Merge pull request #15 from ros2/qos

Added support for QoS profiles
ros2 · Aug 7, 2015 · daf7dca · daf7dca
2 parents d5bd0c2 + 0d18b6a
commit daf7dca
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Showing 3 changed files with 87 additions and 3 deletions.
diff --git a/rmw/include/rmw/qos_profiles.h b/rmw/include/rmw/qos_profiles.h
@@ -0,0 +1,64 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROS_MIDDLEWARE_INTERFACE_ROS_MIDDLEWARE_INTERFACE_QOS_PROFILES_H_
+#define ROS_MIDDLEWARE_INTERFACE_ROS_MIDDLEWARE_INTERFACE_QOS_PROFILES_H_
+
+#if __cplusplus
+extern "C"
+{
+#endif
+
+#include "types.h"
+
+const static rmw_qos_profile_t rmw_qos_profile_sensor_data =
+{
+  RMW_QOS_POLICY_KEEP_LAST_HISTORY,
+  5,
+  RMW_QOS_POLICY_BEST_EFFORT
+};
+
+const static rmw_qos_profile_t rmw_qos_profile_parameters =
+{
+  RMW_QOS_POLICY_KEEP_LAST_HISTORY,
+  1000,
+  RMW_QOS_POLICY_RELIABLE
+};
+
+const static rmw_qos_profile_t rmw_qos_profile_default =
+{
+  RMW_QOS_POLICY_KEEP_ALL_HISTORY,
+  10,
+  RMW_QOS_POLICY_RELIABLE
+};
+
+const static rmw_qos_profile_t rmw_qos_profile_services_default =
+{
+  RMW_QOS_POLICY_KEEP_ALL_HISTORY,
+  10,
+  RMW_QOS_POLICY_RELIABLE
+};
+
+const static rmw_qos_profile_t rmw_qos_profile_parameter_events =
+{
+  RMW_QOS_POLICY_KEEP_ALL_HISTORY,
+  1000,
+  RMW_QOS_POLICY_RELIABLE
+};
+
+#if __cplusplus
+}
+#endif
+
+#endif  /* ROS_MIDDLEWARE_INTERFACE_ROS_MIDDLEWARE_INTERFACE_QOS_PROFILES_H_ */
diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
@@ -33,6 +33,7 @@ extern "C"
 #include <rosidl_generator_c/message_type_support.h>
 #include <rosidl_generator_c/service_type_support.h>
 
+#include "qos_profiles.h"
 #include "types.h"
 #include "visibility_control.h"
 
@@ -63,7 +64,7 @@ rmw_create_publisher(
   const rmw_node_t * node,
   const rosidl_message_type_support_t * type_support,
   const char * topic_name,
-  size_t queue_size);
+  const rmw_qos_profile_t & qos_policies = rmw_qos_profile_default);
 
 RMW_PUBLIC
 RMW_WARN_UNUSED
@@ -82,8 +83,8 @@ rmw_create_subscription(
   const rmw_node_t * node,
   const rosidl_message_type_support_t * type_support,
   const char * topic_name,
-  size_t queue_size,
-  bool ignore_local_publications);
+  const rmw_qos_profile_t & qos_policies = rmw_qos_profile_default,
+  bool ignore_local_publications = false);
 
 RMW_PUBLIC
 RMW_WARN_UNUSED

diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
@@ -102,6 +102,25 @@ typedef struct RMW_PUBLIC_TYPE rmw_time_t
   uint64_t nsec;
 } rmw_time_t;
 
+enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
+{
+  RMW_QOS_POLICY_RELIABLE,
+  RMW_QOS_POLICY_BEST_EFFORT
+};
+
+enum RMW_PUBLIC_TYPE rmw_qos_history_policy_t
+{
+  RMW_QOS_POLICY_KEEP_LAST_HISTORY,
+  RMW_QOS_POLICY_KEEP_ALL_HISTORY
+};
+
+typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
+{
+  enum rmw_qos_history_policy_t history;
+  size_t depth;
+  enum rmw_qos_reliability_policy_t reliability;
+} rmw_qos_profile_t;
+
 #if __cplusplus
 }
 #endif