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// Copyright 2019 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.hpp"
#include <string>
#include "rclcpp/logging.hpp"
#include "rmw/error_handling.h"
#include "rmw/types.h"
#include "rmw/qos_profiles.h"
namespace rclcpp
{
std::string qos_policy_name_from_kind(rmw_qos_policy_kind_t policy_kind)
{
switch (policy_kind) {
case RMW_QOS_POLICY_DURABILITY:
return "DURABILITY_QOS_POLICY";
case RMW_QOS_POLICY_DEADLINE:
return "DEADLINE_QOS_POLICY";
case RMW_QOS_POLICY_LIVELINESS:
return "LIVELINESS_QOS_POLICY";
case RMW_QOS_POLICY_RELIABILITY:
return "RELIABILITY_QOS_POLICY";
case RMW_QOS_POLICY_HISTORY:
return "HISTORY_QOS_POLICY";
case RMW_QOS_POLICY_LIFESPAN:
return "LIFESPAN_QOS_POLICY";
case RMW_QOS_POLICY_DEPTH:
return "DEPTH_QOS_POLICY";
case RMW_QOS_POLICY_LIVELINESS_LEASE_DURATION:
return "LIVELINESS_LEASE_DURATION_QOS_POLICY";
case RMW_QOS_POLICY_AVOID_ROS_NAMESPACE_CONVENTIONS:
return "AVOID_ROS_NAMESPACE_CONVENTIONS_QOS_POLICY";
default:
return "INVALID_QOS_POLICY";
}
}
QoSInitialization::QoSInitialization(
rmw_qos_history_policy_t history_policy_arg, size_t depth_arg,
bool print_depth_warning)
: history_policy(history_policy_arg), depth(depth_arg)
{
if (history_policy == RMW_QOS_POLICY_HISTORY_KEEP_LAST && depth == 0 && print_depth_warning) {
RCLCPP_WARN_ONCE(
rclcpp::get_logger(
"rclcpp"),
"A zero depth with KEEP_LAST doesn't make sense; no data could be stored. "
"This will be interpreted as SYSTEM_DEFAULT");
}
}
QoSInitialization
QoSInitialization::from_rmw(const rmw_qos_profile_t & rmw_qos)
{
switch (rmw_qos.history) {
case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
return KeepAll();
case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
return KeepLast(rmw_qos.depth, false);
case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
case RMW_QOS_POLICY_HISTORY_UNKNOWN:
return KeepLast(rmw_qos.depth);
default:
throw std::invalid_argument(
"Invalid history policy enum value passed to QoSInitialization::from_rmw");
}
}
KeepAll::KeepAll()
: QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 0)
{}
KeepLast::KeepLast(size_t depth, bool print_depth_warning)
: QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_LAST, depth, print_depth_warning)
{
}
QoS::QoS(
const QoSInitialization & qos_initialization,
const rmw_qos_profile_t & initial_profile)
: rmw_qos_profile_(initial_profile)
{
rmw_qos_profile_.history = qos_initialization.history_policy;
rmw_qos_profile_.depth = qos_initialization.depth;
}
QoS::QoS(size_t history_depth)
: QoS(KeepLast(history_depth))
{}
rmw_qos_profile_t &
QoS::get_rmw_qos_profile()
{
return rmw_qos_profile_;
}
const rmw_qos_profile_t &
QoS::get_rmw_qos_profile() const
{
return rmw_qos_profile_;
}
QoS &
QoS::history(rmw_qos_history_policy_t history)
{
rmw_qos_profile_.history = history;
return *this;
}
QoS &
QoS::history(HistoryPolicy history)
{
rmw_qos_profile_.history = static_cast<rmw_qos_history_policy_t>(history);
return *this;
}
QoS &
QoS::keep_last(size_t depth)
{
if (depth == 0) {
RCLCPP_WARN_ONCE(
rclcpp::get_logger(
"rclcpp"),
"A zero depth with KEEP_LAST doesn't make sense; no data could be stored."
