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Take and return new RMW_DURATION_INFINITE correctly #491

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Mar 23, 2021
Merged

Take and return new RMW_DURATION_INFINITE correctly #491

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46a7f5f
Take and return new RMW_DURATION_INFINITE correctly
Mar 5, 2021
fecb504
Remove dead code
Mar 23, 2021
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32 changes: 21 additions & 11 deletions rmw_connext_shared_cpp/src/qos.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,14 +26,17 @@ namespace
{

bool
is_time_default(const rmw_time_t & time)
is_time_unspecified(const rmw_time_t & time)
{
return time.sec == 0 && time.nsec == 0;
return rmw_time_equal(time, RMW_DURATION_UNSPECIFIED);
}

DDS_Duration_t
rmw_time_to_dds(const rmw_time_t & time)
{
if (rmw_time_equal(time, RMW_DURATION_INFINITE)) {
return DDS_DURATION_INFINITE;
}
DDS_Duration_t duration;
duration.sec = static_cast<DDS_Long>(time.sec);
duration.nanosec = static_cast<DDS_UnsignedLong>(time.nsec);
Expand Down Expand Up @@ -98,7 +101,7 @@ set_entity_qos_from_profile_generic(

// DDS_DeadlineQosPolicy has default value of DDS_DURATION_INFINITE
// don't overwrite if default passed
if (!is_time_default(qos_profile.deadline)) {
if (!is_time_unspecified(qos_profile.deadline)) {
entity_qos.deadline.period = rmw_time_to_dds(qos_profile.deadline);
}

Expand All @@ -116,7 +119,7 @@ set_entity_qos_from_profile_generic(
RMW_SET_ERROR_MSG("Unknown QoS liveliness policy");
return false;
}
if (!is_time_default(qos_profile.liveliness_lease_duration)) {
if (!is_time_unspecified(qos_profile.liveliness_lease_duration)) {
entity_qos.liveliness.lease_duration = rmw_time_to_dds(qos_profile.liveliness_lease_duration);
}

Expand Down Expand Up @@ -151,7 +154,7 @@ set_entity_qos_from_profile(
DDS::DataWriterQos & entity_qos)
{
// Set any QoS settings that are specific to DataWriter, then call the shared version
if (!is_time_default(qos_profile.lifespan)) {
if (!is_time_unspecified(qos_profile.lifespan)) {
entity_qos.lifespan.duration = rmw_time_to_dds(qos_profile.lifespan);
}
return set_entity_qos_from_profile_generic(qos_profile, entity_qos);
Expand Down Expand Up @@ -327,8 +330,7 @@ dds_qos_lifespan_to_rmw_qos_lifespan(
const AttributeT & dds_qos,
rmw_qos_profile_t * qos)
{
qos->lifespan.sec = dds_qos.lifespan.duration.sec;
qos->lifespan.nsec = dds_qos.lifespan.duration.nanosec;
qos->lifespan = dds_duration_to_rmw(dds_qos.lifespan.duration);
}

template<>
Expand Down Expand Up @@ -381,6 +383,16 @@ void dds_qos_to_rmw_qos<DDS::DataReaderQos>(
const DDS::DataReaderQos & dds_qos,
rmw_qos_profile_t * qos);

rmw_time_t
dds_duration_to_rmw(DDS_Duration_t duration)
{
if (DDS_Duration_is_infinite(&duration)) {
return RMW_DURATION_INFINITE;
}
rmw_time_t result = {(uint64_t)duration.sec, duration.nanosec};
return result;
}

template<typename AttributeT>
void
dds_remote_qos_to_rmw_qos(
Expand Down Expand Up @@ -414,8 +426,7 @@ dds_remote_qos_to_rmw_qos(
break;
}

qos->deadline.sec = dds_qos.deadline.period.sec;
qos->deadline.nsec = dds_qos.deadline.period.nanosec;
qos->deadline = dds_duration_to_rmw(dds_qos.deadline.period);

dds_qos_lifespan_to_rmw_qos_lifespan(dds_qos, qos);

Expand All @@ -430,8 +441,7 @@ dds_remote_qos_to_rmw_qos(
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
break;
}
qos->liveliness_lease_duration.sec = dds_qos.liveliness.lease_duration.sec;
qos->liveliness_lease_duration.nsec = dds_qos.liveliness.lease_duration.nanosec;
qos->liveliness_lease_duration = dds_duration_to_rmw(dds_qos.liveliness.lease_duration);
}

template
Expand Down