* Add QoS profile API.

* Use time utils from rmw_dds_common when available.

rmw_connextdds/src/rmw_api_impl_ndds.cpp

@@ -910,3 +910,25 @@ rmw_wait(
   return rmw_api_connextdds_wait(
     subs, gcs, srvs, cls, evs, wait_set, wait_timeout);
 }
+
+
+/******************************************************************************
+ * QoS Profile functions
+ ******************************************************************************/
+#if RMW_CONNEXT_HAVE_QOS_PROFILE_API
+rmw_ret_t
+rmw_qos_profile_check_compatible(
+  const rmw_qos_profile_t publisher_profile,
+  const rmw_qos_profile_t subscription_profile,
+  rmw_qos_compatibility_type_t * compatibility,
+  char * reason,
+  size_t reason_size)
+{
+  return rmw_api_connextdds_qos_profile_check_compatible(
+    publisher_profile,
+    subscription_profile,
+    compatibility,
+    reason,
+    reason_size);
+}
+#endif /* RMW_CONNEXT_HAVE_QOS_PROFILE_API */

rmw_connextdds_common/CMakeLists.txt

@@ -157,6 +157,7 @@ set(RMW_CONNEXT_COMMON_SOURCE_CPP
     src/common/rmw_info.cpp
     src/common/rmw_node.cpp
     src/common/rmw_publication.cpp
+    src/common/rmw_qos.cpp
     src/common/rmw_serde.cpp
     src/common/rmw_service.cpp
     src/common/rmw_subscription.cpp

rmw_connextdds_common/include/rmw_connextdds/context.hpp

@@ -47,6 +47,11 @@
 #include "rmw_connextdds_common/msg/participant_entities_info.hpp"
 #endif /* RMW_CONNEXT_HAVE_PKG_RMW_DDS_COMMON */
 
+#if RMW_CONNEXT_HAVE_QOS_PROFILE_API
+#include "rmw/qos_profiles.h"
+#include "rmw_dds_common/qos.hpp"
+#endif /* RMW_CONNEXT_HAVE_QOS_PROFILE_API */
+
 #include "rcutils/strdup.h"
 
 #if RMW_CONNEXT_HAVE_SCOPE_EXIT

rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp

@@ -604,5 +604,18 @@ rmw_api_connextdds_wait(
   rmw_wait_set_t * wait_set,
   const rmw_time_t * wait_timeout);
 
+/******************************************************************************
+ * QoS Profile functions
+ ******************************************************************************/
+#if RMW_CONNEXT_HAVE_QOS_PROFILE_API
+rmw_ret_t
+rmw_api_connextdds_qos_profile_check_compatible(
+  const rmw_qos_profile_t publisher_profile,
+  const rmw_qos_profile_t subscription_profile,
+  rmw_qos_compatibility_type_t * compatibility,
+  char * reason,
+  size_t reason_size);
+#endif /* RMW_CONNEXT_HAVE_QOS_PROFILE_API */
+
 
 #endif  // RMW_CONNEXTDDS__RMW_API_IMPL_HPP_

rmw_connextdds_common/include/rmw_connextdds/static_config.hpp

@@ -301,6 +301,16 @@
   (RMW_CONNEXT_RELEASE >= RMW_CONNEXT_RELEASE_DASHING)
 #endif /* RMW_CONNEXT_HAVE_INTRO_TYPE_SUPPORT */
 
+#ifndef RMW_CONNEXT_HAVE_QOS_PROFILE_API
+#define RMW_CONNEXT_HAVE_QOS_PROFILE_API \
+  (RMW_CONNEXT_RELEASE > RMW_CONNEXT_RELEASE_FOXY)
+#endif /* RMW_CONNEXT_HAVE_INTRO_TYPE_SUPPORT */
+
+#ifndef RMW_CONNEXT_HAVE_TIME_UTILS
+#define RMW_CONNEXT_HAVE_TIME_UTILS \
+  (RMW_CONNEXT_RELEASE > RMW_CONNEXT_RELEASE_FOXY)
+#endif /* RMW_CONNEXT_HAVE_TIME_UTILS */
+
 #include "resource_limits.hpp"
 
 #endif  // RMW_CONNEXTDDS__STATIC_CONFIG_HPP_

rmw_connextdds_common/src/common/rmw_impl.cpp

@@ -21,6 +21,10 @@
 
 #include "rmw_connextdds/graph_cache.hpp"
 
+#if RMW_CONNEXT_HAVE_TIME_UTILS
+#include "rmw_dds_common/time_utils.hpp"
+#endif /* RMW_CONNEXT_HAVE_TIME_UTILS */
+
 #define ROS_SERVICE_REQUESTER_PREFIX_STR "rq"
 #define ROS_SERVICE_RESPONSE_PREFIX_STR  "rr"
 
@@ -34,10 +38,16 @@ rmw_connextdds_duration_from_ros_time(
   DDS_Duration_t * const duration,
   const rmw_time_t * const ros_time)
 {
-  // TODO(asorbini) This function ignores possible overflows which
-  // occur if (ros_time->sec > INT32_MAX || ros_time->nsec > UINT32_MAX)
-  duration->sec = static_cast<DDS_Long>(ros_time->sec);
-  duration->nanosec = static_cast<DDS_UnsignedLong>(ros_time->nsec);
+#if RMW_CONNEXT_HAVE_TIME_UTILS
+  rmw_time_t in_time = rmw_dds_common::clamp_rmw_time_to_dds_time(*ros_time);
+#else
+  // TODO(asorbini) In older versions, this function ignores possible overflows
+  // which occur if (ros_time->sec > INT32_MAX || ros_time->nsec > UINT32_MAX)
+  rmw_time_t in_time = *ros_time;
+#endif /* RMW_CONNEXT_HAVE_TIME_UTILS */
+
+  duration->sec = static_cast<DDS_Long>(in_time.sec);
+  duration->nanosec = static_cast<DDS_UnsignedLong>(in_time.nsec);
   return RMW_RET_OK;
 }
 

rmw_connextdds_common/src/common/rmw_qos.cpp

@@ -0,0 +1,32 @@
+// Copyright 2020 Real-Time Innovations, Inc. (RTI)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw_connextdds/rmw_impl.hpp"
+
+/******************************************************************************
+ * QoS Profile functions
+ ******************************************************************************/
+#if RMW_CONNEXT_HAVE_QOS_PROFILE_API
+rmw_ret_t
+rmw_api_connextdds_qos_profile_check_compatible(
+  const rmw_qos_profile_t publisher_profile,
+  const rmw_qos_profile_t subscription_profile,
+  rmw_qos_compatibility_type_t * compatibility,
+  char * reason,
+  size_t reason_size)
+{
+  return rmw_dds_common::qos_profile_check_compatible(
+    publisher_profile, subscription_profile, compatibility, reason, reason_size);
+}
+#endif /* RMW_CONNEXT_HAVE_QOS_PROFILE_API */

rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp

@@ -910,3 +910,24 @@ rmw_wait(
   return rmw_api_connextdds_wait(
     subs, gcs, srvs, cls, evs, wait_set, wait_timeout);
 }
+
+/******************************************************************************
+ * QoS Profile functions
+ ******************************************************************************/
+#if RMW_CONNEXT_HAVE_QOS_PROFILE_API
+rmw_ret_t
+rmw_qos_profile_check_compatible(
+  const rmw_qos_profile_t publisher_profile,
+  const rmw_qos_profile_t subscription_profile,
+  rmw_qos_compatibility_type_t * compatibility,
+  char * reason,
+  size_t reason_size)
+{
+  return rmw_api_connextdds_qos_profile_check_compatible(
+    publisher_profile,
+    subscription_profile,
+    compatibility,
+    reason,
+    reason_size);
+}
+#endif /* RMW_CONNEXT_HAVE_QOS_PROFILE_API */