Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add client/service QoS getters #560

Merged
merged 1 commit into from
Nov 19, 2021
Merged

Add client/service QoS getters #560

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
32 changes: 32 additions & 0 deletions rmw_fastrtps_cpp/src/rmw_client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -493,4 +493,36 @@ rmw_destroy_client(rmw_node_t * node, rmw_client_t * client)
return rmw_fastrtps_shared_cpp::__rmw_destroy_client(
eprosima_fastrtps_identifier, node, client);
}

rmw_ret_t
rmw_client_request_publisher_get_actual_qos(
const rmw_client_t * client,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
client,
client->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_client_request_publisher_get_actual_qos(client, qos);
}

rmw_ret_t
rmw_client_response_subscription_get_actual_qos(
const rmw_client_t * client,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
client,
client->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_client_response_subscription_get_actual_qos(client, qos);
}
} // extern "C"
32 changes: 32 additions & 0 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 @@ -492,4 +492,36 @@ rmw_destroy_service(rmw_node_t * node, rmw_service_t * service)
return rmw_fastrtps_shared_cpp::__rmw_destroy_service(
eprosima_fastrtps_identifier, node, service);
}

rmw_ret_t
rmw_service_response_publisher_get_actual_qos(
const rmw_service_t * service,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
service,
service->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_service_response_publisher_get_actual_qos(service, qos);
}

rmw_ret_t
rmw_service_request_subscription_get_actual_qos(
const rmw_service_t * service,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
service,
service->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_service_request_subscription_get_actual_qos(service, qos);
}
} // extern "C"
32 changes: 32 additions & 0 deletions rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -540,4 +540,36 @@ rmw_destroy_client(rmw_node_t * node, rmw_client_t * client)
return rmw_fastrtps_shared_cpp::__rmw_destroy_client(
eprosima_fastrtps_identifier, node, client);
}

rmw_ret_t
rmw_client_request_publisher_get_actual_qos(
const rmw_client_t * client,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
client,
client->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_client_request_publisher_get_actual_qos(client, qos);
}

rmw_ret_t
rmw_client_response_subscription_get_actual_qos(
const rmw_client_t * client,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(client, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
client,
client->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_client_response_subscription_get_actual_qos(client, qos);
}
} // extern "C"
32 changes: 32 additions & 0 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 @@ -539,4 +539,36 @@ rmw_destroy_service(rmw_node_t * node, rmw_service_t * service)
return rmw_fastrtps_shared_cpp::__rmw_destroy_service(
eprosima_fastrtps_identifier, node, service);
}

rmw_ret_t
rmw_service_response_publisher_get_actual_qos(
const rmw_service_t * service,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
service,
service->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_service_response_publisher_get_actual_qos(service, qos);
}

rmw_ret_t
rmw_service_request_subscription_get_actual_qos(
const rmw_service_t * service,
rmw_qos_profile_t * qos)
{
RMW_CHECK_ARGUMENT_FOR_NULL(service, RMW_RET_INVALID_ARGUMENT);
RMW_CHECK_TYPE_IDENTIFIERS_MATCH(
service,
service->implementation_identifier,
eprosima_fastrtps_identifier,
return RMW_RET_INCORRECT_RMW_IMPLEMENTATION);
RMW_CHECK_ARGUMENT_FOR_NULL(qos, RMW_RET_INVALID_ARGUMENT);

return rmw_fastrtps_shared_cpp::__rmw_service_request_subscription_get_actual_qos(service, qos);
}
} // extern "C"
24 changes: 24 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -317,6 +317,30 @@ __rmw_subscription_get_actual_qos(
const rmw_subscription_t * subscription,
rmw_qos_profile_t * qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_service_response_publisher_get_actual_qos(
const rmw_service_t * service,
rmw_qos_profile_t * qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_service_request_subscription_get_actual_qos(
const rmw_service_t * service,
rmw_qos_profile_t * qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_client_request_publisher_get_actual_qos(
const rmw_client_t * client,
rmw_qos_profile_t * qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_client_response_subscription_get_actual_qos(
const rmw_client_t * client,
rmw_qos_profile_t * qos);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
__rmw_take(
Expand Down
22 changes: 22 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_client.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -126,4 +126,26 @@ __rmw_destroy_client(
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR); // on completion
return final_ret;
}

rmw_ret_t
__rmw_client_request_publisher_get_actual_qos(
const rmw_client_t * client,
rmw_qos_profile_t * qos)
{
auto cli = static_cast<CustomClientInfo *>(client->data);
eprosima::fastdds::dds::DataWriter * fastdds_rw = cli->request_writer_;
dds_qos_to_rmw_qos(fastdds_rw->get_qos(), qos);
return RMW_RET_OK;
}

rmw_ret_t
__rmw_client_response_subscription_get_actual_qos(
const rmw_client_t * client,
rmw_qos_profile_t * qos)
{
auto cli = static_cast<CustomClientInfo *>(client->data);
eprosima::fastdds::dds::DataReader * fastdds_dr = cli->response_reader_;
dds_qos_to_rmw_qos(fastdds_dr->get_qos(), qos);
return RMW_RET_OK;
}
} // namespace rmw_fastrtps_shared_cpp
22 changes: 22 additions & 0 deletions rmw_fastrtps_shared_cpp/src/rmw_service.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -138,4 +138,26 @@ __rmw_destroy_service(
RCUTILS_CAN_RETURN_WITH_ERROR_OF(RMW_RET_ERROR); // on completion
return final_ret;
}

rmw_ret_t
__rmw_service_response_publisher_get_actual_qos(
const rmw_service_t * service,
rmw_qos_profile_t * qos)
{
auto srv = static_cast<CustomServiceInfo *>(service->data);
eprosima::fastdds::dds::DataWriter * fastdds_rw = srv->response_writer_;
dds_qos_to_rmw_qos(fastdds_rw->get_qos(), qos);
return RMW_RET_OK;
}

rmw_ret_t
__rmw_service_request_subscription_get_actual_qos(
const rmw_service_t * service,
rmw_qos_profile_t * qos)
{
auto srv = static_cast<CustomServiceInfo *>(service->data);
eprosima::fastdds::dds::DataReader * fastdds_rr = srv->request_reader_;
dds_qos_to_rmw_qos(fastdds_rr->get_qos(), qos);
return RMW_RET_OK;
}
} // namespace rmw_fastrtps_shared_cpp