Add functions to get compatible QoS profiles #59
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Given one or more publisher QoS profiles, modify the given subscription QoS profile to be compatible with most of them. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
wjwwood
reviewed
Apr 13, 2022
rmw_dds_common/src/qos.cpp
Outdated
| // QoS profile is compatible with all publishers QoS profiles in the input | ||
| if (compatible_publisher_profiles) { | ||
| for (size_t i = 0u; i < publisher_profiles_length; ++i) { | ||
| compatible_publisher_profiles[i] = true; |
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While this seems silly for DDS rmw implementations, I think it's a potentially useful feature for future non-DDS implementations, and keeps users of the interface aware of the possibility that the QoS matching rules are not fixed at this time.
ivanpauno
reviewed
Apr 13, 2022
| @@ -374,4 +374,62 @@ qos_profile_check_compatible( | |||
| return RMW_RET_OK; | |||
| } | |||
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| rmw_ret_t | |||
| qos_profile_get_most_compatible_for_subscription( | |||
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should this function also take in accound deadline?
You need deadline_publisher < deadline_subscription for them to match
Pass in endpoint info array directly and output an endpoint info array for reporting incompatibilities. Update implementation and tests accordingly. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Given one or more publisher endpoints, modify the given subscription QoS profile to be compatible with most of them. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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| * This implements the rmw API \ref rmw_qos_profile_get_most_compatible_for_subscription(). | ||
| * See \ref rmw_qos_profile_get_most_compatible_for_subscription() for more information. |
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Suggested change
| * This implements the rmw API \ref rmw_qos_profile_get_most_compatible_for_subscription(). | |
| * See \ref rmw_qos_profile_get_most_compatible_for_subscription() for more information. | |
| * This implements the rmw API \ref rmw_qos_profile_get_most_compatible_for_publisher(). | |
| * See \ref rmw_qos_profile_get_most_compatible_for_publisher() for more information. |
| publisher_profile->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| publisher_profile->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; | ||
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| // Only use "manual by topic" liveliness if at least one subscription is using manual by topic |
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Suggested change
| // Only use "manual by topic" liveliness if at least one subscription is using manual by topic | |
| // Only use "manual by topic" liveliness if at least one subscription is using manual by topic |
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Closing in favor of ros2/rmw#320 |
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Connects to ros2/rmw#304
Currently, just contains an implementation for the subscription. I'll wait for feedback before adding the equivalent function for publishers.