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Add getters to rclcpp::qos and rclcpp::*Policy enum classes #1467

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Merged
merged 6 commits into from
Dec 10, 2020
Merged

Add getters to rclcpp::qos and rclcpp::*Policy enum classes #1467

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b6bfc58
Add getters to rclcpp::QoS
ivanpauno Nov 18, 2020
8e94608
Use 'enum class' policies
ivanpauno Nov 18, 2020
3b3bcf0
Add tests
ivanpauno Nov 18, 2020
18c71ad
Modify getters naming, add docblocks
ivanpauno Nov 30, 2020
f8935f2
test cases + fix
ivanpauno Dec 9, 2020
655f76e
Address peer review comments
ivanpauno Dec 10, 2020
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3 changes: 3 additions & 0 deletions rclcpp/include/rclcpp/duration.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,6 +137,9 @@ class RCLCPP_PUBLIC Duration
static Duration
from_nanoseconds(rcl_duration_value_t nanoseconds);

static Duration
from_rmw_time(rmw_time_t duration);

/// Convert Duration into a std::chrono::Duration.
template<class DurationT>
DurationT
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84 changes: 84 additions & 0 deletions rclcpp/include/rclcpp/qos.hpp
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Expand Up @@ -30,6 +30,38 @@ namespace rclcpp
RCLCPP_PUBLIC
std::string qos_policy_name_from_kind(rmw_qos_policy_kind_t policy_kind);

enum class HistoryPolicy
{
KeepLast = RMW_QOS_POLICY_HISTORY_KEEP_LAST,
KeepAll = RMW_QOS_POLICY_HISTORY_KEEP_ALL,
SystemDefault = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
Unknown = RMW_QOS_POLICY_HISTORY_UNKNOWN,
};

enum class ReliabilityPolicy
{
BestEffort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
Reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE,
SystemDefault = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
Unknown = RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
};

enum class DurabilityPolicy
{
Volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE,
TransientLocal = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
SystemDefault = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
Unknown = RMW_QOS_POLICY_DURABILITY_UNKNOWN,
};

enum class LivelinessPolicy
{
Automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
ManualByTopic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC,
SystemDefault = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
Unknown = RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
};

/// QoS initialization values, cannot be created directly, use KeepAll or KeepLast instead.
struct RCLCPP_PUBLIC QoSInitialization
{
Expand Down Expand Up @@ -82,6 +114,10 @@ class RCLCPP_PUBLIC QoS
const rmw_qos_profile_t &
get_rmw_qos_profile() const;

/// Set the history policy.
QoS &
history(HistoryPolicy history);

/// Set the history policy.
QoS &
history(rmw_qos_history_policy_t history);
Expand All @@ -98,6 +134,10 @@ class RCLCPP_PUBLIC QoS
QoS &
reliability(rmw_qos_reliability_policy_t reliability);

/// Set the reliability setting.
QoS &
reliability(ReliabilityPolicy reliability);

/// Set the reliability setting to reliable.
QoS &
reliable();
Expand All @@ -110,6 +150,10 @@ class RCLCPP_PUBLIC QoS
QoS &
durability(rmw_qos_durability_policy_t durability);

/// Set the durability setting.
QoS &
durability(DurabilityPolicy durability);

/// Set the durability setting to volatile.
/**
* Note that this cannot be named `volatile` because it is a C++ keyword.
Expand Down Expand Up @@ -141,6 +185,10 @@ class RCLCPP_PUBLIC QoS
QoS &
liveliness(rmw_qos_liveliness_policy_t liveliness);

/// Set the liveliness setting.
QoS &
liveliness(LivelinessPolicy liveliness);

/// Set the liveliness_lease_duration setting.
QoS &
liveliness_lease_duration(rmw_time_t liveliness_lease_duration);
Expand All @@ -153,6 +201,42 @@ class RCLCPP_PUBLIC QoS
QoS &
avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions);

/// Get the history qos policy.
HistoryPolicy
history() const;

/// Get the history depth.
size_t
depth() const;

/// Get the reliability policy.
ReliabilityPolicy
reliability() const;

/// Get the durability policy.
DurabilityPolicy
durability() const;

/// Get the deadline duration setting.
rclcpp::Duration
deadline() const;

/// Get the lifespan duration setting.
rclcpp::Duration
lifespan() const;

/// Get the liveliness policy.
LivelinessPolicy
liveliness() const;

/// Get the liveliness lease duration setting.
rclcpp::Duration
liveliness_lease_duration() const;

