Use py::class_ for rmw_qos_profile_t

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

rclpy/rclpy/qos.py

@@ -59,7 +59,8 @@ class QoSProfile:
     """Define Quality of Service policies."""
 
     # default QoS profile not exposed to the user to encourage them to think about QoS settings
-    __qos_profile_default_dict = _rclpy.rclpy_get_rmw_qos_profile('qos_profile_default')
+    __qos_profile_default_dict = \
+        _rclpy.rmw_qos_profile_t.predefined('qos_profile_default').to_dict()
 
     __slots__ = [
         '_history',
@@ -242,7 +243,7 @@ def avoid_ros_namespace_conventions(self, value):
         self._avoid_ros_namespace_conventions = value
 
     def get_c_qos_profile(self):
-        return _rclpy.rclpy_convert_from_py_qos_policy(
+        return _rclpy.rmw_qos_profile_t(
             self.history,
             self.depth,
             self.reliability,
@@ -420,26 +421,26 @@ class LivelinessPolicy(QoSPolicyEnum):
 # 2. ros2/rmw : rmw/include/rmw/qos_profiles.h
 
 #: Used for initialization. Should not be used as the actual QoS profile.
-qos_profile_unknown = QoSProfile(**_rclpy.rclpy_get_rmw_qos_profile(
-    'qos_profile_unknown'))
+qos_profile_unknown = QoSProfile(**_rclpy.rmw_qos_profile_t.predefined(
+    'qos_profile_unknown').to_dict())
 #: Uses the default QoS settings defined in the DDS vendor tool
-qos_profile_system_default = QoSProfile(**_rclpy.rclpy_get_rmw_qos_profile(
-    'qos_profile_system_default'))
+qos_profile_system_default = QoSProfile(**_rclpy.rmw_qos_profile_t.predefined(
+    'qos_profile_system_default').to_dict())
 #: For sensor data, using best effort reliability and small
 #: queue depth
-qos_profile_sensor_data = QoSProfile(**_rclpy.rclpy_get_rmw_qos_profile(
-    'qos_profile_sensor_data'))
+qos_profile_sensor_data = QoSProfile(**_rclpy.rmw_qos_profile_t.predefined(
+    'qos_profile_sensor_data').to_dict())
 #: For services, using reliable reliability and volatile durability
-qos_profile_services_default = QoSProfile(**_rclpy.rclpy_get_rmw_qos_profile(
-    'qos_profile_services_default'))
+qos_profile_services_default = QoSProfile(**_rclpy.rmw_qos_profile_t.predefined(
+    'qos_profile_services_default').to_dict())
 #: For parameter communication. Similar to service QoS profile but with larger
 #: queue depth so that requests do not get lost.
-qos_profile_parameters = QoSProfile(**_rclpy.rclpy_get_rmw_qos_profile(
-    'qos_profile_parameters'))
+qos_profile_parameters = QoSProfile(**_rclpy.rmw_qos_profile_t.predefined(
+    'qos_profile_parameters').to_dict())
 #: For parameter change events. Currently same as the QoS profile for
 #: parameters.
-qos_profile_parameter_events = QoSProfile(**_rclpy.rclpy_get_rmw_qos_profile(
-    'qos_profile_parameter_events'))
+qos_profile_parameter_events = QoSProfile(**_rclpy.rmw_qos_profile_t.predefined(
+    'qos_profile_parameter_events').to_dict())
 
 # Separate rcl_action profile defined at
 # ros2/rcl : rcl/rcl_action/include/rcl_action/default_qos.h

rclpy/src/rclpy/_rclpy_action.cpp

@@ -306,13 +306,6 @@ rclpy_action_wait_set_is_ready(py::capsule pyentity, py::capsule pywait_set)
   throw std::runtime_error(error_text);
 }
 
