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get_actual_qos() is not setting all of rmw_qos_profile_t #357

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jacobperron merged 2 commits into from
Jun 6, 2019
Merged

get_actual_qos() is not setting all of rmw_qos_profile_t #357

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81443dd
add missing qos setings in get_actual_qos()
mm318 Jun 2, 2019
013e327
fix build error in rmw_connext_cpp
mm318 Jun 4, 2019
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40 changes: 33 additions & 7 deletions rmw_connext_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -390,6 +390,7 @@ 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;
Expand All @@ -401,6 +402,20 @@ 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;
Expand All @@ -412,18 +427,29 @@ 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;
}
Expand Down