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Implement get_actual_qos() for subscriptions #358

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Jun 12, 2019
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Implement get_actual_qos() for subscriptions #358

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ba5a962
add get_actual_qos() feature to subscriptions
mm318 Jun 7, 2019
2fc13d6
reduce duplicate code
mm318 Jun 9, 2019
d36f5b6
use visibility macros
mm318 Jun 11, 2019
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90 changes: 90 additions & 0 deletions rmw_connext_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -365,6 +365,96 @@ 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<ConnextStaticSubscriberInfo *>(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;
}

if (!data_reader) {
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@ivanpauno ivanpauno Jun 7, 2019

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Why is this check needed? I think the one in L382 is enough. I know that the same was done in:

rmw_connext/rmw_connext_cpp/src/rmw_publisher.cpp

Lines 377 to 393 in 8e9e088

DDS::DataWriter * data_writer = info->topic_writer_;
if (!data_writer) {
RMW_SET_ERROR_MSG("publisher internal data writer is invalid");
return RMW_RET_ERROR;
}
DDS::DataWriterQos dds_qos;
DDS::ReturnCode_t status = data_writer->get_qos(dds_qos);
if (DDS::RETCODE_OK != status) {
RMW_SET_ERROR_MSG("publisher can't get data writer qos policies");
return RMW_RET_ERROR;
}
if (!data_writer) {
RMW_SET_ERROR_MSG("publisher internal dds publisher is invalid");
return RMW_RET_ERROR;
}

But I don't think it has sense. If you agree, delete the duplicated check in the publisher function too

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@mm318 mm318 Jun 9, 2019

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Done.

RMW_SET_ERROR_MSG("subscription internal dds subscriber 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;

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;

return RMW_RET_OK;
}

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