-void
-copy_qos_profile(rmw_qos_profile_t & profile, py::capsule pyprofile)
-{
-  auto qos_profile = get_pointer<rmw_qos_profile_t *>(pyprofile, "rmw_qos_profile_t");
-  profile = *qos_profile;
-}
-
 /// Create an action client.
 /**
  * This function will create an action client for the given action name.
@@ -329,16 +322,11 @@ copy_qos_profile(rmw_qos_profile_t & profile, py::capsule pyprofile)
  * \param[in] pynode Capsule pointing to the node to add the action client to.
  * \param[in] pyaction_type Action module associated with the action client.
  * \param[in] pyaction_name Python object containing the action name.
- * \param[in] pygoal_service_qos Capsule pointing to a rmw_qos_profile_t object
- *   for the goal service.
- * \param[in] pyresult_service_qos Capsule pointing to a rmw_qos_profile_t object
- *   for the result service.
- * \param[in] pycancel_service_qos Capsule pointing to a rmw_qos_profile_t object
- *   for the cancel service.
- * \param[in] pyfeedback_qos Capsule pointing to a rmw_qos_profile_t object
- *   for the feedback subscriber.
- * \param[in] pystatus_qos Capsule pointing to a rmw_qos_profile_t object for the
- *   status subscriber.
+ * \param[in] goal_service_qos rmw_qos_profile_t object for the goal service.
+ * \param[in] result_service_qos rmw_qos_profile_t object for the result service.
+ * \param[in] cancel_service_qos rmw_qos_profile_t object for the cancel service.
+ * \param[in] feedback_qos rmw_qos_profile_t object for the feedback subscriber.
+ * \param[in] status_qos rmw_qos_profile_t object for the status subscriber.
  * \return Capsule named 'rcl_action_client_t', or
  * \return NULL on failure.
  */
@@ -347,11 +335,11 @@ rclpy_action_create_client(
   py::capsule pynode,
   py::object pyaction_type,
   const char * action_name,
-  py::capsule pygoal_service_qos,
-  py::capsule pyresult_service_qos,
-  py::capsule pycancel_service_qos,
-  py::capsule pyfeedback_topic_qos,
-  py::capsule pystatus_topic_qos)
+  const rmw_qos_profile_t & goal_service_qos,
+  const rmw_qos_profile_t & result_service_qos,
+  const rmw_qos_profile_t & cancel_service_qos,
+  const rmw_qos_profile_t & feedback_topic_qos,
+  const rmw_qos_profile_t & status_topic_qos)
 {
   rcl_node_t * node = static_cast<rcl_node_t *>(
     rclpy_handle_get_pointer_from_capsule(pynode.ptr(), "rcl_node_t"));
@@ -368,11 +356,11 @@ rclpy_action_create_client(
 
   rcl_action_client_options_t action_client_ops = rcl_action_client_get_default_options();
 
-  copy_qos_profile(action_client_ops.goal_service_qos, pygoal_service_qos);
-  copy_qos_profile(action_client_ops.result_service_qos, pyresult_service_qos);
-  copy_qos_profile(action_client_ops.cancel_service_qos, pycancel_service_qos);
-  copy_qos_profile(action_client_ops.feedback_topic_qos, pyfeedback_topic_qos);
-  copy_qos_profile(action_client_ops.status_topic_qos, pystatus_topic_qos);
+  action_client_ops.goal_service_qos = goal_service_qos;
+  action_client_ops.result_service_qos = result_service_qos;
+  action_client_ops.cancel_service_qos = cancel_service_qos;
+  action_client_ops.feedback_topic_qos = feedback_topic_qos;
+  action_client_ops.status_topic_qos = status_topic_qos;
 
