Change tests to try MANUAL_BY_TOPIC liveliness for FastRTPS (#465)

* Remove tests about FastRTPS not supporting MANUAL_BY_TOPIC liveliness

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

* Remove unused variable

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

rcl/test/rcl/test_events.cpp

@@ -52,7 +52,7 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
   {
     is_opensplice = (std::string(rmw_get_implementation_identifier()).find("rmw_opensplice") == 0);
     bool is_fastrtps = (std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps") == 0);
-    is_liveliness_supported = !is_fastrtps;
+    is_manual_by_node_liveliness_supported = !is_fastrtps;
 
     rcl_ret_t ret;
     {
@@ -130,13 +130,7 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
     rmw_time_t lifespan {0, 0};
     rmw_time_t deadline {DEADLINE_PERIOD_IN_S.count(), 0};
     rmw_time_t lease_duration {LIVELINESS_LEASE_DURATION_IN_S.count(), 0};
-    if (!is_liveliness_supported) {
-      lease_duration = {0, 0};
-    }
-    rmw_qos_liveliness_policy_t liveliness_policy =
-      is_liveliness_supported ?
-      RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC :
-      RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
+    rmw_qos_liveliness_policy_t liveliness_policy = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
 
     // init publisher
     ret = setup_publisher(deadline, lifespan, lease_duration, liveliness_policy);
@@ -218,7 +212,7 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
   rcl_subscription_t subscription;
   rcl_event_t subscription_event;
   bool is_opensplice;
-  bool is_liveliness_supported;
+  bool is_manual_by_node_liveliness_supported;
   const char * topic = "rcl_test_publisher_subscription_events";
   const rosidl_message_type_support_t * ts;
 };
@@ -350,36 +344,19 @@ conditional_wait_for_msgs_and_events(
 }
 
 TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_unsupported_liveliness) {
-  if (is_liveliness_supported) {
+  if (is_manual_by_node_liveliness_supported) {
     return;
   }
   rmw_time_t deadline {0, 0};
   rmw_time_t lifespan {0, 0};
   rmw_time_t lease_duration {0, 0};
-  rmw_time_t nonzero_lease_duration {1, 0};
   rmw_qos_liveliness_policy_t liveliness_policy = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
   EXPECT_EQ(RCL_RET_ERROR,
     setup_subscriber(deadline, lifespan, lease_duration, liveliness_policy)) <<
     "Initialized subscription with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE when unsupported";
   EXPECT_EQ(RCL_RET_ERROR,
     setup_publisher(deadline, lifespan, lease_duration, liveliness_policy)) <<
     "Initialized publisher with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE when unsupported";
-
-  liveliness_policy = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
-  EXPECT_EQ(RCL_RET_ERROR,
-    setup_subscriber(deadline, lifespan, lease_duration, liveliness_policy)) <<
-    "Initialized subscription with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC when unsupported";
-  EXPECT_EQ(RCL_RET_ERROR,
-    setup_publisher(deadline, lifespan, lease_duration, liveliness_policy)) <<
-    "Initialized publisher with RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC when unsupported";
-
-  liveliness_policy = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
-  EXPECT_EQ(RCL_RET_ERROR,
-    setup_subscriber(deadline, lifespan, nonzero_lease_duration, liveliness_policy)) <<
-    "Initialized subscription with nonzero Liveliness lease duration when unsupported";
-  EXPECT_EQ(RCL_RET_ERROR,
-    setup_publisher(deadline, lifespan, nonzero_lease_duration, liveliness_policy)) <<
-    "Initialized publisher with nonzero Liveliness lease duration when unsupported";
 }
 
 /*
@@ -522,10 +499,6 @@ TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_deadline_mis
  */
 TEST_F(CLASSNAME(TestEventFixture, RMW_IMPLEMENTATION), test_pubsub_liveliness_kill_pub)
 {
-  if (!is_liveliness_supported) {
-    return;
-  }
-
   setup_publisher_and_subscriber(RCL_PUBLISHER_LIVELINESS_LOST,
     RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
   rcl_ret_t ret;