forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathqos_overriding_options.cpp
More file actions
84 lines (71 loc) · 2.12 KB
/
qos_overriding_options.cpp
File metadata and controls
84 lines (71 loc) · 2.12 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "rclcpp/qos_overriding_options.hpp"
#include <initializer_list>
#include <ostream>
#include <stdexcept>
#include <string>
#include <utility>
#include <vector>
#include "rmw/qos_policy_kind.h"
#include "rmw/qos_string_conversions.h"
namespace rclcpp
{
const char *
qos_policy_kind_to_cstr(const QosPolicyKind & qpk)
{
const char * ret = rmw_qos_policy_kind_to_str(static_cast<rmw_qos_policy_kind_t>(qpk));
if (!ret) {
throw std::invalid_argument{"unknown QoS policy kind"};
}
return ret;
}
std::ostream &
operator<<(std::ostream & oss, const QosPolicyKind & qpk)
{
return oss << qos_policy_kind_to_cstr(qpk);
}
static std::initializer_list<QosPolicyKind> kDefaultPolicies =
{QosPolicyKind::History, QosPolicyKind::Depth, QosPolicyKind::Reliability};
QosOverridingOptions::QosOverridingOptions(
std::initializer_list<QosPolicyKind> policy_kinds,
QosCallback validation_callback,
std::string id)
: id_{std::move(id)},
policy_kinds_{policy_kinds},
validation_callback_{std::move(validation_callback)}
{}
QosOverridingOptions
QosOverridingOptions::with_default_policies(
QosCallback validation_callback,
std::string id)
{
return QosOverridingOptions{kDefaultPolicies, validation_callback, id};
}
const std::string &
QosOverridingOptions::get_id() const
{
return id_;
}
const std::vector<QosPolicyKind> &
QosOverridingOptions::get_policy_kinds() const
{
return policy_kinds_;
}
const QosCallback &
QosOverridingOptions::get_validation_callback() const
{
return validation_callback_;
}
} // namespace rclcpp