Add new QoS policy data types to rmw (#173)

* add new qos policy data types

Signed-off-by: Miaofei <[email protected]>

* address some of the feedback in the pull request

Signed-off-by: Miaofei <[email protected]>

* correct comments/docblock formatting

Signed-off-by: Miaofei <[email protected]>

Author: mm318

rmw/include/rmw/qos_profiles.h

@@ -28,6 +28,10 @@ static const rmw_qos_profile_t rmw_qos_profile_sensor_data =
   5,
   RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
   RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
   false
 };
 
@@ -37,6 +41,10 @@ static const rmw_qos_profile_t rmw_qos_profile_parameters =
   1000,
   RMW_QOS_POLICY_RELIABILITY_RELIABLE,
   RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
   false
 };
 
@@ -46,6 +54,10 @@ static const rmw_qos_profile_t rmw_qos_profile_default =
   10,
   RMW_QOS_POLICY_RELIABILITY_RELIABLE,
   RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
   false
 };
 
@@ -55,6 +67,10 @@ static const rmw_qos_profile_t rmw_qos_profile_services_default =
   10,
   RMW_QOS_POLICY_RELIABILITY_RELIABLE,
   RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
   false
 };
 
@@ -64,6 +80,10 @@ static const rmw_qos_profile_t rmw_qos_profile_parameter_events =
   1000,
   RMW_QOS_POLICY_RELIABILITY_RELIABLE,
   RMW_QOS_POLICY_DURABILITY_VOLATILE,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
   false
 };
 
@@ -73,6 +93,10 @@ static const rmw_qos_profile_t rmw_qos_profile_system_default =
   RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT,
   RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
   RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
+  RMW_QOS_DEADLINE_DEFAULT,
+  RMW_QOS_LIFESPAN_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
   false
 };
 

rmw/include/rmw/ret_types.h

@@ -26,6 +26,8 @@ typedef int32_t rmw_ret_t;
 #define RMW_RET_OK 0
 #define RMW_RET_ERROR 1
 #define RMW_RET_TIMEOUT 2
+/// The operation or event handling is not supported.
+#define RMW_RET_UNSUPPORTED 3
 
 /// Failed to allocate memory return code.
 #define RMW_RET_BAD_ALLOC 10

rmw/include/rmw/types.h

@@ -195,14 +195,37 @@ enum RMW_PUBLIC_TYPE rmw_qos_durability_policy_t
   RMW_QOS_POLICY_DURABILITY_UNKNOWN
 };
 
+enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t
+{
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
+  RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE,
+  RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC
+};
+
+#define RMW_QOS_DEADLINE_DEFAULT {0, 0}
+#define RMW_QOS_LIFESPAN_DEFAULT {0, 0}
+#define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT {0, 0}
+
 /// ROS MiddleWare quality of service profile.
 typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
 {
   enum rmw_qos_history_policy_t history;
   /// Size of the message queue.
   size_t depth;
+  /// Reliabiilty QoS policy setting
   enum rmw_qos_reliability_policy_t reliability;
+  /// Durability QoS policy setting
   enum rmw_qos_durability_policy_t durability;
+  /// The period at which messages are expected to be sent/received
+  struct rmw_time_t deadline;
+  /// The age at which messages are considered expired and no longer valid
+  struct rmw_time_t lifespan;
+  /// Liveliness QoS policy setting
+  enum rmw_qos_liveliness_policy_t liveliness;
+  /// The time within which the RMW node or publisher must show that it is alive
+  struct rmw_time_t liveliness_lease_duration;
+
   /// If true, any ROS specific namespacing conventions will be circumvented.
   /**
    * In the case of DDS and topics, for example, this means the typical
@@ -231,8 +254,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_message_info_t
 
 enum {RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT = 0};
 
-// Type mapping of rcutils log severity types to
-// rmw specific types.
+/// Type mapping of rcutils log severity types to rmw specific types.
 typedef enum RMW_PUBLIC_TYPE
 {
   RMW_LOG_SEVERITY_DEBUG = RCUTILS_LOG_SEVERITY_DEBUG,
@@ -242,6 +264,75 @@ typedef enum RMW_PUBLIC_TYPE
   RMW_LOG_SEVERITY_FATAL = RCUTILS_LOG_SEVERITY_FATAL
 } rmw_log_severity_t;
 
+/// QoS Liveliness Changed information provided by a subscription.
+typedef struct RMW_PUBLIC_TYPE rmw_liveliness_changed_status_t
+{
+  /**
+   * The total number of currently active Publishers which publish to the topic associated with
+   * the Subscription.
+   * This count increases when a newly matched Publisher asserts its liveliness for the first time
+   * or when a Publisher previously considered to be not alive reasserts its liveliness.
+   * The count decreases when a Publisher considered alive fails to assert its liveliness and
+   * becomes not alive, whether because it was deleted normally or for some other reason.
+   */
+  int32_t alive_count;
+  /**
+   * The total count of current Publishers which publish to the topic associated with the
+   * Subscription that are no longer asserting their liveliness.
+   * This count increases when a Publisher considered alive fails to assert its liveliness and
+   * becomes not alive for some reason other than the normal deletion of that Publisher.
+   * It decreases when a previously not alive Publisher either reasserts its liveliness or is
+   * deleted normally.
+   */
+  int32_t not_alive_count;
+  /// The change in the alive_count since the status was last read.
+  int32_t alive_count_change;
+  /// The change in the not_alive_count since the status was last read.
+  int32_t not_alive_count_change;
+} rmw_liveliness_changed_status_t;
+
+/// QoS Requested Deadline Missed information provided by a subscription.
+typedef struct RMW_PUBLIC_TYPE rmw_requested_deadline_missed_status_t
+{
+  /**
+   * Lifetime cumulative number of missed deadlines detected for any instance read by the
+   * subscription.
+   * Missed deadlines accumulate; that is, each deadline period the total_count will be incremented
+   * by one for each instance for which data was not received.
+   */
+  int32_t total_count;
+  /// The incremental number of deadlines detected since the status was read.
+  int32_t total_count_change;
+} rmw_requested_deadline_missed_status_t;
+
+/// QoS Liveliness Lost information provided by a publisher.
+typedef struct RMW_PUBLIC_TYPE rmw_liveliness_lost_status_t
+{
+  /**
+   * Lifetime cumulative number of times that a previously-alive Publisher became not alive due to
+   * a failure to actively signal its liveliness within its offered liveliness period.
+   * This count does not change when an already not alive Publisher simply remains not alive for
+   * another liveliness period.
+   */
+  int32_t total_count;
+  /// The change in total_count since the last time the status was last read.
+  int32_t total_count_change;
+} rmw_liveliness_lost_status_t;
+
+/// QoS Deadline Missed information provided by a publisher.
+typedef struct RMW_PUBLIC_TYPE rmw_offered_deadline_missed_status_t
+{
+  /**
+   * Lifetime cumulative number of offered deadline periods elapsed during which a Publisher failed
+   * to provide data.
+   * Missed deadlines accumulate; that is, each deadline period the total_count will be incremented
+   * by one.
+   */
+  int32_t total_count;
+  /// The change in total_count since the last time the status was last read.
+  int32_t total_count_change;
+} rmw_offered_deadline_missed_status_t;
+
 #ifdef __cplusplus
 }
 #endif