/// Get the `avoid ros namespace convention` setting.
bool
avoid_ros_namespace_conventions() const;

private:
rmw_qos_profile_t rmw_qos_profile_;
};
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20 changes: 20 additions & 0 deletions rclcpp/src/rclcpp/duration.cpp
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Expand Up @@ -246,6 +246,26 @@ Duration::to_rmw_time() const
return result;
}

Duration
Duration::from_rmw_time(rmw_time_t duration)
{
Duration ret;
constexpr rcl_duration_value_t limit = std::numeric_limits<rcl_duration_value_t>::max();
if (duration.sec > limit || duration.nsec > limit) {
// saturate if will overflow
ret.rcl_duration_.nanoseconds = limit;
return ret;
}
uint64_t total_ns = RCL_S_TO_NS(duration.sec) + duration.nsec;
if (total_ns < duration.nsec) {
// saturate if will overflow
ret.rcl_duration_.nanoseconds = limit;
return ret;
}
ret.rcl_duration_.nanoseconds = static_cast<rcl_duration_value_t>(total_ns);
return ret;
}

Duration
Duration::from_seconds(double seconds)
{
Expand Down
74 changes: 74 additions & 0 deletions rclcpp/src/rclcpp/qos.cpp
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Expand Up @@ -99,6 +99,13 @@ QoS::history(rmw_qos_history_policy_t history)
return *this;
}

QoS &
QoS::history(HistoryPolicy history)
{
rmw_qos_profile_.history = static_cast<rmw_qos_history_policy_t>(history);
return *this;
}

QoS &
QoS::keep_last(size_t depth)
{
Expand All @@ -122,6 +129,13 @@ QoS::reliability(rmw_qos_reliability_policy_t reliability)
return *this;
}

QoS &
QoS::reliability(ReliabilityPolicy reliability)
{
rmw_qos_profile_.reliability = static_cast<rmw_qos_reliability_policy_t>(reliability);
return *this;
}

QoS &
QoS::reliable()
{
Expand All @@ -141,6 +155,13 @@ QoS::durability(rmw_qos_durability_policy_t durability)
return *this;
}

QoS &
QoS::durability(DurabilityPolicy durability)
{
rmw_qos_profile_.durability = static_cast<rmw_qos_durability_policy_t>(durability);
return *this;
}

QoS &
QoS::durability_volatile()
{
Expand Down Expand Up @@ -186,6 +207,14 @@ QoS::liveliness(rmw_qos_liveliness_policy_t liveliness)
return *this;
}

QoS &
QoS::liveliness(LivelinessPolicy liveliness)
{
rmw_qos_profile_.liveliness = static_cast<rmw_qos_liveliness_policy_t>(liveliness);
return *this;
}


QoS &
QoS::liveliness_lease_duration(rmw_time_t liveliness_lease_duration)
{
Expand All @@ -206,6 +235,51 @@ QoS::avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions)
return *this;
}

HistoryPolicy
QoS::history() const
{
return static_cast<HistoryPolicy>(rmw_qos_profile_.history);
}

size_t
QoS::depth() const {return rmw_qos_profile_.depth;}

ReliabilityPolicy
QoS::reliability() const
{
return static_cast<ReliabilityPolicy>(rmw_qos_profile_.reliability);
}

DurabilityPolicy
QoS::durability() const
{
return static_cast<DurabilityPolicy>(rmw_qos_profile_.durability);
}

Duration
QoS::deadline() const {return Duration::from_rmw_time(rmw_qos_profile_.deadline);}

Duration
QoS::lifespan() const {return Duration::from_rmw_time(rmw_qos_profile_.lifespan);}

LivelinessPolicy
QoS::liveliness() const
{
return static_cast<LivelinessPolicy>(rmw_qos_profile_.liveliness);
}

Duration
QoS::liveliness_lease_duration() const
{
return Duration::from_rmw_time(rmw_qos_profile_.liveliness_lease_duration);
}

bool
QoS::avoid_ros_namespace_conventions() const
{
return rmw_qos_profile_.avoid_ros_namespace_conventions;
}

namespace
{
/// Check if two rmw_time_t have the same values.
Expand Down
39 changes: 21 additions & 18 deletions rclcpp/test/rclcpp/test_qos.cpp
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Expand Up @@ -78,62 +78,65 @@ TEST(TestQoS, equality_namespace) {
EXPECT_NE(a, b);
}

