Add serv/cli request/response qos getters

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>

rmw_fastrtps_cpp/src/rmw_client.cpp

@@ -495,7 +495,7 @@ rmw_destroy_client(rmw_node_t * node, rmw_client_t * client)
 }
 
 rmw_ret_t
-rmw_client_get_actual_qos(
+rmw_client_request_publisher_get_actual_qos(
   const rmw_client_t * client,
   rmw_qos_profile_t * qos)
 {
@@ -507,6 +507,22 @@ rmw_client_get_actual_qos(
     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);
+  return rmw_fastrtps_shared_cpp::__rmw_client_request_publisher_get_actual_qos(client, qos);
+}
+
+rmw_ret_t
+rmw_client_response_subscription_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_response_subscription_get_actual_qos(client, qos);
 }
 }  // extern "C"

rmw_fastrtps_cpp/src/rmw_service.cpp

@@ -494,7 +494,7 @@ rmw_destroy_service(rmw_node_t * node, rmw_service_t * service)
 }
 
 rmw_ret_t
-rmw_service_get_actual_qos(
+rmw_service_response_publisher_get_actual_qos(
   const rmw_service_t * service,
   rmw_qos_profile_t * qos)
 {
@@ -506,6 +506,22 @@ rmw_service_get_actual_qos(
     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);
+  return rmw_fastrtps_shared_cpp::__rmw_service_response_publisher_get_actual_qos(service, qos);
+}
+
+rmw_ret_t
+rmw_service_request_subscription_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_request_subscription_get_actual_qos(service, qos);
 }
 }  // extern "C"

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp

@@ -319,13 +319,25 @@ __rmw_subscription_get_actual_qos(
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
-__rmw_service_get_actual_qos(
+__rmw_service_response_publisher_get_actual_qos(
   const rmw_service_t * service,
   rmw_qos_profile_t * qos);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
-__rmw_client_get_actual_qos(
+__rmw_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_client_request_publisher_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos);
+
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+rmw_ret_t
+__rmw_client_response_subscription_get_actual_qos(
   const rmw_client_t * client,
   rmw_qos_profile_t * qos);
 

rmw_fastrtps_shared_cpp/src/rmw_client.cpp

@@ -128,44 +128,24 @@ __rmw_destroy_client(
 }
 
 rmw_ret_t
-__rmw_client_get_actual_qos(
+__rmw_client_request_publisher_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_;
-  eprosima::fastdds::dds::DataWriter * fastdds_dw = info->request_writer_;
-
-  rmw_qos_profile_t dr_qos = rmw_qos_profile_default;
-  rmw_qos_profile_t dw_qos = rmw_qos_profile_default;
-
-  dds_qos_to_rmw_qos(fastdds_dr->get_qos(), &dr_qos);
-  dds_qos_to_rmw_qos(fastdds_dw->get_qos(), &dw_qos);
-
-  // Check if the QoS of the data reader and the data writer match
-  if (dr_qos.history != dw_qos.history ||
-    dr_qos.depth != dw_qos.depth ||
-    dr_qos.reliability != dw_qos.reliability ||
-    dr_qos.durability != dw_qos.durability ||
-    dr_qos.liveliness != dw_qos.liveliness ||
-    dr_qos.deadline.sec != dw_qos.deadline.sec ||
-    dr_qos.deadline.nsec != dw_qos.deadline.nsec ||
-    dr_qos.lifespan.sec != dw_qos.lifespan.sec ||
-    dr_qos.lifespan.nsec != dw_qos.lifespan.nsec ||
-    dr_qos.liveliness_lease_duration.sec != dw_qos.liveliness_lease_duration.sec ||
-    dr_qos.liveliness_lease_duration.nsec != dw_qos.liveliness_lease_duration.nsec ||
-    dr_qos.avoid_ros_namespace_conventions != dw_qos.avoid_ros_namespace_conventions)
-  {
-    // This situation can happen if we set system default settings for qos.
-    // As no qos is defined by the user, the dds han chose to assign one qos policy for the
-    // reader and a different for the writer. Currently seems to only happen to durability,
-    // which is set to volatile for data readers, and transient local for data writers.
-    RMW_SET_ERROR_MSG("client's datawriter QoS does not match client's datareader QoS");
-    return RMW_RET_ERROR;
-  }
+  auto cli = static_cast<CustomClientInfo *>(client->data);
+  eprosima::fastdds::dds::DataWriter * fastdds_rw = cli->request_writer_;
+  dds_qos_to_rmw_qos(fastdds_rw->get_qos(), qos);
+  return RMW_RET_OK;
+}
 