"This will be interpreted as SYSTEM_DEFAULT");
}
rmw_qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
rmw_qos_profile_.depth = depth;
return *this;
}
QoS &
QoS::keep_all()
{
rmw_qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
rmw_qos_profile_.depth = 0;
return *this;
}
QoS &
QoS::reliability(rmw_qos_reliability_policy_t reliability)
{
rmw_qos_profile_.reliability = reliability;
return *this;
}
QoS &
QoS::reliability(ReliabilityPolicy reliability)
{
rmw_qos_profile_.reliability = static_cast<rmw_qos_reliability_policy_t>(reliability);
return *this;
}
QoS &
QoS::reliable()
{
return this->reliability(RMW_QOS_POLICY_RELIABILITY_RELIABLE);
}
QoS &
QoS::best_effort()
{
return this->reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
}
QoS &
QoS::reliability_best_available()
{
return this->reliability(RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE);
}
QoS &
QoS::durability(rmw_qos_durability_policy_t durability)
{
rmw_qos_profile_.durability = durability;
return *this;
}
QoS &
QoS::durability(DurabilityPolicy durability)
{
rmw_qos_profile_.durability = static_cast<rmw_qos_durability_policy_t>(durability);
return *this;
}
QoS &
QoS::durability_volatile()
{
return this->durability(RMW_QOS_POLICY_DURABILITY_VOLATILE);
}
QoS &
QoS::transient_local()
{
return this->durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
}
QoS &
QoS::durability_best_available()
{
return this->durability(RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE);
}
QoS &
QoS::deadline(rmw_time_t deadline)
{
rmw_qos_profile_.deadline = deadline;
return *this;
}
QoS &
QoS::deadline(const rclcpp::Duration & deadline)
{
return this->deadline(deadline.to_rmw_time());
}
QoS &
QoS::lifespan(rmw_time_t lifespan)
{
rmw_qos_profile_.lifespan = lifespan;
return *this;
}
QoS &
QoS::lifespan(const rclcpp::Duration & lifespan)
{
return this->lifespan(lifespan.to_rmw_time());
}
QoS &
QoS::liveliness(rmw_qos_liveliness_policy_t liveliness)
{
rmw_qos_profile_.liveliness = liveliness;
return *this;
}
QoS &
QoS::liveliness(LivelinessPolicy liveliness)
{
rmw_qos_profile_.liveliness = static_cast<rmw_qos_liveliness_policy_t>(liveliness);
return *this;
}
QoS &
QoS::liveliness_lease_duration(rmw_time_t liveliness_lease_duration)
{
rmw_qos_profile_.liveliness_lease_duration = liveliness_lease_duration;
return *this;
}
QoS &
QoS::liveliness_lease_duration(const rclcpp::Duration & liveliness_lease_duration)
{
return this->liveliness_lease_duration(liveliness_lease_duration.to_rmw_time());
}
QoS &
QoS::avoid_ros_namespace_conventions(bool avoid_ros_namespace_conventions)
{
rmw_qos_profile_.avoid_ros_namespace_conventions = avoid_ros_namespace_conventions;
return *this;
}
HistoryPolicy
QoS::history() const
{
return static_cast<HistoryPolicy>(rmw_qos_profile_.history);
}
size_t
QoS::depth() const {return rmw_qos_profile_.depth;}
ReliabilityPolicy
QoS::reliability() const
{
return static_cast<ReliabilityPolicy>(rmw_qos_profile_.reliability);
}
DurabilityPolicy
QoS::durability() const
{
return static_cast<DurabilityPolicy>(rmw_qos_profile_.durability);
}
Duration
QoS::deadline() const {return Duration::from_rmw_time(rmw_qos_profile_.deadline);}
Duration
QoS::lifespan() const {return Duration::from_rmw_time(rmw_qos_profile_.lifespan);}
LivelinessPolicy
QoS::liveliness() const
{
return static_cast<LivelinessPolicy>(rmw_qos_profile_.liveliness);
}
Duration
QoS::liveliness_lease_duration() const
{
return Duration::from_rmw_time(rmw_qos_profile_.liveliness_lease_duration);
}
bool
QoS::avoid_ros_namespace_conventions() const
{
return rmw_qos_profile_.avoid_ros_namespace_conventions;
}
namespace
{
/// Check if two rmw_time_t have the same values.
