From 40fece01aac356a578abb88f4cbb7a73196925ad Mon Sep 17 00:00:00 2001
From: "M. M" <miaofei@amazon.com>
Date: Thu, 6 Jun 2019 16:48:59 -0700
Subject: [PATCH] add missing qos setings in get_actual_qos() (#270)

Signed-off-by: Miaofei <miaofei@amazon.com>
---
 rmw_opensplice_cpp/src/rmw_publisher.cpp | 40 +++++++++++++++++++-----
 1 file changed, 33 insertions(+), 7 deletions(-)

diff --git a/rmw_opensplice_cpp/src/rmw_publisher.cpp b/rmw_opensplice_cpp/src/rmw_publisher.cpp
index 115270cc..df3e3600 100644
--- a/rmw_opensplice_cpp/src/rmw_publisher.cpp
+++ b/rmw_opensplice_cpp/src/rmw_publisher.cpp
@@ -348,6 +348,7 @@ rmw_publisher_get_actual_qos(
     RMW_SET_ERROR_MSG("publisher internal dds publisher is invalid");
     return RMW_RET_ERROR;
   }
+
   switch (dds_qos.history.kind) {
     case DDS::KEEP_LAST_HISTORY_QOS:
       qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
@@ -359,6 +360,20 @@ rmw_publisher_get_actual_qos(
       qos->history = RMW_QOS_POLICY_HISTORY_UNKNOWN;
       break;
   }
+  qos->depth = static_cast<size_t>(dds_qos.history.depth);
+
+  switch (dds_qos.reliability.kind) {
+    case DDS::BEST_EFFORT_RELIABILITY_QOS:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+      break;
+    case DDS::RELIABLE_RELIABILITY_QOS:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+      break;
+    default:
+      qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+      break;
+  }
+
   switch (dds_qos.durability.kind) {
     case DDS::TRANSIENT_LOCAL_DURABILITY_QOS:
       qos->durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
@@ -370,18 +385,29 @@ rmw_publisher_get_actual_qos(
       qos->durability = RMW_QOS_POLICY_DURABILITY_UNKNOWN;
       break;
   }
-  switch (dds_qos.reliability.kind) {
-    case DDS::BEST_EFFORT_RELIABILITY_QOS:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+
+  qos->deadline.sec = dds_qos.deadline.period.sec;
+  qos->deadline.nsec = dds_qos.deadline.period.nanosec;
+
+  qos->lifespan.sec = dds_qos.lifespan.duration.sec;
+  qos->lifespan.nsec = dds_qos.lifespan.duration.nanosec;
+
+  switch (dds_qos.liveliness.kind) {
+    case DDS::AUTOMATIC_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
       break;
-    case DDS::RELIABLE_RELIABILITY_QOS:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+    case DDS::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
+      break;
+    case DDS::MANUAL_BY_TOPIC_LIVELINESS_QOS:
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
       break;
     default:
-      qos->reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+      qos->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
       break;
   }
-  qos->depth = static_cast<size_t>(dds_qos.history.depth);
+  qos->liveliness_lease_duration.sec = dds_qos.liveliness.lease_duration.sec;
+  qos->liveliness_lease_duration.nsec = dds_qos.liveliness.lease_duration.nanosec;
 
   return RMW_RET_OK;
 }