From 965dfbed327fdd77a9401ad5344a36888ca7b575 Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Thu, 18 Feb 2021 14:59:35 -0800 Subject: [PATCH] Add RMW function to check QoS compatibility Implements https://github.com/ros2/rmw/pull/299 Depends on https://github.com/ros2/rmw_dds_common/pull/45 Signed-off-by: Jacob Perron --- rmw_fastrtps_cpp/CMakeLists.txt | 1 + rmw_fastrtps_cpp/src/rmw_qos.cpp | 32 +++++++++++++++++ rmw_fastrtps_dynamic_cpp/CMakeLists.txt | 1 + rmw_fastrtps_dynamic_cpp/src/rmw_qos.cpp | 32 +++++++++++++++++ rmw_fastrtps_shared_cpp/CMakeLists.txt | 1 + .../rmw_fastrtps_shared_cpp/rmw_common.hpp | 9 +++++ rmw_fastrtps_shared_cpp/src/rmw_qos.cpp | 34 +++++++++++++++++++ 7 files changed, 110 insertions(+) create mode 100644 rmw_fastrtps_cpp/src/rmw_qos.cpp create mode 100644 rmw_fastrtps_dynamic_cpp/src/rmw_qos.cpp create mode 100644 rmw_fastrtps_shared_cpp/src/rmw_qos.cpp diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt index f92952380..3b376b9cc 100644 --- a/rmw_fastrtps_cpp/CMakeLists.txt +++ b/rmw_fastrtps_cpp/CMakeLists.txt @@ -73,6 +73,7 @@ add_library(rmw_fastrtps_cpp src/rmw_node_names.cpp src/rmw_publish.cpp src/rmw_publisher.cpp + src/rmw_qos.cpp src/rmw_request.cpp src/rmw_response.cpp src/rmw_serialize.cpp diff --git a/rmw_fastrtps_cpp/src/rmw_qos.cpp b/rmw_fastrtps_cpp/src/rmw_qos.cpp new file mode 100644 index 000000000..54b087544 --- /dev/null +++ b/rmw_fastrtps_cpp/src/rmw_qos.cpp @@ -0,0 +1,32 @@ +// Copyright 2021 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. + +#include "rmw_fastrtps_shared_cpp/rmw_common.hpp" + +extern "C" +{ + +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_fastrtps_shared_cpp::__rmw_qos_profile_check_compatible( + publisher_profile, subscription_profile, compatibility, reason, reason_size); +} + +} // extern "C" diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt index 44517187f..ec43fe20f 100644 --- a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt +++ b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt @@ -76,6 +76,7 @@ add_library(rmw_fastrtps_dynamic_cpp src/rmw_node_names.cpp src/rmw_publish.cpp src/rmw_publisher.cpp + src/rmw_qos.cpp src/rmw_request.cpp src/rmw_response.cpp src/rmw_serialize.cpp diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_qos.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_qos.cpp new file mode 100644 index 000000000..54b087544 --- /dev/null +++ b/rmw_fastrtps_dynamic_cpp/src/rmw_qos.cpp @@ -0,0 +1,32 @@ +// Copyright 2021 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. + +#include "rmw_fastrtps_shared_cpp/rmw_common.hpp" + +extern "C" +{ + +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_fastrtps_shared_cpp::__rmw_qos_profile_check_compatible( + publisher_profile, subscription_profile, compatibility, reason, reason_size); +} + +} // extern "C" diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt index 805d75e4f..71c39d2e6 100644 --- a/rmw_fastrtps_shared_cpp/CMakeLists.txt +++ b/rmw_fastrtps_shared_cpp/CMakeLists.txt @@ -71,6 +71,7 @@ add_library(rmw_fastrtps_shared_cpp src/rmw_node_names.cpp src/rmw_publish.cpp src/rmw_publisher.cpp + src/rmw_qos.cpp src/rmw_request.cpp src/rmw_response.cpp src/rmw_security_logging.cpp diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp index e925c5a18..1a9a0148b 100644 --- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp +++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp @@ -392,6 +392,15 @@ __rmw_get_subscriptions_info_by_topic( bool no_mangle, rmw_topic_endpoint_info_array_t * subscriptions_info); +RMW_FASTRTPS_SHARED_CPP_PUBLIC +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); + } // namespace rmw_fastrtps_shared_cpp #endif // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_ diff --git a/rmw_fastrtps_shared_cpp/src/rmw_qos.cpp b/rmw_fastrtps_shared_cpp/src/rmw_qos.cpp new file mode 100644 index 000000000..155529aa0 --- /dev/null +++ b/rmw_fastrtps_shared_cpp/src/rmw_qos.cpp @@ -0,0 +1,34 @@ +// Copyright 2021 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. + +#include "rmw/types.h" + +#include "rmw_dds_common/qos.hpp" + +namespace rmw_fastrtps_shared_cpp +{ + +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_dds_common::qos_profile_check_compatible( + publisher_profile, subscription_profile, compatibility, reason, reason_size); +} + +} // namespace rmw_fastrtps_shared_cpp