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Implement custom functions to adapt qos (#234)
Signed-off-by: Yadunund <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,134 @@ | ||
| // Copyright 2024 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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| #include "qos.hpp" | ||
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|
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| // Define defaults for various QoS settings. | ||
| #define RMW_ZENOH_DEFAULT_HISTORY RMW_QOS_POLICY_HISTORY_KEEP_LAST; | ||
| // If the depth field in the qos profile is set to 0, the RMW implementation | ||
| // has the liberty to assign a default depth. The zenoh transport protocol | ||
| // is configured with 256 channels so theoretically, this would be the maximum | ||
| // depth we can set before blocking transport. A high depth would increase the | ||
| // memory footprint of processes as more messages are stored in memory while a | ||
| // very low depth might unintentionally drop messages leading to a poor | ||
| // out-of-the-box experience for new users. For now we set the depth to 42, | ||
| // a popular "magic number". See https://en.wikipedia.org/wiki/42_(number). | ||
| #define RMW_ZENOH_DEFAULT_HISTORY_DEPTH 42; | ||
| #define RMW_ZENOH_DEFAULT_RELIABILITY RMW_QOS_POLICY_RELIABILITY_RELIABLE; | ||
| #define RMW_ZENOH_DEFAULT_DURABILITY RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL; | ||
| #define RMW_ZENOH_DEFAULT_DEADLINE RMW_DURATION_INFINITE; | ||
| #define RMW_ZENOH_DEFAULT_LIFESPAN RMW_DURATION_INFINITE; | ||
| #define RMW_ZENOH_DEFAULT_LIVELINESS RMW_QOS_POLICY_LIVELINESS_AUTOMATIC; | ||
| #define RMW_ZENOH_DEFAULT_LIVELINESS_LEASE_DURATION RMW_DURATION_INFINITE; | ||
|
|
||
| namespace rmw_zenoh_cpp | ||
| { | ||
| ///============================================================================= | ||
| QoS::QoS() | ||
| { | ||
| default_qos_.history = RMW_ZENOH_DEFAULT_HISTORY; | ||
| default_qos_.depth = RMW_ZENOH_DEFAULT_HISTORY_DEPTH; | ||
| default_qos_.reliability = RMW_ZENOH_DEFAULT_RELIABILITY; | ||
| default_qos_.durability = RMW_ZENOH_DEFAULT_DURABILITY; | ||
| default_qos_.deadline = RMW_ZENOH_DEFAULT_DEADLINE; | ||
| default_qos_.lifespan = RMW_ZENOH_DEFAULT_LIFESPAN; | ||
| default_qos_.liveliness = RMW_ZENOH_DEFAULT_LIVELINESS; | ||
| default_qos_.liveliness_lease_duration = RMW_ZENOH_DEFAULT_LIVELINESS_LEASE_DURATION; | ||
| } | ||
|
|
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| ///============================================================================= | ||
| QoS & QoS::get() | ||
| { | ||
| static QoS qos; | ||
| return qos; | ||
| } | ||
|
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| ///============================================================================= | ||
| const rmw_qos_profile_t & QoS::default_qos() const | ||
| { | ||
| return default_qos_; | ||
| } | ||
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| ///============================================================================= | ||
| rmw_ret_t QoS::best_available_qos( | ||
| const rmw_node_t * node, | ||
| const char * topic_name, | ||
| rmw_qos_profile_t * qos_profile, | ||
| const GetEndpointInfoByTopicFunction & get_endpoint_info_for_other) const | ||
| { | ||
| // We could rely on the GetEndpointInfoByTopicFunction callback to get | ||
| // endpoint information of downstream consumers to match certain QoS settings. | ||
| // Practically since Zenoh transport will succeed for any combination of | ||
| // settings, this could only be useful to avoid creating transient_local | ||
| // subscriptions when there are no transient_local publishers in the graph. | ||
| // This will avoid some overhead with having QueryingSubscriber. For now, | ||
| // we skip this optimization. | ||
| static_cast<void>(node); | ||
| static_cast<void>(topic_name); | ||
| static_cast<void>(get_endpoint_info_for_other); | ||
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| switch (qos_profile->history) { | ||
| case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT: | ||
| case RMW_QOS_POLICY_RELIABILITY_UNKNOWN: | ||
| qos_profile->history = default_qos_.history; | ||
| default: | ||
| break; | ||
| } | ||
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| if (qos_profile->depth == 0) { | ||
| qos_profile->depth = default_qos_.depth; | ||
| } | ||
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| switch (qos_profile->reliability) { | ||
| case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT: | ||
| case RMW_QOS_POLICY_RELIABILITY_UNKNOWN: | ||
| qos_profile->reliability = default_qos_.reliability; | ||
| default: | ||
| break; | ||
| } | ||
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| switch (qos_profile->durability) { | ||
| case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT: | ||
| case RMW_QOS_POLICY_DURABILITY_UNKNOWN: | ||
| qos_profile->durability = default_qos_.durability; | ||
| default: | ||
| break; | ||
| } | ||
|
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| if (rmw_time_equal(qos_profile->deadline, RMW_QOS_DEADLINE_DEFAULT)) { | ||
| qos_profile->deadline = default_qos_.deadline; | ||
| } | ||
|
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| if (rmw_time_equal(qos_profile->lifespan, RMW_QOS_LIFESPAN_DEFAULT)) { | ||
| qos_profile->lifespan = default_qos_.lifespan; | ||
| } | ||
|
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||
| if (rmw_time_equal( | ||
| qos_profile->liveliness_lease_duration, | ||
| RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT)) | ||
| { | ||
| qos_profile->liveliness_lease_duration = default_qos_.liveliness_lease_duration; | ||
| } | ||
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| switch (qos_profile->liveliness) { | ||
| case RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT: | ||
| case RMW_QOS_POLICY_LIVELINESS_UNKNOWN: | ||
| qos_profile->liveliness = default_qos_.liveliness; | ||
| default: | ||
| break; | ||
| } | ||
|
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| return RMW_RET_OK; | ||
| } | ||
| } // namespace rmw_zenoh_cpp |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| // Copyright 2024 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 DETAIL__QOS_HPP_ | ||
| #define DETAIL__QOS_HPP_ | ||
|
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| #include <rcutils/logging.h> | ||
| #include <rmw/topic_endpoint_info_array.h> | ||
| #include <rmw/types.h> | ||
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| #include <functional> | ||
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| namespace rmw_zenoh_cpp | ||
| { | ||
| //============================================================================== | ||
| /// Signature matching rmw_get_publishers_info_by_topic and rmw_get_subscriptions_info_by_topic | ||
| using GetEndpointInfoByTopicFunction = std::function<rmw_ret_t( | ||
| const rmw_node_t *, | ||
| rcutils_allocator_t *, | ||
| const char *, | ||
| bool, | ||
| rmw_topic_endpoint_info_array_t *)>; | ||
|
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| //============================================================================== | ||
| class QoS | ||
| { | ||
| public: | ||
| static QoS & get(); | ||
|
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| const rmw_qos_profile_t & default_qos() const; | ||
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| rmw_ret_t best_available_qos( | ||
| const rmw_node_t * node, | ||
| const char * topic_name, | ||
| rmw_qos_profile_t * qos_profile, | ||
| const GetEndpointInfoByTopicFunction & get_endpoint_info_for_other) const; | ||
|
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| private: | ||
| // Private constructor which initializes the default qos. | ||
| QoS(); | ||
| rmw_qos_profile_t default_qos_; | ||
| }; | ||
| } // namespace rmw_zenoh_cpp | ||
|
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| #endif // DETAIL__QOS_HPP_ |
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