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Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events (#125)

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Signed-off-by: Miaofei <miaofei@amazon.com>
This commit is contained in:
Miaofei Mei 2020-03-27 05:24:27 -07:00 • committed by GitHub
parent b04ec25b38
commit c481c10f5d
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1 changed files with 69 additions and 4 deletions
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73
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -33,14 +33,15 @@
#include "rmw/allocators.h"
#include "rmw/convert_rcutils_ret_to_rmw_ret.h"
#include "rmw/error_handling.h"
#include "rmw/names_and_types.h"
#include "rmw/event.h"
#include "rmw/get_node_info_and_types.h"
#include "rmw/get_service_names_and_types.h"
#include "rmw/get_topic_names_and_types.h"
#include "rmw/get_node_info_and_types.h"
#include "rmw/event.h"
#include "rmw/validate_node_name.h"
#include "rmw/incompatible_qos_events_statuses.h"
#include "rmw/names_and_types.h"
#include "rmw/rmw.h"
#include "rmw/sanity_checks.h"
#include "rmw/validate_node_name.h"
#include "Serialization.hpp"
#include "rmw/impl/cpp/macros.hpp"
@ -1171,6 +1172,28 @@ static dds_qos_t * create_readwrite_qos(
return qos;
}
#if RMW_VERSION_GTE(0, 8, 2)
static rmw_qos_policy_kind_t dds_qos_policy_to_rmw_qos_policy(dds_qos_policy_id_t policy_id)
{
switch (policy_id) {
case DDS_DURABILITY_QOS_POLICY_ID:
return RMW_QOS_POLICY_DURABILITY;
case DDS_DEADLINE_QOS_POLICY_ID:
return RMW_QOS_POLICY_DEADLINE;
case DDS_LIVELINESS_QOS_POLICY_ID:
return RMW_QOS_POLICY_LIVELINESS;
case DDS_RELIABILITY_QOS_POLICY_ID:
return RMW_QOS_POLICY_RELIABILITY;
case DDS_HISTORY_QOS_POLICY_ID:
return RMW_QOS_POLICY_HISTORY;
case DDS_LIFESPAN_QOS_POLICY_ID:
return RMW_QOS_POLICY_LIFESPAN;
default:
return RMW_QOS_POLICY_INVALID;
}
}
#endif
static bool dds_qos_to_rmw_qos(const dds_qos_t * dds_qos, rmw_qos_profile_t * qos_policies)
{
assert(dds_qos);
@ -1868,6 +1891,10 @@ static const std::unordered_map<rmw_event_type_t, uint32_t> mask_map{
{RMW_EVENT_REQUESTED_DEADLINE_MISSED, DDS_REQUESTED_DEADLINE_MISSED_STATUS},
{RMW_EVENT_LIVELINESS_LOST, DDS_LIVELINESS_LOST_STATUS},
{RMW_EVENT_OFFERED_DEADLINE_MISSED, DDS_OFFERED_DEADLINE_MISSED_STATUS},
#if RMW_VERSION_GTE(0, 8, 2)
{RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE, DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS},
{RMW_EVENT_OFFERED_QOS_INCOMPATIBLE, DDS_OFFERED_INCOMPATIBLE_QOS_STATUS},
#endif
};
static bool is_event_supported(const rmw_event_type_t event_t)
@ -1961,6 +1988,25 @@ extern "C" rmw_ret_t rmw_take_event(
}
}
#if RMW_VERSION_GTE(0, 8, 2)
case RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE: {
auto ei = static_cast<rmw_requested_qos_incompatible_event_status_t *>(event_info);
auto sub = static_cast<CddsSubscription *>(event_handle->data);
dds_requested_incompatible_qos_status_t st;
if (dds_get_requested_incompatible_qos_status(sub->enth, &st) < 0) {
*taken = false;
return RMW_RET_ERROR;
} else {
ei->total_count = static_cast<int32_t>(st.total_count);
ei->total_count_change = st.total_count_change;
ei->last_policy_kind = dds_qos_policy_to_rmw_qos_policy(
static_cast<dds_qos_policy_id_t>(st.last_policy_id));
*taken = true;
return RMW_RET_OK;
}
}
#endif
case RMW_EVENT_LIVELINESS_LOST: {
auto ei = static_cast<rmw_liveliness_lost_status_t *>(event_info);
auto pub = static_cast<CddsPublisher *>(event_handle->data);
@ -1991,6 +2037,25 @@ extern "C" rmw_ret_t rmw_take_event(
}
}
#if RMW_VERSION_GTE(0, 8, 2)
case RMW_EVENT_OFFERED_QOS_INCOMPATIBLE: {
auto ei = static_cast<rmw_offered_qos_incompatible_event_status_t *>(event_info);
auto pub = static_cast<CddsPublisher *>(event_handle->data);
dds_offered_incompatible_qos_status_t st;
if (dds_get_offered_incompatible_qos_status(pub->enth, &st) < 0) {
*taken = false;
return RMW_RET_ERROR;
} else {
ei->total_count = static_cast<int32_t>(st.total_count);
ei->total_count_change = st.total_count_change;
ei->last_policy_kind = dds_qos_policy_to_rmw_qos_policy(
static_cast<dds_qos_policy_id_t>(st.last_policy_id));
*taken = true;
return RMW_RET_OK;
}
}
#endif
case RMW_EVENT_INVALID: {
break;
}