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Implement get_actual_qos() for subscriptions (#287)
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Signed-off-by: Miaofei <[email protected]>
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@mm318 @ivanpauno
mm318 authored and ivanpauno committed Jun 12, 2019
1 parent 2a49da4 commit abe500c
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Showing 7 changed files with 146 additions and 62 deletions.
9 changes: 9 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_subscription.cpp
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Expand Up @@ -216,6 +216,15 @@ rmw_subscription_count_matched_publishers(
subscription, publisher_count);
}

rmw_ret_t
rmw_subscription_get_actual_qos(
const rmw_subscription_t * subscription,
rmw_qos_profile_t * qos)
{
return rmw_fastrtps_shared_cpp::__rmw_subscription_get_actual_qos(
subscription, qos);
}

rmw_ret_t
rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
{
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9 changes: 9 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
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Expand Up @@ -212,6 +212,15 @@ rmw_subscription_count_matched_publishers(
subscription, publisher_count);
}

rmw_ret_t
rmw_subscription_get_actual_qos(
const rmw_subscription_t * subscription,
rmw_qos_profile_t * qos)
{
return rmw_fastrtps_shared_cpp::__rmw_subscription_get_actual_qos(
subscription, qos);
}

rmw_ret_t
rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
{
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24 changes: 21 additions & 3 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
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Expand Up @@ -28,6 +28,10 @@ class PublisherAttributes;
} // namespace fastrtps
} // namespace eprosima

RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
is_valid_qos(const rmw_qos_profile_t & qos_policies);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
get_datareader_qos(
Expand All @@ -40,8 +44,22 @@ get_datawriter_qos(
const rmw_qos_profile_t & qos_policies,
eprosima::fastrtps::PublisherAttributes & pattr);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
is_valid_qos(const rmw_qos_profile_t & qos_policies);
template<typename AttributeT>
void
dds_qos_to_rmw_qos(
const AttributeT & dds_qos,
rmw_qos_profile_t * qos);

extern template RMW_FASTRTPS_SHARED_CPP_PUBLIC
void
dds_qos_to_rmw_qos<eprosima::fastrtps::PublisherAttributes>(
const eprosima::fastrtps::PublisherAttributes & dds_qos,
rmw_qos_profile_t * qos);

extern template RMW_FASTRTPS_SHARED_CPP_PUBLIC
void
dds_qos_to_rmw_qos<eprosima::fastrtps::SubscriberAttributes>(
const eprosima::fastrtps::SubscriberAttributes & dds_qos,
rmw_qos_profile_t * qos);

#endif // RMW_FASTRTPS_SHARED_CPP__QOS_HPP_
6 changes: 6 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
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Expand Up @@ -258,6 +258,12 @@ __rmw_subscription_count_matched_publishers(
const rmw_subscription_t * subscription,
size_t * publisher_count);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_subscription_get_actual_qos(
const rmw_subscription_t * subscription,
rmw_qos_profile_t * qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_take(
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77 changes: 77 additions & 0 deletions rmw_fastrtps_shared_cpp/src/qos.cpp
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Expand Up @@ -169,3 +169,80 @@ is_valid_qos(const rmw_qos_profile_t & qos_policies)
}
return true;
}

template<typename AttributeT>
void
dds_qos_to_rmw_qos(
const AttributeT & dds_qos,
rmw_qos_profile_t * qos)
{
switch (dds_qos.topic.historyQos.kind) {
case eprosima::fastrtps::KEEP_LAST_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
break;
case eprosima::fastrtps::KEEP_ALL_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
break;
default:
qos->history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
break;
}
qos->depth = static_cast<size_t>(dds_qos.topic.historyQos.depth);

switch (dds_qos.qos.m_reliability.kind) {
case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:
qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
break;
case eprosima::fastrtps::RELIABLE_RELIABILITY_QOS:
qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
break;
default:
qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
break;
}

