Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add function to get publisher actual qos settings #267

Merged
merged 2 commits into from
Apr 1, 2019
Merged

Add function to get publisher actual qos settings #267

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
11ee470
Implement rmw_get_actual_qos
ivanpauno Mar 25, 2019
0e9f496
Corrected with PR comments
ivanpauno Mar 26, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 9 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_publisher.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -210,6 +210,15 @@ rmw_publisher_count_matched_subscriptions(
publisher, subscription_count);
}

rmw_ret_t
rmw_publisher_get_actual_qos(
const rmw_publisher_t * publisher,
rmw_qos_profile_t * qos)
{
return rmw_fastrtps_shared_cpp::__rmw_publisher_get_actual_qos(
publisher, qos);
}

rmw_ret_t
rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
{
Expand Down
9 changes: 9 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -205,6 +205,15 @@ rmw_publisher_count_matched_subscriptions(
publisher, subscription_count);
}

rmw_ret_t
rmw_publisher_get_actual_qos(
const rmw_publisher_t * publisher,
rmw_qos_profile_t * qos)
{
return rmw_fastrtps_shared_cpp::__rmw_publisher_get_actual_qos(
publisher, qos);
}

rmw_ret_t
rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher)
{
Expand Down
6 changes: 6 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -135,6 +135,12 @@ __rmw_publisher_count_matched_subscriptions(
const rmw_publisher_t * publisher,
size_t * subscription_count);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_publisher_get_actual_qos(
const rmw_publisher_t * publisher,
rmw_qos_profile_t * qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_send_request(
Expand Down
57 changes: 57 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -101,4 +101,61 @@ __rmw_publisher_count_matched_subscriptions(

return RMW_RET_OK;
}

rmw_ret_t
__rmw_publisher_get_actual_qos(
const rmw_publisher_t * publisher,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(publisher, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

auto info = static_cast<CustomPublisherInfo *>(publisher->data);
if (info == nullptr) {
return RMW_RET_ERROR;
}
eprosima::fastrtps::Publisher * fastrtps_pub = info->publisher_;
if (fastrtps_pub == nullptr) {
return RMW_RET_ERROR;
}
const eprosima::fastrtps::PublisherAttributes attributes =
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@ivanpauno just curious, can we get this one as a const ref instead?

Copy link
Member Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Yes, I'll modify it.

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_SYSTEM_DEFAULT;
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_SYSTEM_DEFAULT;
break;
}
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_SYSTEM_DEFAULT;
break;
}
qos->depth = static_cast<size_t>(attributes.topic.historyQos.depth);

return RMW_RET_OK;
}
} // namespace rmw_fastrtps_shared_cpp