TEST(TestQoS, setters) {
TEST(TestQoS, setters_and_getters) {
rclcpp::QoS qos(10);

qos.keep_all();
EXPECT_EQ(RMW_QOS_POLICY_HISTORY_KEEP_ALL, qos.get_rmw_qos_profile().history);
EXPECT_EQ(rclcpp::HistoryPolicy::KeepAll, qos.history());

qos.keep_last(20);
EXPECT_EQ(RMW_QOS_POLICY_HISTORY_KEEP_LAST, qos.get_rmw_qos_profile().history);
EXPECT_EQ(20u, qos.get_rmw_qos_profile().depth);
EXPECT_EQ(rclcpp::HistoryPolicy::KeepLast, qos.history());
EXPECT_EQ(20u, qos.depth());

qos.reliable();
EXPECT_EQ(RMW_QOS_POLICY_RELIABILITY_RELIABLE, qos.get_rmw_qos_profile().reliability);
EXPECT_EQ(rclcpp::ReliabilityPolicy::Reliable, qos.reliability());

qos.durability_volatile();
EXPECT_EQ(RMW_QOS_POLICY_DURABILITY_VOLATILE, qos.get_rmw_qos_profile().durability);
EXPECT_EQ(rclcpp::DurabilityPolicy::Volatile, qos.durability());

qos.transient_local();
EXPECT_EQ(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL, qos.get_rmw_qos_profile().durability);
EXPECT_EQ(rclcpp::DurabilityPolicy::TransientLocal, qos.durability());

qos.history(RMW_QOS_POLICY_HISTORY_KEEP_ALL);
EXPECT_EQ(RMW_QOS_POLICY_HISTORY_KEEP_ALL, qos.get_rmw_qos_profile().history);
EXPECT_EQ(rclcpp::HistoryPolicy::KeepAll, qos.history());

constexpr size_t duration_ns = 12345;
qos.history(rclcpp::HistoryPolicy::KeepLast);
EXPECT_EQ(rclcpp::HistoryPolicy::KeepLast, qos.history());

constexpr rcl_duration_value_t duration_ns = 12345;
constexpr std::chrono::nanoseconds duration(duration_ns);
qos.deadline(duration);
EXPECT_EQ(0u, qos.get_rmw_qos_profile().deadline.sec);
EXPECT_EQ(duration_ns, qos.get_rmw_qos_profile().deadline.nsec);
EXPECT_EQ(duration_ns, qos.deadline().nanoseconds());

const rmw_time_t rmw_time {0, 54321};
qos.deadline(rmw_time);
EXPECT_EQ(rmw_time.sec, qos.get_rmw_qos_profile().deadline.sec);
EXPECT_EQ(rmw_time.nsec, qos.get_rmw_qos_profile().deadline.nsec);

qos.lifespan(duration);
EXPECT_EQ(0u, qos.get_rmw_qos_profile().lifespan.sec);
EXPECT_EQ(duration_ns, qos.get_rmw_qos_profile().lifespan.nsec);
EXPECT_EQ(duration_ns, qos.lifespan().nanoseconds());

qos.lifespan(rmw_time);
EXPECT_EQ(rmw_time.sec, qos.get_rmw_qos_profile().lifespan.sec);
EXPECT_EQ(rmw_time.nsec, qos.get_rmw_qos_profile().lifespan.nsec);

qos.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC);
EXPECT_EQ(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC, qos.get_rmw_qos_profile().liveliness);
EXPECT_EQ(rclcpp::LivelinessPolicy::ManualByTopic, qos.liveliness());

qos.liveliness(rclcpp::LivelinessPolicy::Automatic);
EXPECT_EQ(rclcpp::LivelinessPolicy::Automatic, qos.liveliness());

qos.liveliness_lease_duration(duration);
EXPECT_EQ(0u, qos.get_rmw_qos_profile().liveliness_lease_duration.sec);
EXPECT_EQ(duration_ns, qos.get_rmw_qos_profile().liveliness_lease_duration.nsec);
EXPECT_EQ(duration_ns, qos.liveliness_lease_duration().nanoseconds());

qos.liveliness_lease_duration(rmw_time);
EXPECT_EQ(rmw_time.sec, qos.get_rmw_qos_profile().liveliness_lease_duration.sec);
EXPECT_EQ(rmw_time.nsec, qos.get_rmw_qos_profile().liveliness_lease_duration.nsec);

qos.avoid_ros_namespace_conventions(true);
EXPECT_TRUE(qos.get_rmw_qos_profile().avoid_ros_namespace_conventions);
EXPECT_TRUE(qos.avoid_ros_namespace_conventions());
qos.avoid_ros_namespace_conventions(false);
EXPECT_FALSE(qos.get_rmw_qos_profile().avoid_ros_namespace_conventions);
EXPECT_FALSE(qos.avoid_ros_namespace_conventions());
}

bool operator==(const rmw_qos_profile_t & lhs, const rmw_qos_profile_t & rhs)
Expand Down