-  *qos = dw_qos;
+rmw_ret_t
+__rmw_client_response_subscription_get_actual_qos(
+  const rmw_client_t * client,
+  rmw_qos_profile_t * qos)
+{
+  auto cli = static_cast<CustomClientInfo *>(client->data);
+  eprosima::fastdds::dds::DataReader * fastdds_dr = cli->response_reader_;
+  dds_qos_to_rmw_qos(fastdds_dr->get_qos(), qos);
   return RMW_RET_OK;
 }
 }  // namespace rmw_fastrtps_shared_cpp

rmw_fastrtps_shared_cpp/src/rmw_service.cpp

@@ -140,47 +140,24 @@ __rmw_destroy_service(
 }
 
 rmw_ret_t
-__rmw_service_get_actual_qos(
+__rmw_service_response_publisher_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_;
-  eprosima::fastdds::dds::DataWriter * fastdds_dw = info->response_writer_;
-
-  rmw_qos_profile_t dr_qos = rmw_qos_profile_default;
-  rmw_qos_profile_t dw_qos = rmw_qos_profile_default;
-
-  dds_qos_to_rmw_qos(fastdds_dr->get_qos(), &dr_qos);
-  dds_qos_to_rmw_qos(fastdds_dw->get_qos(), &dw_qos);
-
-  // Check if the QoS of the data reader and the data writer match
-  if (dr_qos.history != dw_qos.history ||
-    dr_qos.depth != dw_qos.depth ||
-    dr_qos.reliability != dw_qos.reliability ||
-    dr_qos.durability != dw_qos.durability ||
-    dr_qos.liveliness != dw_qos.liveliness ||
-    dr_qos.deadline.sec != dw_qos.deadline.sec ||
-    dr_qos.deadline.nsec != dw_qos.deadline.nsec ||
-    dr_qos.lifespan.sec != dw_qos.lifespan.sec ||
-    dr_qos.lifespan.nsec != dw_qos.lifespan.nsec ||
-    dr_qos.liveliness_lease_duration.sec != dw_qos.liveliness_lease_duration.sec ||
-    dr_qos.liveliness_lease_duration.nsec != dw_qos.liveliness_lease_duration.nsec ||
-    dr_qos.avoid_ros_namespace_conventions != dw_qos.avoid_ros_namespace_conventions)
-  {
-    // This situation can happen if we set system default settings for qos.
-    // As no qos is defined by the user, the dds han chose to assign one qos policy for the
-    // reader and a different for the writer. Currently seems to only happen to durability,
-    // which is set to volatile for data readers, and transient local for data writers.
-    RMW_SET_ERROR_MSG("server's datawriter QoS does not match client's datareader QoS");
-    return RMW_RET_ERROR;
-  }
-
-  // The service has a single QoS, we can set it either as the qos
-  // of the data reader or data writer, as they match.
-  *qos = dw_qos;
+  auto srv = static_cast<CustomServiceInfo *>(service->data);
+  eprosima::fastdds::dds::DataWriter * fastdds_rw = srv->response_writer_;
+  dds_qos_to_rmw_qos(fastdds_rw->get_qos(), qos);
+  return RMW_RET_OK;
+}
 
+rmw_ret_t
+__rmw_service_request_subscription_get_actual_qos(
+  const rmw_service_t * service,
+  rmw_qos_profile_t * qos)
+{
+  auto srv = static_cast<CustomServiceInfo *>(service->data);
+  eprosima::fastdds::dds::DataReader * fastdds_rr = srv->request_reader_;
+  dds_qos_to_rmw_qos(fastdds_rr->get_qos(), qos);
   return RMW_RET_OK;
 }
 }  // namespace rmw_fastrtps_shared_cpp