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Implement get_actual_qos() for subscriptions (#271)
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* add get_actual_qos() feature to subscriptions

Signed-off-by: Miaofei <[email protected]>

* reduce duplicate code

Signed-off-by: Miaofei <[email protected]>

* remove duplicate check

Signed-off-by: Miaofei <[email protected]>

* use visibility macros

Signed-off-by: Miaofei <[email protected]>
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@mm318 @ivanpauno
mm318 authored and ivanpauno committed Jun 12, 2019
1 parent 40fece0 commit 8457b00
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Showing 4 changed files with 146 additions and 66 deletions.
93 changes: 93 additions & 0 deletions rmw_opensplice_cpp/src/qos.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -188,3 +188,96 @@ bool get_datawriter_qos(

return set_entity_qos_from_profile(qos_profile, datawriter_qos);
}

void
dds_qos_lifespan_to_rmw_qos_lifespan(
const DDS::DataWriterQos & dds_qos,
rmw_qos_profile_t * qos)
{
qos->lifespan.sec = dds_qos.lifespan.duration.sec;
qos->lifespan.nsec = dds_qos.lifespan.duration.nanosec;
}

void
dds_qos_lifespan_to_rmw_qos_lifespan(
const DDS::DataReaderQos & /*dds_qos*/,
rmw_qos_profile_t * /*qos*/)
{
// lifespan does does not exist in DataReader, so no-op here
}

template<typename AttributeT>
void
dds_qos_to_rmw_qos(
const AttributeT & dds_qos,
rmw_qos_profile_t * qos)
{
switch (dds_qos.history.kind) {
case DDS::KEEP_LAST_HISTORY_QOS:
qos->history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
break;
case DDS::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.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;
break;
case DDS::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.deadline.period.sec;
qos->deadline.nsec = dds_qos.deadline.period.nanosec;

dds_qos_lifespan_to_rmw_qos_lifespan(dds_qos, qos);

switch (dds_qos.liveliness.kind) {
case DDS::AUTOMATIC_LIVELINESS_QOS:
qos->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
break;
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->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
break;
}
qos->liveliness_lease_duration.sec = dds_qos.liveliness.lease_duration.sec;
qos->liveliness_lease_duration.nsec = dds_qos.liveliness.lease_duration.nanosec;
}

template
void dds_qos_to_rmw_qos<DDS::DataWriterQos>(
const DDS::DataWriterQos & dds_qos,
rmw_qos_profile_t * qos);

template
void dds_qos_to_rmw_qos<DDS::DataReaderQos>(
const DDS::DataReaderQos & dds_qos,
rmw_qos_profile_t * qos);
24 changes: 22 additions & 2 deletions rmw_opensplice_cpp/src/qos.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,15 +36,35 @@
#include "rmw/rmw.h"

RMW_LOCAL
bool get_datareader_qos(
bool
get_datareader_qos(
DDS::Subscriber * subscriber,
const rmw_qos_profile_t & qos_profile,
DDS::DataReaderQos & datareader_qos);

RMW_LOCAL
bool get_datawriter_qos(
bool
get_datawriter_qos(
DDS::Publisher * publisher,
const rmw_qos_profile_t & qos_profile,
DDS::DataWriterQos & datawriter_qos);

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

extern template RMW_LOCAL
void
dds_qos_to_rmw_qos<DDS::DataWriterQos>(
const DDS::DataWriterQos & dds_qos,
rmw_qos_profile_t * qos);

extern template RMW_LOCAL
void
dds_qos_to_rmw_qos<DDS::DataReaderQos>(
const DDS::DataReaderQos & dds_qos,
rmw_qos_profile_t * qos);

#endif // QOS_HPP_
65 changes: 1 addition & 64 deletions rmw_opensplice_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -344,70 +344,7 @@ rmw_publisher_get_actual_qos(
return RMW_RET_ERROR;
}

if (!data_writer) {
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;
break;
case DDS::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.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;
break;
case DDS::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.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::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->liveliness = RMW_QOS_POLICY_LIVELINESS_UNKNOWN;
break;
}
qos->liveliness_lease_duration.sec = dds_qos.liveliness.lease_duration.sec;
qos->liveliness_lease_duration.nsec = dds_qos.liveliness.lease_duration.nanosec;
dds_qos_to_rmw_qos(dds_qos, qos);

return RMW_RET_OK;
}
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30 changes: 30 additions & 0 deletions rmw_opensplice_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -325,6 +325,36 @@ rmw_subscription_count_matched_publishers(
return RMW_RET_OK;
}

rmw_ret_t
rmw_subscription_get_actual_qos(
const rmw_subscription_t * subscription,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(subscription, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

auto info = static_cast<OpenSpliceStaticSubscriberInfo *>(subscription->data);
if (!info) {
RMW_SET_ERROR_MSG("subscription internal data is invalid");
return RMW_RET_ERROR;
}
DDS::DataReader * data_reader = info->topic_reader;
if (!data_reader) {
RMW_SET_ERROR_MSG("subscription internal data reader is invalid");
return RMW_RET_ERROR;
}
DDS::DataReaderQos dds_qos;
DDS::ReturnCode_t status = data_reader->get_qos(dds_qos);
if (DDS::RETCODE_OK != status) {
RMW_SET_ERROR_MSG("subscription can't get data reader qos policies");
return RMW_RET_ERROR;
}

dds_qos_to_rmw_qos(dds_qos, qos);

return RMW_RET_OK;
}

rmw_ret_t
rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription)
{
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