubType> writer(TEST_TOPIC_NAME);
+    writer.property_policy(property_policy).disable_builtin_transport().add_user_transport_to_pparams(testTransport);
+    writer.init();
+    ASSERT_TRUE(writer.isInitialized());
+
+    PubSubReader<Data1mbPubSubType> reader(TEST_TOPIC_NAME);
+    reader.init();
+    EXPECT_TRUE(reader.isInitialized());
+
+    // Wait for discovery
+    writer.wait_discovery(std::chrono::seconds(2));
+    reader.wait_discovery(std::chrono::seconds(2));
+
+    EXPECT_EQ(writer.get_matched(), 1u);
+    EXPECT_EQ(reader.get_matched(), 1u);
+
+    // Send samples
+    auto samples = default_data16kb_data_generator(1);
+    reader.startReception(samples);
+    writer.send(samples);
+    EXPECT_TRUE(samples.empty());
+
+    // Wait for reception
+    reader.block_for_all(std::chrono::seconds(1));
+    EXPECT_EQ(reader.getReceivedCount(), 1u);
+
+}
+
 } // namespace dds
 } // namespace fastdds
 } // namespace eprosima