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Add other qos fields to liveliness tokens
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Signed-off-by: Yadunund <[email protected]>
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@Yadunund
Yadunund committed Jun 24, 2024
1 parent 61f2a70 commit 1465a33
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Showing 2 changed files with 112 additions and 31 deletions.
127 changes: 99 additions & 28 deletions rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,7 +95,7 @@ static const char CLI_STR[] = "SC";
static const char KEYEXPR_DELIMITER = '/';
static const char SLASH_REPLACEMENT = '%';
static const char QOS_DELIMITER = ':';
static const char QOS_HISTORY_DELIMITER = ',';
static const char QOS_COMPONENT_DELIMITER = ',';

static const std::unordered_map<EntityType, std::string> entity_to_str = {
{EntityType::Node, NODE_STR},
Expand Down Expand Up @@ -138,6 +138,18 @@ static const std::unordered_map<std::string, rmw_qos_durability_policy_e> str_to
{std::to_string(RMW_QOS_POLICY_DURABILITY_UNKNOWN), RMW_QOS_POLICY_DURABILITY_UNKNOWN}
};

static const std::unordered_map<std::string, rmw_qos_liveliness_policy_e> str_to_qos_liveliness = {
{std::to_string(RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT),
RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT},
{std::to_string(RMW_QOS_POLICY_LIVELINESS_AUTOMATIC),
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC},
{std::to_string(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC),
RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC},
{std::to_string(RMW_QOS_POLICY_LIVELINESS_UNKNOWN), RMW_QOS_POLICY_LIVELINESS_UNKNOWN},
{std::to_string(RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE),
RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE}
};

std::vector<std::string> split_keyexpr(
const std::string & keyexpr,
const char delim = KEYEXPR_DELIMITER)
Expand All @@ -161,13 +173,34 @@ std::vector<std::string> split_keyexpr(
std::string qos_to_keyexpr(rmw_qos_profile_t qos)
{
std::string keyexpr = "";
// Reliability.
keyexpr += std::to_string(qos.reliability);
keyexpr += QOS_DELIMITER;
// Durability.
keyexpr += std::to_string(qos.durability);
keyexpr += QOS_DELIMITER;
// History.
keyexpr += std::to_string(qos.history);
keyexpr += QOS_HISTORY_DELIMITER;
keyexpr += QOS_COMPONENT_DELIMITER;
keyexpr += std::to_string(qos.depth);
// Deadline.
keyexpr += QOS_DELIMITER;
keyexpr += std::to_string(qos.deadline.sec);
keyexpr += QOS_COMPONENT_DELIMITER;
keyexpr += std::to_string(qos.deadline.nsec);
// Lifespan.
keyexpr += QOS_DELIMITER;
keyexpr += std::to_string(qos.lifespan.sec);
keyexpr += QOS_COMPONENT_DELIMITER;
keyexpr += std::to_string(qos.lifespan.nsec);
// Liveliness.
keyexpr += QOS_DELIMITER;
keyexpr += std::to_string(qos.liveliness);
keyexpr += QOS_COMPONENT_DELIMITER;
keyexpr += std::to_string(qos.liveliness_lease_duration.sec);
keyexpr += QOS_COMPONENT_DELIMITER;
keyexpr += std::to_string(qos.liveliness_lease_duration.nsec);

return keyexpr;
}

Expand All @@ -176,49 +209,87 @@ std::optional<rmw_qos_profile_t> keyexpr_to_qos(const std::string & keyexpr)
{
rmw_qos_profile_t qos;
const std::vector<std::string> parts = split_keyexpr(keyexpr, QOS_DELIMITER);
if (parts.size() < 3) {
if (parts.size() < 6) {
return std::nullopt;
}
const std::vector<std::string> history_parts = split_keyexpr(parts[2], QOS_HISTORY_DELIMITER);
const std::vector<std::string> history_parts = split_keyexpr(parts[2], QOS_COMPONENT_DELIMITER);
if (history_parts.size() < 2) {
return std::nullopt;
}
const std::vector<std::string> deadline_parts = split_keyexpr(parts[3], QOS_COMPONENT_DELIMITER);
if (deadline_parts.size() < 2) {
return std::nullopt;
}
const std::vector<std::string> lifespan_parts = split_keyexpr(parts[4], QOS_COMPONENT_DELIMITER);
if (lifespan_parts.size() < 2) {
return std::nullopt;
}
const std::vector<std::string> liveliness_parts = split_keyexpr(parts[5],
QOS_COMPONENT_DELIMITER);
if (liveliness_parts.size() < 3) {
return std::nullopt;
}

try {
qos.history = str_to_qos_history.at(history_parts[0]);
qos.reliability = str_to_qos_reliability.at(parts[0]);
qos.durability = str_to_qos_durability.at(parts[1]);
qos.liveliness = str_to_qos_liveliness.at(liveliness_parts[0]);
} catch (const std::exception & e) {
RMW_SET_ERROR_MSG_WITH_FORMAT_STRING("Error setting QoS values from strings: %s", e.what());
return std::nullopt;
}
// Get the history depth.
errno = 0;
char * endptr;
size_t num = strtoul(history_parts[1].c_str(), &endptr, 10);
if (endptr == history_parts[1].c_str()) {
// No values were converted, this is an error
RMW_SET_ERROR_MSG("no valid numbers available");
return std::nullopt;
} else if (*endptr != '\0') {
// There was junk after the number
RMW_SET_ERROR_MSG("non-numeric values");
return std::nullopt;
} else if (errno != 0) {
// Some other error occurred, which may include overflow or underflow
RMW_SET_ERROR_MSG(
"an undefined error occurred while getting the number, this may be an overflow");

