From c4adcf1bd90de4c773c0948b9f7bb505fcaa6ddc Mon Sep 17 00:00:00 2001 From: Jacob Perron Date: Thu, 14 Apr 2022 16:29:23 -0700 Subject: [PATCH] Add API for getting compatible QoS profiles Connected to https://github.com/ros2/rmw/issues/304 Signed-off-by: Jacob Perron --- rmw_implementation/src/functions.cpp | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp index 892eb400..a0ec9374 100644 --- a/rmw_implementation/src/functions.cpp +++ b/rmw_implementation/src/functions.cpp @@ -696,6 +696,24 @@ RMW_INTERFACE_FN( char *, size_t)) +RMW_INTERFACE_FN( + rmw_qos_profile_get_most_compatible_for_subscription, + rmw_ret_t, RMW_RET_ERROR, + 4, ARG_TYPES( + const rmw_topic_endpoint_info_arrat_t *, + rmw_qos_profile_t *, + rmw_topic_endpoint_info_array_t *, + rcutils_allocator_t *)) + +RMW_INTERFACE_FN( + rmw_qos_profile_get_most_compatible_for_publisher, + rmw_ret_t, RMW_RET_ERROR, + 4, ARG_TYPES( + const rmw_topic_endpoint_info_arrat_t *, + rmw_qos_profile_t *, + rmw_topic_endpoint_info_array_t *, + rcutils_allocator_t *)) + RMW_INTERFACE_FN( rmw_publisher_get_network_flow_endpoints, rmw_ret_t, RMW_RET_ERROR, @@ -825,6 +843,7 @@ void prefetch_symbols(void) GET_SYMBOL(rmw_get_publishers_info_by_topic) GET_SYMBOL(rmw_get_subscriptions_info_by_topic) GET_SYMBOL(rmw_qos_profile_check_compatible) + GET_SYMBOL(rmw_qos_profile_get_most_compatible_for_subscription) GET_SYMBOL(rmw_publisher_get_network_flow_endpoints) GET_SYMBOL(rmw_subscription_get_network_flow_endpoints) GET_SYMBOL(rmw_client_request_publisher_get_actual_qos) @@ -941,6 +960,7 @@ unload_library() symbol_rmw_get_publishers_info_by_topic = nullptr; symbol_rmw_get_subscriptions_info_by_topic = nullptr; symbol_rmw_qos_profile_check_compatible = nullptr; + symbol_rmw_qos_profile_get_most_compatible_for_subscription = nullptr; symbol_rmw_publisher_get_network_flow_endpoints = nullptr; symbol_rmw_subscription_get_network_flow_endpoints = nullptr; symbol_rmw_init = nullptr;