   auto deleter = [](rcl_action_client_t * ptr) {PyMem_Free(ptr);};
   auto action_client = std::unique_ptr<rcl_action_client_t, decltype(deleter)>(
@@ -423,16 +411,11 @@ rclpy_action_create_client(
  * \param[in] pynode Capsule pointing to the node to add the action server to.
  * \param[in] pyaction_type Action module associated with the action server.
  * \param[in] pyaction_name Python object containing the action name.
- * \param[in] pygoal_service_qos Capsule pointing to a rmw_qos_profile_t object
- *   for the goal service.
- * \param[in] pyresult_service_qos Capsule pointing to a rmw_qos_profile_t object
- *   for the result service.
- * \param[in] pycancel_service_qos Capsule pointing to a rmw_qos_profile_t object
- *   for the cancel service.
- * \param[in] pyfeedback_qos Capsule pointing to a rmw_qos_profile_t object
- *   for the feedback subscriber.
- * \param[in] pystatus_qos Capsule pointing to a rmw_qos_profile_t object for the
- *   status subscriber.
+ * \param[in] goal_service_qos rmw_qos_profile_t object for the goal service.
+ * \param[in] result_service_qos rmw_qos_profile_t object for the result service.
+ * \param[in] cancel_service_qos rmw_qos_profile_t object for the cancel service.
+ * \param[in] feedback_qos rmw_qos_profile_t object for the feedback subscriber.
+ * \param[in] status_qos rmw_qos_profile_t object for the status subscriber.
  * \return Capsule named 'rcl_action_server_t', or
  * \return NULL on failure.
  */
@@ -442,11 +425,11 @@ rclpy_action_create_server(
   py::capsule pyclock,
   py::object pyaction_type,
   const char * action_name,
-  py::capsule pygoal_service_qos,
-  py::capsule pyresult_service_qos,
-  py::capsule pycancel_service_qos,
-  py::capsule pyfeedback_topic_qos,
-  py::capsule pystatus_topic_qos,
+  const rmw_qos_profile_t & goal_service_qos,
+  const rmw_qos_profile_t & result_service_qos,
+  const rmw_qos_profile_t & cancel_service_qos,
+  const rmw_qos_profile_t & feedback_topic_qos,
+  const rmw_qos_profile_t & status_topic_qos,
   double result_timeout)
 {
   rcl_node_t * node = static_cast<rcl_node_t *>(
@@ -469,11 +452,11 @@ rclpy_action_create_server(
 
   rcl_action_server_options_t action_server_ops = rcl_action_server_get_default_options();
 
-  copy_qos_profile(action_server_ops.goal_service_qos, pygoal_service_qos);
-  copy_qos_profile(action_server_ops.result_service_qos, pyresult_service_qos);
-  copy_qos_profile(action_server_ops.cancel_service_qos, pycancel_service_qos);
-  copy_qos_profile(action_server_ops.feedback_topic_qos, pyfeedback_topic_qos);
-  copy_qos_profile(action_server_ops.status_topic_qos, pystatus_topic_qos);
+  action_server_ops.goal_service_qos = goal_service_qos;
+  action_server_ops.result_service_qos = result_service_qos;
+  action_server_ops.cancel_service_qos = cancel_service_qos;
+  action_server_ops.feedback_topic_qos = feedback_topic_qos;
+  action_server_ops.status_topic_qos = status_topic_qos;
   action_server_ops.result_timeout.nanoseconds = (rcl_duration_value_t)RCL_S_TO_NS(result_timeout);
 
   auto deleter = [](rcl_action_server_t * ptr) {PyMem_Free(ptr);};

rclpy/src/rclpy/_rclpy_pybind11.cpp

@@ -397,15 +397,7 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
     "rclpy_remove_ros_args", &rclpy::remove_ros_args,
     "Remove ROS-specific arguments from argument vector.");
 
-  m.def(
-    "rclpy_convert_from_py_qos_policy", &rclpy::convert_from_py_qos_policy,
-    "Convert rclpy.qos.QoSProfile arguments into a rmw_qos_profile_t.");
-  m.def(
-    "rclpy_convert_to_py_qos_policy", &rclpy::convert_to_py_qos_policy,
-    "Convert a rmw_qos_profile_t into rclpy.qos.QoSProfile keyword arguments.");
-  m.def(
-    "rclpy_get_rmw_qos_profile", &rclpy::get_rmw_qos_profile,
-    "Fetch a predefined rclpy.qos.QoSProfile keyword arguments.");
+  rclpy::define_rmw_qos_profile(m);
 
