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Merged
merged 2 commits into from
May 3, 2022
Merged

Handle 'best_available' QoS policies #598

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efe8dbc
Handle 'best_available' QoS policies
jacobperron Apr 15, 2022
9bb3bdf
Handle best available policies for services and clients
jacobperron Apr 26, 2022
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17 changes: 11 additions & 6 deletions rmw_fastrtps_cpp/src/rmw_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,8 @@
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rmw_dds_common/qos.hpp"

#include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/names.hpp"
Expand Down Expand Up @@ -88,9 +90,12 @@ rmw_create_client(
}
}

rmw_qos_profile_t adapted_qos_policies =
rmw_dds_common::qos_profile_update_best_available_for_services(*qos_policies);

/////
// Check RMW QoS
if (!is_valid_qos(*qos_policies)) {
if (!is_valid_qos(adapted_qos_policies)) {
RMW_SET_ERROR_MSG("create_client() called with invalid QoS");
return nullptr;
}
Expand Down Expand Up @@ -143,9 +148,9 @@ rmw_create_client(
std::string response_type_name = _create_type_name(response_members);

std::string request_topic_name = _create_topic_name(
qos_policies, ros_service_requester_prefix, service_name, "Request").to_string();
&adapted_qos_policies, ros_service_requester_prefix, service_name, "Request").to_string();
std::string response_topic_name = _create_topic_name(
qos_policies, ros_service_response_prefix, service_name, "Reply").to_string();
&adapted_qos_policies, ros_service_response_prefix, service_name, "Reply").to_string();

// Get request topic and type
eprosima::fastdds::dds::TypeSupport request_fastdds_type;
Expand Down Expand Up @@ -258,7 +263,7 @@ rmw_create_client(
// Create and register Topics
// Same default topic QoS for both topics
eprosima::fastdds::dds::TopicQos topic_qos = dds_participant->get_default_topic_qos();
if (!get_topic_qos(*qos_policies, topic_qos)) {
if (!get_topic_qos(adapted_qos_policies, topic_qos)) {
RMW_SET_ERROR_MSG("create_client() failed setting topic QoS");
return nullptr;
}
Expand Down Expand Up @@ -315,7 +320,7 @@ rmw_create_client(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(*qos_policies, reader_qos)) {
if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
RMW_SET_ERROR_MSG("create_client() failed setting response DataReader QoS");
return nullptr;
}
Expand Down Expand Up @@ -365,7 +370,7 @@ rmw_create_client(
writer_qos.data_sharing().off();
}

if (!get_datawriter_qos(*qos_policies, writer_qos)) {
if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
RMW_SET_ERROR_MSG("create_client() failed setting request DataWriter QoS");
return nullptr;
}
Expand Down
15 changes: 14 additions & 1 deletion rmw_fastrtps_cpp/src/rmw_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,10 +17,13 @@

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/get_topic_endpoint_info.h"
#include "rmw/rmw.h"

#include "rmw/impl/cpp/macros.hpp"

#include "rmw_dds_common/qos.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
#include "rmw_fastrtps_shared_cpp/publisher.hpp"
Expand Down Expand Up @@ -72,6 +75,16 @@ rmw_create_publisher(
node->implementation_identifier,
eprosima_fastrtps_identifier,
return nullptr);
RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);

// Adapt any 'best available' QoS options
rmw_qos_profile_t adapted_qos_policies = *qos_policies;
rmw_ret_t ret = rmw_dds_common::qos_profile_get_best_available_for_topic_publisher(
node, topic_name, &adapted_qos_policies, rmw_get_subscriptions_info_by_topic);
if (RMW_RET_OK != ret) {
return nullptr;
}


auto participant_info =
static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
Expand All @@ -80,7 +93,7 @@ rmw_create_publisher(
participant_info,
type_supports,
topic_name,
qos_policies,
&adapted_qos_policies,
publisher_options,
false,
true);
Expand Down
17 changes: 11 additions & 6 deletions rmw_fastrtps_cpp/src/rmw_service.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rmw_dds_common/qos.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
#include "rmw_fastrtps_shared_cpp/names.hpp"
Expand Down Expand Up @@ -93,9 +95,12 @@ rmw_create_service(
}
}

rmw_qos_profile_t adapted_qos_policies =
rmw_dds_common::qos_profile_update_best_available_for_services(*qos_policies);

