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Implement get_actual_qos() for subscriptions #287

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merged 3 commits into from
Jun 12, 2019
Merged

Implement get_actual_qos() for subscriptions #287

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4ef6dca
add get_actual_qos() feature to subscriptions
mm318 Jun 7, 2019
7d11750
reduce duplicate code
mm318 Jun 9, 2019
b516383
use visibility macros
mm318 Jun 11, 2019
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12 changes: 9 additions & 3 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,10 @@ class PublisherAttributes;
} // namespace fastrtps
} // namespace eprosima

RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
is_valid_qos(const rmw_qos_profile_t & qos_policies);
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any reason for moving this declaration?

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I felt it would be more consistent with the rest of the rmw implementations that the dds_qos_to_rmw_qos() follows get_datareader_qos(). is_valid_qos() is also the first function among the ones declared here to be called in a normal program flow.

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Sounds good


RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
get_datareader_qos(
Expand All @@ -40,8 +44,10 @@ get_datawriter_qos(
const rmw_qos_profile_t & qos_policies,
eprosima::fastrtps::PublisherAttributes & pattr);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
is_valid_qos(const rmw_qos_profile_t & qos_policies);
template<typename AttributeT>
void
dds_qos_to_rmw_qos(
const AttributeT & dds_qos,
rmw_qos_profile_t * qos);

#endif // RMW_FASTRTPS_SHARED_CPP__QOS_HPP_
75 changes: 75 additions & 0 deletions rmw_fastrtps_shared_cpp/src/qos.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -169,3 +169,78 @@ is_valid_qos(const rmw_qos_profile_t & qos_policies)
}
return true;
}

template<typename AttributeT>
void
dds_qos_to_rmw_qos(
const AttributeT & dds_qos,
rmw_qos_profile_t * qos)
{
switch (dds_qos.topic.historyQos.kind) {
case eprosima::fastrtps::KEEP_LAST_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
break;
case eprosima::fastrtps::KEEP_ALL_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
break;
default:
qos->history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
break;
}
qos->depth = static_cast<size_t>(dds_qos.topic.historyQos.depth);

switch (dds_qos.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.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.qos.m_deadline.period.seconds;
qos->deadline.nsec = dds_qos.qos.m_deadline.period.nanosec;

qos->lifespan.sec = dds_qos.qos.m_lifespan.duration.seconds;
qos->lifespan.nsec = dds_qos.qos.m_lifespan.duration.nanosec;

switch (dds_qos.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.qos.m_liveliness.lease_duration.seconds;
qos->liveliness_lease_duration.nsec = dds_qos.qos.m_liveliness.lease_duration.nanosec;
}

template void dds_qos_to_rmw_qos<eprosima::fastrtps::PublisherAttributes>(
const eprosima::fastrtps::PublisherAttributes & dds_qos,
rmw_qos_profile_t * qos);

template void dds_qos_to_rmw_qos<eprosima::fastrtps::SubscriberAttributes>(
const eprosima::fastrtps::SubscriberAttributes & dds_qos,
rmw_qos_profile_t * qos);
60 changes: 1 addition & 59 deletions rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,65 +146,7 @@ __rmw_publisher_get_actual_qos(
const eprosima::fastrtps::PublisherAttributes & attributes =
fastrtps_pub->getAttributes();

switch (attributes.topic.historyQos.kind) {
case eprosima::fastrtps::KEEP_LAST_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
break;
case eprosima::fastrtps::KEEP_ALL_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
break;
default:
qos->history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
break;
}
qos->depth = static_cast<size_t>(attributes.topic.historyQos.depth);

switch (attributes.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 (attributes.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 = attributes.qos.m_deadline.period.seconds;
qos->deadline.nsec = attributes.qos.m_deadline.period.nanosec;

qos->lifespan.sec = attributes.qos.m_lifespan.duration.seconds;
qos->lifespan.nsec = attributes.qos.m_lifespan.duration.nanosec;

switch (attributes.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 = attributes.qos.m_liveliness.lease_duration.seconds;
qos->liveliness_lease_duration.nsec = attributes.qos.m_liveliness.lease_duration.nanosec;
dds_qos_to_rmw_qos(attributes, qos);

return RMW_RET_OK;
}
Expand Down
61 changes: 1 addition & 60 deletions rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,67 +125,8 @@ __rmw_subscription_get_actual_qos(
const eprosima::fastrtps::SubscriberAttributes & attributes =
fastrtps_sub->getAttributes();

switch (attributes.topic.historyQos.kind) {
case eprosima::fastrtps::KEEP_LAST_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
break;
case eprosima::fastrtps::KEEP_ALL_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
break;
default:
qos->history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
break;
}
qos->depth = static_cast<size_t>(attributes.topic.historyQos.depth);

switch (attributes.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 (attributes.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 = attributes.qos.m_deadline.period.seconds;
qos->deadline.nsec = attributes.qos.m_deadline.period.nanosec;

qos->lifespan.sec = attributes.qos.m_lifespan.duration.seconds;
qos->lifespan.nsec = attributes.qos.m_lifespan.duration.nanosec;

switch (attributes.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 = attributes.qos.m_liveliness.lease_duration.seconds;
qos->liveliness_lease_duration.nsec = attributes.qos.m_liveliness.lease_duration.nanosec;
dds_qos_to_rmw_qos(attributes, qos);

return RMW_RET_OK;
}

} // namespace rmw_fastrtps_shared_cpp