   m.def(
     "rclpy_logging_fini", rclpy::logging_fini,

rclpy/src/rclpy/client.cpp

@@ -56,7 +56,7 @@ _rclpy_destroy_client(void * p)
 py::capsule
 client_create(
   py::capsule pynode, py::object pysrv_type, std::string service_name,
-  py::capsule pyqos_profile)
+  py::object pyqos_profile)
 {
   auto node = static_cast<rcl_node_t *>(
     rclpy_handle_get_pointer_from_capsule(pynode.ptr(), "rcl_node_t"));
@@ -73,11 +73,7 @@ client_create(
   rcl_client_options_t client_ops = rcl_client_get_default_options();
 
   if (!pyqos_profile.is_none()) {
-    if (0 != strcmp("rmw_qos_profile_t", pyqos_profile.name())) {
-      throw py::value_error("capsule is not an rmw_qos_profile_t");
-    }
-    auto qos_profile = static_cast<rmw_qos_profile_t *>(pyqos_profile);
-    client_ops.qos = *qos_profile;
+    client_ops.qos = pyqos_profile.cast<rmw_qos_profile_t>();
   }
 
   // Use smart pointer to make sure memory is free'd on error

rclpy/src/rclpy/client.hpp

@@ -38,13 +38,13 @@ namespace rclpy
  * \param[in] pynode Capsule pointing to the node to add the client to
  * \param[in] pysrv_type Service module associated with the client
  * \param[in] service_name Python object containing the service name
- * \param[in] pyqos_profile QoSProfile Python object for this client
+ * \param[in] pyqos_profile rmw_qos_profile_t object for this client
  * \return capsule containing the rclpy_client_t
  */
 py::capsule
 client_create(
   py::capsule pynode, py::object pysrv_type, std::string service_name,
-  py::capsule pyqos_profile);
+  py::object pyqos_profile);
 
 /// Publish a request message
 /**

rclpy/src/rclpy/publisher.cpp

@@ -55,7 +55,7 @@ _rclpy_destroy_publisher(void * p)
 py::capsule
 publisher_create(
   py::capsule pynode, py::object pymsg_type, std::string topic,
-  py::capsule pyqos_profile)
+  py::object pyqos_profile)
 {
   auto node = static_cast<rcl_node_t *>(
     rclpy_handle_get_pointer_from_capsule(pynode.ptr(), "rcl_node_t"));
@@ -72,11 +72,7 @@ publisher_create(
   rcl_publisher_options_t publisher_ops = rcl_publisher_get_default_options();
 
   if (!pyqos_profile.is_none()) {
-    if (0 != strcmp("rmw_qos_profile_t", pyqos_profile.name())) {
-      throw py::value_error("capsule is not an rmw_qos_profile_t");
-    }
-    auto qos_profile = static_cast<rmw_qos_profile_t *>(pyqos_profile);
-    publisher_ops.qos = *qos_profile;
+    publisher_ops.qos = pyqos_profile.cast<rmw_qos_profile_t>();
   }
 
   // Use smart pointer to make sure memory is free'd on error

rclpy/src/rclpy/publisher.hpp

@@ -36,13 +36,13 @@ namespace rclpy
  * \param[in] pynode Capsule pointing to the node to add the publisher to
  * \param[in] pymsg_type Message type associated with the publisher
  * \param[in] topic The name of the topic to attach the publisher to
- * \param[in] pyqos_profile QoSProfile object with the profile of this publisher
+ * \param[in] pyqos_profile rmw_qos_profile_t object for this publisher
  * \return Capsule of the pointer to the created rcl_publisher_t * structure, or
  */
 py::capsule
 publisher_create(
   py::capsule pynode, py::object pymsg_type, std::string topic,
-  py::capsule pyqos_profile);
+  py::object pyqos_profile);
 
 /// Get the name of the logger associated with the node of the publisher.
 /**