Add apis to retrieve service/client QoS

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
irobot-ros · Sep 20, 2021 · 62a3edf · 62a3edf
1 parent e486ede
commit 62a3edf
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Showing 5 changed files with 72 additions and 0 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -505,4 +505,20 @@ rmw_client_set_on_new_response_callback(
     callback,
     user_data);
 }
+
+rmw_ret_t
+rmw_client_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_get_actual_qos(client, qos);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -504,4 +504,20 @@ rmw_service_set_on_new_request_callback(
     callback,
     user_data);
 }
+
+rmw_ret_t
+rmw_service_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_get_actual_qos(service, qos);
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -469,13 +469,25 @@ __rmw_service_set_on_new_request_callback(
   rmw_event_callback_t callback,
   const void * user_data);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_service_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_client_set_on_new_response_callback(
   rmw_client_t * rmw_client,
   rmw_event_callback_t callback,
   const void * user_data);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_client_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos);
+
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
 __rmw_event_set_callback(

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_client.cpp b/rmw_fastrtps_shared_cpp/src/rmw_client.cpp
@@ -139,4 +139,18 @@ __rmw_client_set_on_new_response_callback(
     callback);
   return RMW_RET_OK;
 }
+
+rmw_ret_t
+__rmw_client_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  auto info = static_cast<CustomClientInfo *>(client->data);
+
+  eprosima::fastdds::dds::DataReader * fastdds_dr = info->response_reader_;
+
+  dds_qos_to_rmw_qos(fastdds_dr->get_qos(), qos);
+
+  return RMW_RET_OK;
+}
 }  // namespace rmw_fastrtps_shared_cpp
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_service.cpp b/rmw_fastrtps_shared_cpp/src/rmw_service.cpp
@@ -151,4 +151,18 @@ __rmw_service_set_on_new_request_callback(
     callback);
   return RMW_RET_OK;
 }
+
+rmw_ret_t
+__rmw_service_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  auto info = static_cast<CustomServiceInfo *>(service->data);
+
+  eprosima::fastdds::dds::DataReader * fastdds_dr = info->request_reader_;
+
+  dds_qos_to_rmw_qos(fastdds_dr->get_qos(), qos);
+
+  return RMW_RET_OK;
+}
 }  // namespace rmw_fastrtps_shared_cpp