address PR comments

Signed-off-by: Miaofei <miaofei@amazon.com>

rmw/include/rmw/event.h

@@ -35,12 +35,12 @@ typedef enum rmw_event_type_t
   // subscription events
   RMW_EVENT_LIVELINESS_CHANGED,
   RMW_EVENT_REQUESTED_DEADLINE_MISSED,
-  RMW_EVENT_REQUESTED_INCOMPATIBLE_QOS,
+  RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE,
 
   // publisher events
   RMW_EVENT_LIVELINESS_LOST,
   RMW_EVENT_OFFERED_DEADLINE_MISSED,
-  RMW_EVENT_OFFERED_INCOMPATIBLE_QOS,
+  RMW_EVENT_OFFERED_QOS_INCOMPATIBLE,
 
   // sentinel value
   RMW_EVENT_INVALID

rmw/include/rmw/incompatible_qos_events_statuses.h

@@ -0,0 +1,79 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// 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 RMW__INCOMPATIBLE_QOS_EVENTS_STATUSES_H_
+#define RMW__INCOMPATIBLE_QOS_EVENTS_STATUSES_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// QoS Policy Kinds
+enum RMW_PUBLIC_TYPE rmw_qos_policy_kind_t
+{
+  RMW_QOS_POLICY_INVALID     = 1 << 0,
+  RMW_QOS_POLICY_DURABILITY  = 1 << 1,
+  RMW_QOS_POLICY_DEADLINE    = 1 << 2,
+  RMW_QOS_POLICY_LIVELINESS  = 1 << 3,
+  RMW_QOS_POLICY_RELIABILITY = 1 << 4,
+  RMW_QOS_POLICY_HISTORY     = 1 << 5,
+  RMW_QOS_POLICY_LIFESPAN    = 1 << 6
+};
+
+/// Event state for a subscription's 'RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE' events.
+typedef struct RMW_PUBLIC_TYPE rmw_requested_qos_incompatible_event_status_t
+{
+  /**
+   * Total cumulative number of times the concerned subscription discovered a
+   * publisher for the same topic with an offered QoS that was incompatible
+   * with that requested by the subscription.
+   */
+  int32_t total_count;
+  /**
+   * The change in total_count since the last time the status was read.
+   */
+  int32_t total_count_change;
+  /**
+   * The Qos Policy Kind of one of the policies that was found to be
+   * incompatible the last time an incompatibility was detected.
+   */
+  int32_t last_policy_kind;
+} rmw_requested_qos_incompatible_event_status_t;
+
+/// Event state for a publisher's 'RMW_EVENT_OFFERED_QOS_INCOMPATIBLE' events.
+typedef struct RMW_PUBLIC_TYPE rmw_offered_qos_incompatible_event_status_t
+{
+  /**
+   * Total cumulative number of times the concerned publisher discovered a
+   * subscription for the same topic with a requested QoS that was incompatible
+   * with that offered by the publisher.
+   */
+  int32_t total_count;
+  /**
+   * The change in total_count since the last time the status was read.
+   */
+  int32_t total_count_change;
+  /**
+   * The Qos Policy Kind of one of the policies that was found to be
+   * incompatible the last time an incompatibility was detected.
+   */
+  int32_t last_policy_kind;
+} rmw_offered_qos_incompatible_event_status_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__INCOMPATIBLE_QOS_EVENTS_STATUSES_H_

rmw/include/rmw/types.h

@@ -302,7 +302,7 @@ enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t
 #define RMW_QOS_LIFESPAN_DEFAULT {0, 0}
 #define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT {0, 0}
 
-/// RMW equivalent of the DDS QoS Policy IDs
+/// QoS Policy IDs
 enum RMW_PUBLIC_TYPE rmw_qos_policy_id_t
 {
   RMW_QOS_POLICY_ID_INVALID    = 0,
@@ -419,26 +419,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_requested_deadline_missed_status_t
   int32_t total_count_change;
 } rmw_requested_deadline_missed_status_t;
 
-/// QoS Requested Incompatible QoS information provided by a subscription.
-typedef struct RMW_PUBLIC_TYPE rmw_requested_incompatible_qos_status_t
-{
-  /**
-   * Total cumulative number of times the concerned subscription discovered a
-   * publisher for the same topic with an offered QoS that was incompatible
-   * with that requested by the subscription..
-   */
-  int32_t total_count;
-  /**
-   * The change in total_count since the last time the status was read.
-   */
-  int32_t total_count_change;
-  /**
-   * The Qos Policy Id of one of the policies that was found to be
-   * incompatible the last time an incompatibility was detected
-   */
-  int32_t last_policy_id;
-} rmw_requested_incompatible_qos_status_t;
-
 /// QoS Liveliness Lost information provided by a publisher.
 typedef struct RMW_PUBLIC_TYPE rmw_liveliness_lost_status_t
 {
@@ -467,26 +447,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_offered_deadline_missed_status_t
   int32_t total_count_change;
 } rmw_offered_deadline_missed_status_t;
 
-/// QoS Offered Incompatible QoS information provided by a publisher.
-typedef struct RMW_PUBLIC_TYPE rmw_offered_incompatible_qos_status_t
-{
-  /**
-   * Total cumulative number of times the concerned publisher discovered a
-   * subscription for the same topic with a requested QoS that was incompatible
-   * with that offered by the publisher.
-   */
-  int32_t total_count;
-  /**
-   * The change in total_count since the last time the status was read.
-   */
-  int32_t total_count_change;
-  /**
-   * The Qos Policy Id of one of the policies that was found to be
-   * incompatible the last time an incompatibility was detected
-   */
-  int32_t last_policy_id;
-} rmw_offered_incompatible_qos_status_t;
-
 #ifdef __cplusplus
 }
 #endif