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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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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
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
14 changes: 13 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
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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
14 changes: 13 additions & 1 deletion rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,11 @@

#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 @@ -70,6 +73,15 @@ 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);
Expand All @@ -78,7 +90,7 @@ rmw_create_subscription(
participant_info,
type_supports,
topic_name,
qos_policies,
&adapted_qos_policies,
subscription_options,
false,
true);
Expand Down