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- Took off dds_qos_policy_to_rmw_qos from qos.h to a new header inside src called qos_converter - renamed test file to be more representative of the function it is testing - refactored test code to use Value-Parameterised Gtests Signed-off-by: Jaison Titus <jaisontj92@gmail.com>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| // Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // 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 "qos_converter.hpp" | ||
| #include "rmw/types.h" | ||
|
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||
| #include "fastrtps/qos/WriterQos.h" | ||
| #include "fastrtps/qos/ReaderQos.h" | ||
|
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| template<typename DDSQoSPolicyT> | ||
| void | ||
| dds_qos_policy_to_rmw_qos( | ||
| const DDSQoSPolicyT & dds_qos, | ||
| rmw_qos_profile_t * qos) | ||
| { | ||
| switch (dds_qos.m_reliability.kind) { | ||
| case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS: | ||
| qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT; | ||
| break; | ||
| case eprosima::fastrtps::RELIABLE_RELIABILITY_QOS: | ||
| qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| break; | ||
| default: | ||
| qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN; | ||
| break; | ||
| } | ||
|
|
||
| switch (dds_qos.m_durability.kind) { | ||
| case eprosima::fastrtps::TRANSIENT_LOCAL_DURABILITY_QOS: | ||
| qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; | ||
| break; | ||
| case eprosima::fastrtps::VOLATILE_DURABILITY_QOS: | ||
| qos->durability = RMW_QOS_POLICY_DURABILITY_VOLATILE; | ||
| break; | ||
| default: | ||
| qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN; | ||
| break; | ||
| } | ||
|
|
||
| qos->deadline.sec = dds_qos.m_deadline.period.seconds; | ||
| qos->deadline.nsec = dds_qos.m_deadline.period.nanosec; | ||
|
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| qos->lifespan.sec = dds_qos.m_lifespan.duration.seconds; | ||
| qos->lifespan.nsec = dds_qos.m_lifespan.duration.nanosec; | ||
|
|
||
| switch (dds_qos.m_liveliness.kind) { | ||
| case eprosima::fastrtps::AUTOMATIC_LIVELINESS_QOS: | ||
| qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC; | ||
| break; | ||
| case eprosima::fastrtps::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS: | ||
| qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE; | ||
| break; | ||
| case eprosima::fastrtps::MANUAL_BY_TOPIC_LIVELINESS_QOS: | ||
| qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC; | ||
| break; | ||
| default: | ||
| qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN; | ||
| break; | ||
| } | ||
| qos->liveliness_lease_duration.sec = dds_qos.m_liveliness.lease_duration.seconds; | ||
| qos->liveliness_lease_duration.nsec = dds_qos.m_liveliness.lease_duration.nanosec; | ||
| } | ||
|
|
||
| template | ||
| void dds_qos_policy_to_rmw_qos<eprosima::fastrtps::WriterQos>( | ||
| const eprosima::fastrtps::WriterQos & dds_qos, | ||
| rmw_qos_profile_t * qos); | ||
|
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| template | ||
| void dds_qos_policy_to_rmw_qos<eprosima::fastrtps::ReaderQos>( | ||
| const eprosima::fastrtps::ReaderQos & dds_qos, | ||
| rmw_qos_profile_t * qos); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| // Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). | ||
| // | ||
| // 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. | ||
|
|
||
|
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| #ifndef QOS_CONVERTER_HPP_ | ||
| #define QOS_CONVERTER_HPP_ | ||
|
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||
| namespace eprosima | ||
| { | ||
| namespace fastrtps | ||
| { | ||
| class ReaderQos; | ||
| class WriterQos; | ||
| } // namespace fastrtps | ||
| } // namespace eprosima | ||
|
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| struct rmw_qos_profile_t; | ||
|
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| /* | ||
| * Converts the low-level QOS Policy; of type WriterQos or ReaderQos into rmw_qos_profile_t. | ||
| * Since WriterQos or ReaderQos does not have information about history and depth, these values are not set | ||
| * by this function. | ||
| * | ||
| * \param[in] dds_qos of type WriterQos or ReaderQos | ||
| * \param[out] qos the equivalent of the data in WriterQos or ReaderQos in rmw_qos_profile_t | ||
| */ | ||
| template<typename DDSQoSPolicyT> | ||
| void | ||
| dds_qos_policy_to_rmw_qos( | ||
| const DDSQoSPolicyT & dds_qos, | ||
| rmw_qos_profile_t * qos); | ||
|
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| extern template | ||
| void dds_qos_policy_to_rmw_qos<eprosima::fastrtps::WriterQos>( | ||
| const eprosima::fastrtps::WriterQos & dds_qos, | ||
| rmw_qos_profile_t * qos); | ||
|
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| extern template | ||
| void dds_qos_policy_to_rmw_qos<eprosima::fastrtps::ReaderQos>( | ||
| const eprosima::fastrtps::ReaderQos & dds_qos, | ||
| rmw_qos_profile_t * qos); | ||
|
|
||
| #endif // QOS_CONVERTER_HPP_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| find_package(ament_cmake_gtest REQUIRED) | ||
| ament_add_gtest(test_dds_qos_policy_to_rmw test_dds_qos_policy_to_rmw.cpp) | ||
| if(TARGET test_dds_qos_policy_to_rmw) | ||
| ament_target_dependencies(test_dds_qos_policy_to_rmw) | ||
| target_link_libraries(test_dds_qos_policy_to_rmw ${PROJECT_NAME}) | ||
| ament_add_gtest(test_dds_qos_to_rmw test_dds_qos_to_rmw.cpp) | ||
| if(TARGET test_dds_qos_to_rmw) | ||
| ament_target_dependencies(test_dds_qos_to_rmw) | ||
| target_link_libraries(test_dds_qos_to_rmw ${PROJECT_NAME}) | ||
| endif() |
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