Add client/service QoS getters

rcl/include/rcl/client.h

@@ -409,6 +409,32 @@ RCL_PUBLIC
 bool
 rcl_client_is_valid(const rcl_client_t * client);
 
+/// Get the actual qos settings of the client.
+/**
+ * Used to get the actual qos settings of the client.
+ * The actual configuration applied when using RMW_*_SYSTEM_DEFAULT
+ * can only be resolved after the creation of the client, and it
+ * depends on the underlying rmw implementation.
+ * If the underlying setting in use can't be represented in ROS terms,
+ * it will be set to RMW_*_UNKNOWN.
+ * The returned struct is only valid as long as the rcl_client_t is valid.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | No
+ * Thread-Safe | Yes
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * \param[in] client pointer to the rcl client
+ * \return qos struct if successful, otherwise `NULL`
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+const rmw_qos_profile_t *
+rcl_client_get_actual_qos(const rcl_client_t * client);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/service.h

@@ -440,6 +440,32 @@ RCL_PUBLIC
 bool
 rcl_service_is_valid(const rcl_service_t * service);
 
+/// Get the actual qos settings of the service.
+/**
+ * Used to get the actual qos settings of the service.
+ * The actual configuration applied when using RMW_*_SYSTEM_DEFAULT
+ * can only be resolved after the creation of the service, and it
+ * depends on the underlying rmw implementation.
+ * If the underlying setting in use can't be represented in ROS terms,
+ * it will be set to RMW_*_UNKNOWN.
+ * The returned struct is only valid as long as the rcl_service_t is valid.
+ *
+ * <hr>
+ * Attribute | Adherence
+ * ------------------ | -------------
+ * Allocates Memory | No
+ * Thread-Safe | Yes
+ * Uses Atomics | No
+ * Lock-Free | Yes
+ *
+ * \param[in] service pointer to the rcl service
+ * \return qos struct if successful, otherwise `NULL`
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+const rmw_qos_profile_t *
+rcl_service_get_actual_qos(const rcl_service_t * service);
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/client.c

@@ -36,6 +36,7 @@ extern "C"
 struct rcl_client_impl_s
 {
  rcl_client_options_t options;
+ rmw_qos_profile_t actual_qos;
  rmw_client_t * rmw_handle;
  atomic_int_least64_t sequence_number;
 };
@@ -111,6 +112,14 @@ rcl_client_init(
  RCL_SET_ERROR_MSG(rmw_get_error_string().str);
  goto fail;
  }
+ // get actual qos, and store it
+ rmw_ret_t rmw_ret = rmw_client_get_actual_qos(
+ client->impl->rmw_handle,
+ &client->impl->actual_qos);
+ if (RMW_RET_OK != rmw_ret) {
+ RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+ goto fail;
+ }
  // options
  client->impl->options = *options;
  atomic_init(&client->impl->sequence_number, 0);
@@ -280,6 +289,15 @@ rcl_client_is_valid(const rcl_client_t * client)
  client->impl->rmw_handle, "client's rmw handle is invalid", return false);
  return true;
 }
+
+const rmw_qos_profile_t *
+rcl_client_get_actual_qos(const rcl_client_t * client)
+{
+ if (!rcl_client_is_valid(client)) {
+ return NULL;
+ }
+ return &client->impl->actual_qos;
+}
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/service.c

@@ -33,6 +33,7 @@ extern "C"
 struct rcl_service_impl_s
 {
  rcl_service_options_t options;
+ rmw_qos_profile_t actual_qos;
  rmw_service_t * rmw_handle;
 };
 
@@ -122,6 +123,14 @@ rcl_service_init(
  RCL_SET_ERROR_MSG(rmw_get_error_string().str);
  goto fail;
  }
+ // get actual qos, and store it
+ rmw_ret_t rmw_ret = rmw_service_get_actual_qos(
+ service->impl->rmw_handle,
+ &service->impl->actual_qos);
+ if (RMW_RET_OK != rmw_ret) {
+ RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+ goto fail;
+ }
  // options
  service->impl->options = *options;
  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Service initialized");
@@ -301,6 +310,15 @@ rcl_service_is_valid(const rcl_service_t * service)
  return true;
 }
 
+const rmw_qos_profile_t *
+rcl_service_get_actual_qos(const rcl_service_t * service)
+{
+ if (!rcl_service_is_valid(service)) {
+ return NULL;
+ }
+ return &service->impl->actual_qos;
+}
+
 #ifdef __cplusplus
 }
 #endif