// Helper function to convert string to size_t.
auto str_to_size_t =
[](const std::string & str) -> std::optional<size_t>
{
errno = 0;
char * endptr;
size_t num = strtoul(str.c_str(), &endptr, 10);
if (endptr == str.c_str()) {
// No values were converted, this is an error
RMW_SET_ERROR_MSG("no valid numbers available");
return std::nullopt;
} else if (*endptr != '\0') {
// There was junk after the number
RMW_SET_ERROR_MSG("non-numeric values");
return std::nullopt;
} else if (errno != 0) {
// Some other error occurred, which may include overflow or underflow
RMW_SET_ERROR_MSG(
"an undefined error occurred while getting the number, this may be an overflow");
return std::nullopt;
}
return num;
};

const auto maybe_depth = str_to_size_t(history_parts[1]);
const auto maybe_deadline_s = str_to_size_t(deadline_parts[0]);
const auto maybe_deadline_ns = str_to_size_t(deadline_parts[1]);
const auto maybe_lifespan_s = str_to_size_t(lifespan_parts[0]);
const auto maybe_lifespan_ns = str_to_size_t(lifespan_parts[1]);
const auto maybe_liveliness_s = str_to_size_t(liveliness_parts[1]);
const auto maybe_liveliness_ns = str_to_size_t(liveliness_parts[2]);
if (maybe_depth == std::nullopt ||
maybe_deadline_s == std::nullopt ||
maybe_deadline_ns == std::nullopt ||
maybe_lifespan_s == std::nullopt ||
maybe_lifespan_ns == std::nullopt ||
maybe_liveliness_s == std::nullopt ||
maybe_liveliness_ns == std::nullopt)
{
// Error already set.
return std::nullopt;
}
qos.depth = num;

// Liveliness is always automatic given liveliness tokens.
qos.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
qos.liveliness_lease_duration = RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT;
qos.depth = *maybe_depth;
qos.deadline.sec = *maybe_deadline_s;
qos.deadline.nsec = *maybe_deadline_ns;
qos.lifespan.sec = *maybe_lifespan_s;
qos.lifespan.nsec = *maybe_lifespan_ns;
qos.liveliness_lease_duration.sec = *maybe_liveliness_s;
qos.liveliness_lease_duration.nsec = *maybe_liveliness_ns;

// TODO(Yadunund): Update once we support these settings.
qos.deadline = RMW_QOS_DEADLINE_DEFAULT;
qos.lifespan = RMW_QOS_LIFESPAN_DEFAULT;
return qos;
}

Expand Down
16 changes: 13 additions & 3 deletions rmw_zenoh_cpp/src/detail/liveliness_utils.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -198,15 +198,25 @@ std::string demangle_name(const std::string & input);
/**
* Convert a rmw_qos_profile_t to a string with format:
*
* <ReliabilityKind>:<DurabilityKind>:<HistoryKind>,<HistoryDepth>"
* <ReliabilityKind>:<DurabilityKind>:<HistoryKind>,<HistoryDepth>:<DeadlineSec, DeadlineNSec>:<LifespanSec, LifespanNSec>:<Liveliness, LivelinessSec, LivelinessNSec>"
* Where:
* <ReliabilityKind> - enum value from rmw_qos_reliability_policy_e.
* <DurabilityKind> - enum value from rmw_qos_durability_policy_e.
* <HistoryKind> - enum value from rmw_qos_history_policy_e.
* <HistoryDepth> - The depth number.
* <DeadlineSec> - The seconds component of the deadline duration.
* <DeadlineNSec> - The nanoseconds component of the deadline duration.
* <LifespanSec> - The seconds component of the lifespan duration.
* <LifespanNSec> - The nanoseconds component of the lifespan duration.
* <Liveliness> - enum value from rmw_qos_liveliness_policy_e.
* <LivelinessSec> - The seconds component of the liveliness duration.
* <LivelinessNSec> - The nanoseconds component of the liveliness duration.
* For example, the liveliness substring for a topic with Reliability policy: reliable,
* Durability policy: volatile, History policy: keep_last, and depth: 10, would be
* "1:2:1,10". See rmw/types.h for the values of each policy enum.
* Durability policy: volatile, History policy: keep_last, and depth: 10,
* Deadline: 5s0ns, Lifespan 60s3000ns, Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
* LivelinessDuration: 0s0ns would be "1:2:1,10:0,0:60,3000:1,0,0".
*
* See rmw/types.h for the values of each policy enum.
*/
std::string qos_to_keyexpr(rmw_qos_profile_t qos);

Expand Down

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