switch (dds_qos.qos.m_durability.kind) {
case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS:
qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
break;
case eprosima::fastrtps::VOLATILE_DURABILITY_QOS:
qos->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
break;
default:
qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
break;
}

qos->deadline.sec = dds_qos.qos.m_deadline.period.seconds;
qos->deadline.nsec = dds_qos.qos.m_deadline.period.nanosec;

qos->lifespan.sec = dds_qos.qos.m_lifespan.duration.seconds;
qos->lifespan.nsec = dds_qos.qos.m_lifespan.duration.nanosec;

switch (dds_qos.qos.m_liveliness.kind) {
case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
break;
case eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
break;
case eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
break;
default:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
break;
}
qos->liveliness_lease_duration.sec = dds_qos.qos.m_liveliness.lease_duration.seconds;
qos->liveliness_lease_duration.nsec = dds_qos.qos.m_liveliness.lease_duration.nanosec;
}

template
void dds_qos_to_rmw_qos<eprosima::fastrtps::PublisherAttributes>(
const eprosima::fastrtps::PublisherAttributes & dds_qos,
rmw_qos_profile_t * qos);

template
void dds_qos_to_rmw_qos<eprosima::fastrtps::SubscriberAttributes>(
const eprosima::fastrtps::SubscriberAttributes & dds_qos,
rmw_qos_profile_t * qos);
60 changes: 1 addition & 59 deletions rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
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Expand Up @@ -146,65 +146,7 @@ __rmw_publisher_get_actual_qos(
const eprosima::fastrtps::PublisherAttributes & attributes =
fastrtps_pub->getAttributes();

switch (attributes.topic.historyQos.kind) {
case eprosima::fastrtps::KEEP_LAST_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
break;
case eprosima::fastrtps::KEEP_ALL_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
break;
default:
qos->history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
break;
}
qos->depth = static_cast<size_t>(attributes.topic.historyQos.depth);

switch (attributes.qos.m_reliability.kind) {
case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:
qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
break;
case eprosima::fastrtps::RELIABLE_RELIABILITY_QOS:
qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
break;
default:
qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
break;
}

switch (attributes.qos.m_durability.kind) {
case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS:
qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
break;
case eprosima::fastrtps::VOLATILE_DURABILITY_QOS:
qos->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
break;
default:
qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
break;
}

qos->deadline.sec = attributes.qos.m_deadline.period.seconds;
qos->deadline.nsec = attributes.qos.m_deadline.period.nanosec;

qos->lifespan.sec = attributes.qos.m_lifespan.duration.seconds;
qos->lifespan.nsec = attributes.qos.m_lifespan.duration.nanosec;

switch (attributes.qos.m_liveliness.kind) {
case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
break;
case eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
break;
case eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
break;
default:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
break;
}
qos->liveliness_lease_duration.sec = attributes.qos.m_liveliness.lease_duration.seconds;
qos->liveliness_lease_duration.nsec = attributes.qos.m_liveliness.lease_duration.nanosec;
dds_qos_to_rmw_qos(attributes, qos);

return RMW_RET_OK;
}
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23 changes: 23 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -106,4 +106,27 @@ __rmw_subscription_count_matched_publishers(
return RMW_RET_OK;
}

rmw_ret_t
__rmw_subscription_get_actual_qos(
const rmw_subscription_t * subscription,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

auto info = static_cast<CustomSubscriberInfo *>(subscription->data);
if (info == nullptr) {
return RMW_RET_ERROR;
}
eprosima::fastrtps::Subscriber * fastrtps_sub = info->subscriber_;
if (fastrtps_sub == nullptr) {
return RMW_RET_ERROR;
}
const eprosima::fastrtps::SubscriberAttributes & attributes =
fastrtps_sub->getAttributes();

dds_qos_to_rmw_qos(attributes, qos);

return RMW_RET_OK;
}
} // namespace rmw_fastrtps_shared_cpp

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