/////
// Check RMW QoS
if (!is_valid_qos(*qos_policies)) {
if (!is_valid_qos(adapted_qos_policies)) {
RMW_SET_ERROR_MSG("create_service() called with invalid QoS");
return nullptr;
}
Expand Down Expand Up @@ -148,9 +153,9 @@ rmw_create_service(
std::string response_type_name = _create_type_name(response_members);

std::string request_topic_name = _create_topic_name(
qos_policies, ros_service_requester_prefix, service_name, "Request").to_string();
&adapted_qos_policies, ros_service_requester_prefix, service_name, "Request").to_string();
std::string response_topic_name = _create_topic_name(
qos_policies, ros_service_response_prefix, service_name, "Reply").to_string();
&adapted_qos_policies, ros_service_response_prefix, service_name, "Reply").to_string();

// Get request topic and type
eprosima::fastdds::dds::TypeSupport request_fastdds_type;
Expand Down Expand Up @@ -260,7 +265,7 @@ rmw_create_service(
// Create and register Topics
// Same default topic QoS for both topics
eprosima::fastdds::dds::TopicQos topic_qos = dds_participant->get_default_topic_qos();
if (!get_topic_qos(*qos_policies, topic_qos)) {
if (!get_topic_qos(adapted_qos_policies, topic_qos)) {
RMW_SET_ERROR_MSG("create_service() failed setting topic QoS");
return nullptr;
}
Expand Down Expand Up @@ -314,7 +319,7 @@ rmw_create_service(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(*qos_policies, reader_qos)) {
if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
RMW_SET_ERROR_MSG("create_service() failed setting request DataReader QoS");
return nullptr;
}
Expand Down Expand Up @@ -368,7 +373,7 @@ rmw_create_service(
writer_qos.data_sharing().off();
}

if (!get_datawriter_qos(*qos_policies, writer_qos)) {
if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
RMW_SET_ERROR_MSG("create_service() failed setting response DataWriter QoS");
return nullptr;
}
Expand Down
14 changes: 13 additions & 1 deletion rmw_fastrtps_cpp/src/rmw_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,11 @@

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/get_topic_endpoint_info.h"
#include "rmw/rmw.h"

#include "rmw_dds_common/qos.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
Expand Down Expand Up @@ -68,14 +71,23 @@ rmw_create_subscription(
node->implementation_identifier,
eprosima_fastrtps_identifier,
return nullptr);
RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);

// Adapt any 'best available' QoS options
rmw_qos_profile_t adapted_qos_policies = *qos_policies;
rmw_ret_t ret = rmw_dds_common::qos_profile_get_best_available_for_topic_subscription(
node, topic_name, &adapted_qos_policies, rmw_get_publishers_info_by_topic);
if (RMW_RET_OK != ret) {
return nullptr;
}

auto participant_info =
static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
rmw_subscription_t * subscription = rmw_fastrtps_cpp::create_subscription(
participant_info,
type_supports,
topic_name,
qos_policies,
&adapted_qos_policies,
subscription_options,
false, // use no keyed topic
true); // create subscription listener
Expand Down
17 changes: 11 additions & 6 deletions rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rmw_dds_common/qos.hpp"

#include "rosidl_typesupport_introspection_cpp/identifier.hpp"

#include "rosidl_typesupport_introspection_c/identifier.h"
Expand Down Expand Up @@ -91,9 +93,12 @@ rmw_create_client(
}
}

rmw_qos_profile_t adapted_qos_policies =
rmw_dds_common::qos_profile_update_best_available_for_services(*qos_policies);

/////
// Check RMW QoS
if (!is_valid_qos(*qos_policies)) {
if (!is_valid_qos(adapted_qos_policies)) {
RMW_SET_ERROR_MSG("create_client() called with invalid QoS");
return nullptr;
}
Expand Down Expand Up @@ -150,9 +155,9 @@ rmw_create_client(
untyped_response_members, type_support->typesupport_identifier);

std::string response_topic_name = _create_topic_name(
qos_policies, ros_service_response_prefix, service_name, "Reply").to_string();
&adapted_qos_policies, ros_service_response_prefix, service_name, "Reply").to_string();
std::string request_topic_name = _create_topic_name(
qos_policies, ros_service_requester_prefix, service_name, "Request").to_string();
&adapted_qos_policies, ros_service_requester_prefix, service_name, "Request").to_string();

