From 27a97e868cde2aaebf6c3d04e5b29b0e539bee4f Mon Sep 17 00:00:00 2001
From: William Woodall <william+github@osrfoundation.org>
Date: Tue, 8 Oct 2019 15:15:08 -0700
Subject: [PATCH] make get_actual_qos return a rclcpp::QoS (#883)

* make get_actual_qos return a rclcpp::QoS

Signed-off-by: William Woodall <william@osrfoundation.org>

* make simpler following suggestion from review

Signed-off-by: William Woodall <william@osrfoundation.org>
---
 rclcpp/include/rclcpp/publisher_base.hpp    | 4 +++-
 rclcpp/include/rclcpp/subscription_base.hpp | 4 +++-
 rclcpp/src/rclcpp/publisher_base.cpp        | 8 +++++---
 rclcpp/src/rclcpp/subscription_base.cpp     | 5 +++--
 4 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/rclcpp/include/rclcpp/publisher_base.hpp b/rclcpp/include/rclcpp/publisher_base.hpp
index 1901a27..a3ac1d7 100644
--- a/rclcpp/include/rclcpp/publisher_base.hpp
+++ b/rclcpp/include/rclcpp/publisher_base.hpp
@@ -29,6 +29,7 @@
 
 #include "rclcpp/macros.hpp"
 #include "rclcpp/mapped_ring_buffer.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -153,10 +154,11 @@ public:
    * 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
+  rclcpp::QoS
   get_actual_qos() const;
 
   /// Compare this publisher to a gid.
diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp
index 25b99b8..8cad2b7 100644
--- a/rclcpp/include/rclcpp/subscription_base.hpp
+++ b/rclcpp/include/rclcpp/subscription_base.hpp
@@ -27,6 +27,7 @@
 
 #include "rclcpp/any_subscription_callback.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/qos.hpp"
 #include "rclcpp/qos_event.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -106,10 +107,11 @@ public:
    * 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
+  rclcpp::QoS
   get_actual_qos() const;
 
   /// Borrow a new message.
diff --git a/rclcpp/src/rclcpp/publisher_base.cpp b/rclcpp/src/rclcpp/publisher_base.cpp
index a2c6cea..a5d142f 100644
--- a/rclcpp/src/rclcpp/publisher_base.cpp
+++ b/rclcpp/src/rclcpp/publisher_base.cpp
@@ -205,7 +205,7 @@ PublisherBase::get_intra_process_subscription_count() const
   return ipm->get_subscription_count(intra_process_publisher_id_);
 }
 
-rmw_qos_profile_t
+rclcpp::QoS
 PublisherBase::get_actual_qos() const
 {
   const rmw_qos_profile_t * qos = rcl_publisher_get_actual_qos(&publisher_handle_);
@@ -214,7 +214,8 @@ PublisherBase::get_actual_qos() const
     rcl_reset_error();
     throw std::runtime_error(msg);
   }
-  return *qos;
+
+  return rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
 }
 
 bool
@@ -264,7 +265,8 @@ PublisherBase::setup_intra_process(
   const rcl_publisher_options_t & intra_process_options)
 {
   // Intraprocess configuration is not allowed with "durability" qos policy non "volatile".
-  if (this->get_actual_qos().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
+  auto actual_durability = this->get_actual_qos().get_rmw_qos_profile().durability;
+  if (actual_durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
     throw std::invalid_argument(
             "intraprocess communication is not allowed with durability qos policy non-volatile");
   }
diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp
index 8d9b205..0cdd1f5 100644
--- a/rclcpp/src/rclcpp/subscription_base.cpp
+++ b/rclcpp/src/rclcpp/subscription_base.cpp
@@ -129,7 +129,7 @@ SubscriptionBase::get_event_handlers() const
   return event_handlers_;
 }
 
-rmw_qos_profile_t
+rclcpp::QoS
 SubscriptionBase::get_actual_qos() const
 {
   const rmw_qos_profile_t * qos = rcl_subscription_get_actual_qos(subscription_handle_.get());
@@ -138,7 +138,8 @@ SubscriptionBase::get_actual_qos() const
     rcl_reset_error();
     throw std::runtime_error(msg);
   }
-  return *qos;
+
+  return rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
 }
 
 const rosidl_message_type_support_t &