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Add function to get publisher actual qos settings #667

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merged 4 commits into from
Apr 1, 2019
Merged

Add function to get publisher actual qos settings #667

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7054e75
Added get_actual_qos method to publisher.
ivanpauno Mar 25, 2019
d5f80b7
Corrected with PR comments.
ivanpauno Mar 26, 2019
fc87006
Updated get_actual_qos with rcl method change
ivanpauno Mar 28, 2019
15cc25b
Corrected with PR comments
ivanpauno Apr 1, 2019
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14 changes: 14 additions & 0 deletions rclcpp/include/rclcpp/publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,20 @@ class PublisherBase
size_t
get_intra_process_subscription_count() const;

/// Get the actual QoS settings, after the defaults have been determined.
/**
* The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
* can only be resolved after the creation of the publisher, and it
* depends on the underlying rmw implementation.
* 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
get_actual_qos() const;

/// Compare this publisher to a gid.
/**
* Note that this function calls the next function.
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14 changes: 13 additions & 1 deletion rclcpp/src/rclcpp/publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,7 +159,7 @@ PublisherBase::get_subscription_count() const
{
size_t inter_process_subscription_count = 0;

rmw_ret_t status = rcl_publisher_get_subscription_count(
rcl_ret_t status = rcl_publisher_get_subscription_count(
&publisher_handle_,
&inter_process_subscription_count);

Expand Down Expand Up @@ -197,6 +197,18 @@ PublisherBase::get_intra_process_subscription_count() const
return ipm->get_subscription_count(intra_process_publisher_id_);
}

rmw_qos_profile_t
PublisherBase::get_actual_qos() const
{
const rmw_qos_profile_t * qos = rcl_publisher_get_actual_qos(&publisher_handle_);
if (!qos) {
auto msg = std::string("failed to get qos settings: ") + rcl_get_error_string().str;
rcl_reset_error();
throw std::runtime_error(msg);
}
return *qos;
}

bool
PublisherBase::operator==(const rmw_gid_t & gid) const
{
Expand Down