// Get request topic and type
eprosima::fastdds::dds::TypeSupport request_fastdds_type;
Expand Down Expand Up @@ -289,7 +294,7 @@ rmw_create_client(
// Create and register Topics
// Same default topic QoS for both topics
eprosima::fastdds::dds::TopicQos topic_qos = dds_participant->get_default_topic_qos();
if (!get_topic_qos(*qos_policies, topic_qos)) {
if (!get_topic_qos(adapted_qos_policies, topic_qos)) {
RMW_SET_ERROR_MSG("create_client() failed setting topic QoS");
return nullptr;
}
Expand Down Expand Up @@ -346,7 +351,7 @@ rmw_create_client(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(*qos_policies, reader_qos)) {
if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
RMW_SET_ERROR_MSG("create_client() failed setting response DataReader QoS");
return nullptr;
}
Expand Down Expand Up @@ -396,7 +401,7 @@ rmw_create_client(
writer_qos.data_sharing().off();
}

if (!get_datawriter_qos(*qos_policies, writer_qos)) {
if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
RMW_SET_ERROR_MSG("create_client() failed setting request DataWriter QoS");
return nullptr;
}
Expand Down
14 changes: 13 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,10 +16,13 @@

#include "rmw/allocators.h"
#include "rmw/error_handling.h"
#include "rmw/get_topic_endpoint_info.h"
#include "rmw/rmw.h"

#include "rmw/impl/cpp/macros.hpp"

#include "rmw_dds_common/qos.hpp"

#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
#include "rmw_fastrtps_shared_cpp/publisher.hpp"
Expand Down Expand Up @@ -74,14 +77,23 @@ rmw_create_publisher(
node->implementation_identifier,
eprosima_fastrtps_identifier,
return nullptr);
RMW_CHECK_ARGUMENT_FOR_NULL(qos_policies, nullptr);

// Adapt any 'best available' QoS options
rmw_qos_profile_t adapted_qos_policies = *qos_policies;
rmw_ret_t ret = rmw_dds_common::qos_profile_get_best_available_for_topic_publisher(
node, topic_name, &adapted_qos_policies, rmw_get_subscriptions_info_by_topic);
if (RMW_RET_OK != ret) {
return nullptr;
}

auto participant_info =
static_cast<CustomParticipantInfo *>(node->context->impl->participant_info);
rmw_publisher_t * publisher = rmw_fastrtps_dynamic_cpp::create_publisher(
participant_info,
type_supports,
topic_name,
qos_policies,
&adapted_qos_policies,
publisher_options,
false,
true);
Expand Down
17 changes: 11 additions & 6 deletions rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,8 @@
#include "rmw/rmw.h"
#include "rmw/validate_full_topic_name.h"

#include "rmw_dds_common/qos.hpp"

#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"

#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
Expand Down Expand Up @@ -99,9 +101,12 @@ rmw_create_service(
}
}

rmw_qos_profile_t adapted_qos_policies =
rmw_dds_common::qos_profile_update_best_available_for_services(*qos_policies);

/////
// Check RMW QoS
if (!is_valid_qos(*qos_policies)) {
if (!is_valid_qos(adapted_qos_policies)) {
RMW_SET_ERROR_MSG("create_service() called with invalid QoS");
return nullptr;
}
Expand Down Expand Up @@ -155,9 +160,9 @@ rmw_create_service(
untyped_response_members, type_support->typesupport_identifier);

std::string response_topic_name = _create_topic_name(
qos_policies, ros_service_response_prefix, service_name, "Reply").to_string();
&adapted_qos_policies, ros_service_response_prefix, service_name, "Reply").to_string();
std::string request_topic_name = _create_topic_name(
qos_policies, ros_service_requester_prefix, service_name, "Request").to_string();
&adapted_qos_policies, ros_service_requester_prefix, service_name, "Request").to_string();

// Get request topic and type
eprosima::fastdds::dds::TypeSupport request_fastdds_type;
Expand Down Expand Up @@ -291,7 +296,7 @@ rmw_create_service(
// Create and register Topics
// Same default topic QoS for both topics
eprosima::fastdds::dds::TopicQos topic_qos = dds_participant->get_default_topic_qos();
if (!get_topic_qos(*qos_policies, topic_qos)) {
if (!get_topic_qos(adapted_qos_policies, topic_qos)) {
RMW_SET_ERROR_MSG("create_service() failed setting topic QoS");
return nullptr;
}
Expand Down Expand Up @@ -345,7 +350,7 @@ rmw_create_service(
reader_qos.data_sharing().off();
}

if (!get_datareader_qos(*qos_policies, reader_qos)) {
if (!get_datareader_qos(adapted_qos_policies, reader_qos)) {
RMW_SET_ERROR_MSG("create_service() failed setting request DataReader QoS");
return nullptr;
}
Expand Down Expand Up @@ -399,7 +404,7 @@ rmw_create_service(
writer_qos.data_sharing().off();
}

if (!get_datawriter_qos(*qos_policies, writer_qos)) {
if (!get_datawriter_qos(adapted_qos_policies, writer_qos)) {
RMW_SET_ERROR_MSG("create_service() failed setting response DataWriter QoS");
return nullptr;
}
Expand Down
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