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Add NodeDefault option for enabling topic statistics
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
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Prajakta Gokhale
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Apr 21, 2020
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rclcpp/include/rclcpp/detail/resolve_enable_topic_statistics.hpp
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// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_ | ||
#define RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_ | ||
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#include <stdexcept> | ||
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#include "rclcpp/topic_statistics_state.hpp" | ||
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namespace rclcpp | ||
{ | ||
namespace detail | ||
{ | ||
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/// Return whether or not topic statistics is enabled, resolving "NodeDefault" if needed. | ||
template<typename OptionsT, typename NodeBaseT> | ||
bool | ||
resolve_enable_topic_statistics(const OptionsT & options, const NodeBaseT & node_base) | ||
{ | ||
bool topic_stats_enabled; | ||
switch (options.topic_stats_options.state) { | ||
case TopicStatisticsState::Enable: | ||
topic_stats_enabled = true; | ||
break; | ||
case TopicStatisticsState::Disable: | ||
topic_stats_enabled = false; | ||
break; | ||
case TopicStatisticsState::NodeDefault: | ||
topic_stats_enabled = node_base.get_enable_topic_statistics_default(); | ||
break; | ||
default: | ||
throw std::runtime_error("Unrecognized EnableTopicStatistics value"); | ||
break; | ||
} | ||
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return topic_stats_enabled; | ||
} | ||
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} // namespace detail | ||
} // namespace rclcpp | ||
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#endif // RCLCPP__DETAIL__RESOLVE_ENABLE_TOPIC_STATISTICS_HPP_ |
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// Copyright 2019 Open Source Robotics Foundation, Inc. | ||
// | ||
// Licensed under the Apache License, Version 2.0 (the "License"); | ||
// you may not use this file except in compliance with the License. | ||
// You may obtain a copy of the License at | ||
// | ||
// http://www.apache.org/licenses/LICENSE-2.0 | ||
// | ||
// Unless required by applicable law or agreed to in writing, software | ||
// distributed under the License is distributed on an "AS IS" BASIS, | ||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
// See the License for the specific language governing permissions and | ||
// limitations under the License. | ||
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#ifndef RCLCPP__TOPIC_STATISTICS_STATE_HPP_ | ||
#define RCLCPP__TOPIC_STATISTICS_STATE_HPP_ | ||
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namespace rclcpp | ||
{ | ||
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/// Represent the state of topic statistics collector. | ||
/// Used as argument in create_subscriber. | ||
enum class TopicStatisticsState | ||
{ | ||
/// Explicitly enable topic statistics at subscription level. | ||
Enable, | ||
/// Explicitly disable topic statistics at subscription level. | ||
Disable, | ||
/// Take topic statistics state from the node. | ||
NodeDefault | ||
}; | ||
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} // namespace rclcpp | ||
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#endif // RCLCPP__TOPIC_STATISTICS_STATE_HPP_ |
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