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add get_actual_qos() feature to subscriptions (#754)

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Signed-off-by: Miaofei <miaofei@amazon.com>
This commit is contained in:
M. M 2019-06-12 08:51:29 -07:00 • committed by ivanpauno
parent 91198ef917
commit 0ae3da49e7
2 changed files with 26 additions and 0 deletions
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14
rclcpp/include/rclcpp/subscription_base.hpp
View file

@ -98,6 +98,20 @@ public:
const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> & const std::vector<std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
get_event_handlers() const; get_event_handlers() const;
/// Get the actual QoS settings, after the defaults have been determined.
/**
* The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
* can only be resolved after the creation of the publisher, and it
* depends on the underlying rmw implementation.
* If the underlying setting in use can't be represented in ROS terms,
* it will be set to RMW_QOS_POLICY_*_UNKNOWN.
* May throw runtime_error when an unexpected error occurs.
* \return The actual qos settings.
*/
RCLCPP_PUBLIC
rmw_qos_profile_t
get_actual_qos() const;
/// Borrow a new message. /// Borrow a new message.
/** \return Shared pointer to the fresh message. */ /** \return Shared pointer to the fresh message. */
virtual std::shared_ptr<void> virtual std::shared_ptr<void>

12
rclcpp/src/rclcpp/subscription_base.cpp
View file

@ -128,6 +128,18 @@ SubscriptionBase::get_event_handlers() const
return event_handlers_; return event_handlers_;
} }
rmw_qos_profile_t
SubscriptionBase::get_actual_qos() const
{
const rmw_qos_profile_t * qos = rcl_subscription_get_actual_qos(subscription_handle_.get());
if (!qos) {
auto msg = std::string("failed to get qos settings: ") + rcl_get_error_string().str;
rcl_reset_error();
throw std::runtime_error(msg);
}
return *qos;
}
const rosidl_message_type_support_t & const rosidl_message_type_support_t &
SubscriptionBase::get_message_type_support_handle() const SubscriptionBase::get_message_type_support_handle() const
{ {