bool operator==(const rmw_time_t & left, const rmw_time_t & right)
{
return left.sec == right.sec && left.nsec == right.nsec;
}
} // unnamed namespace
bool operator==(const QoS & left, const QoS & right)
{
const auto & pl = left.get_rmw_qos_profile();
const auto & pr = right.get_rmw_qos_profile();
return pl.history == pr.history &&
pl.depth == pr.depth &&
pl.reliability == pr.reliability &&
pl.durability == pr.durability &&
pl.deadline == pr.deadline &&
pl.lifespan == pr.lifespan &&
pl.liveliness == pr.liveliness &&
pl.liveliness_lease_duration == pr.liveliness_lease_duration &&
pl.avoid_ros_namespace_conventions == pr.avoid_ros_namespace_conventions;
}
bool operator!=(const QoS & left, const QoS & right)
{
return !(left == right);
}
QoSCheckCompatibleResult
qos_check_compatible(const QoS & publisher_qos, const QoS & subscription_qos)
{
rmw_qos_compatibility_type_t compatible;
const size_t reason_size = 2048u;
char reason_c_str[reason_size] = "";
rmw_ret_t ret = rmw_qos_profile_check_compatible(
publisher_qos.get_rmw_qos_profile(),
subscription_qos.get_rmw_qos_profile(),
&compatible,
reason_c_str,
reason_size);
if (RMW_RET_OK != ret) {
std::string error_str(rmw_get_error_string().str);
rmw_reset_error();
throw rclcpp::exceptions::QoSCheckCompatibleException{error_str};
}
QoSCheckCompatibleResult result;
result.reason = std::string(reason_c_str);
switch (compatible) {
case RMW_QOS_COMPATIBILITY_OK:
result.compatibility = QoSCompatibility::Ok;
break;
case RMW_QOS_COMPATIBILITY_WARNING:
result.compatibility = QoSCompatibility::Warning;
break;
case RMW_QOS_COMPATIBILITY_ERROR:
result.compatibility = QoSCompatibility::Error;
break;
default:
throw rclcpp::exceptions::QoSCheckCompatibleException{
"Unexpected compatibility value returned by rmw '" + std::to_string(compatible) +
"'"};
}
return result;
}
ClockQoS::ClockQoS(const QoSInitialization & qos_initialization)
// Using `rmw_qos_profile_sensor_data` intentionally.
// It's best effort and `qos_initialization` is overriding the depth to 1.
: QoS(qos_initialization, rmw_qos_profile_sensor_data)
{}
SensorDataQoS::SensorDataQoS(const QoSInitialization & qos_initialization)
: QoS(qos_initialization, rmw_qos_profile_sensor_data)
{}
ParametersQoS::ParametersQoS(const QoSInitialization & qos_initialization)
: QoS(qos_initialization, rmw_qos_profile_parameters)
{}
ServicesQoS::ServicesQoS(const QoSInitialization & qos_initialization)
: QoS(qos_initialization, rmw_qos_profile_services_default)
{}
ParameterEventsQoS::ParameterEventsQoS(const QoSInitialization & qos_initialization)
: QoS(qos_initialization, rmw_qos_profile_parameter_events)
{}
RosoutQoS::RosoutQoS(const QoSInitialization & rosout_initialization)
: QoS(rosout_initialization, rmw_qos_profile_rosout_default)
{}
SystemDefaultsQoS::SystemDefaultsQoS(const QoSInitialization & qos_initialization)
: QoS(qos_initialization, rmw_qos_profile_system_default)
{}
BestAvailableQoS::BestAvailableQoS(const QoSInitialization & qos_initialization)
: QoS(qos_initialization, rmw_qos_profile_best_available)
{}
} // namespace rclcpp