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Update get_actual_qos based on test results

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* Return history depth even when KEEP_ALL is selected

* Return deadline, lifespan, liveliness

This doesn't fix it completely: the latter three are not actually
supported and are still ignored when creating an publisher or subscriber
node; and moreover it is not clear how to map infinity.

Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-08-16 15:09:29 +02:00 • committed by eboasson
parent 0f25192bcb
commit f1f1b7bdaf
1 changed files with 56 additions and 1 deletions
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57
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -637,6 +637,7 @@ static dds_qos_t *create_readwrite_qos (const rmw_qos_profile_t *qos_policies, b
dds_qset_durability (qos, DDS_DURABILITY_TRANSIENT_LOCAL); dds_qset_durability (qos, DDS_DURABILITY_TRANSIENT_LOCAL);
break; break;
} }
/* deadline, lifespan, liveliness are not yet supported */
if (ignore_local_publications) { if (ignore_local_publications) {
dds_qset_ignorelocal (qos, DDS_IGNORELOCAL_PARTICIPANT); dds_qset_ignorelocal (qos, DDS_IGNORELOCAL_PARTICIPANT);
} }
@ -665,7 +666,7 @@ static bool get_readwrite_qos (dds_entity_t handle, rmw_qos_profile_t *qos_polic
break; break;
case DDS_HISTORY_KEEP_ALL: case DDS_HISTORY_KEEP_ALL:
qos_policies->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL; qos_policies->history = RMW_QOS_POLICY_HISTORY_KEEP_ALL;
qos_policies->depth = 0; qos_policies->depth = (uint32_t) depth;
break; break;
} }
} }
@ -707,6 +708,60 @@ static bool get_readwrite_qos (dds_entity_t handle, rmw_qos_profile_t *qos_polic
break; break;
} }
} }
{
dds_duration_t deadline;
if (!dds_qget_deadline (qos, &deadline)) {
RMW_SET_ERROR_MSG ("get_readwrite_qos: deadline not set");
goto error;
}
if (deadline == DDS_INFINITY)
qos_policies->deadline.sec = qos_policies->deadline.nsec = 0;
else {
qos_policies->deadline.sec = (uint64_t) deadline / 1000000000;
qos_policies->deadline.nsec = (uint64_t) deadline % 1000000000;
}
}
{
dds_duration_t lifespan;
if (!dds_qget_lifespan (qos, &lifespan)) {
lifespan = DDS_INFINITY;
}
if (lifespan == DDS_INFINITY)
qos_policies->lifespan.sec = qos_policies->lifespan.nsec = 0;
else {
qos_policies->lifespan.sec = (uint64_t) lifespan / 1000000000;
qos_policies->lifespan.nsec = (uint64_t) lifespan % 1000000000;
}
}
{
dds_liveliness_kind_t kind;
dds_duration_t lease_duration;
if (!dds_qget_liveliness (qos, &kind, &lease_duration)) {
RMW_SET_ERROR_MSG ("get_readwrite_qos: liveliness not set");
goto error;
}
switch (kind) {
case DDS_LIVELINESS_AUTOMATIC:
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
break;
case DDS_LIVELINESS_MANUAL_BY_PARTICIPANT:
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE;
break;
case DDS_LIVELINESS_MANUAL_BY_TOPIC:
qos_policies->liveliness = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC;
break;
}
if (lease_duration == DDS_INFINITY)
qos_policies->liveliness_lease_duration.sec = qos_policies->liveliness_lease_duration.nsec = 0;
else {
qos_policies->liveliness_lease_duration.sec = (uint64_t) lease_duration / 1000000000;
qos_policies->liveliness_lease_duration.nsec = (uint64_t) lease_duration % 1000000000;
}
}
dds_delete_qos (qos); dds_delete_qos (qos);
return true; return true;
error: error: