#include "rmw/types.h"

Include dependency graph for qos_profiles.h:

This graph shows which files directly or indirectly include this file:

Typedefs
typedef enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_t	rmw_qos_compatibility_type_t

Functions
rmw_ret_t	rmw_qos_profile_check_compatible (const rmw_qos_profile_t publisher_profile, const rmw_qos_profile_t subscription_profile, rmw_qos_compatibility_type_t compatibility, char reason, size_t reason_size)
	Check if two QoS profiles are compatible. More...

Variables
	RMW_QOS_COMPATIBILITY_OK = 0
	QoS policies are compatible. More...

	RMW_QOS_COMPATIBILITY_WARNING
	QoS policies may not be compatible. More...

Typedef Documentation

◆ rmw_qos_compatibility_type_t

enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_t

Function Documentation

◆ rmw_qos_profile_check_compatible()

rmw_ret_t rmw_qos_profile_check_compatible	(	const rmw_qos_profile_t	publisher_profile,
		const rmw_qos_profile_t	subscription_profile,
		rmw_qos_compatibility_type_t *	compatibility,
		char *	reason,
		size_t	reason_size
	)

Check if two QoS profiles are compatible.

Two QoS profiles are compatible if a publisher and subcription using the QoS policies can communicate with each other.

If any of the profile policies has the value "system default" or "unknown", then it may not be possible to determine the compatibilty. In this case, the output parameter compatibility is set to RMW_QOS_COMPATIBILITY_WARNING and reason is populated.

If there is a compatibility warning or error, and a buffer is provided for reason, then an explanation of all warnings and errors will be populated into the buffer, separated by semi-colons (;). Errors will appear before warnings in the string buffer. If the provided buffer is not large enough, this function will still write to the buffer, up to the reason_size number of characters. Therefore, it is possible that not all errors and warnings are communicated if the buffer size limit is reached. A buffer size of 2048 should be more than enough to capture all possible errors and warnings.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	publisher_profile	The QoS profile used for a publisher.
[in]	subscription_profile	The QoS profile used for a subscription.
[out]	compatibility	`RMW_QOS_COMPATIBILITY_OK` if the QoS profiles are compatible, or `RMW_QOS_COMPATIBILITY_WARNING` if the QoS profiles might be compatible, or `RMW_QOS_COMPATIBILITY_ERROR` if the QoS profiles are not compatible.
[out]	reason	A detailed reason for a QoS incompatibility or potential incompatibility. Must be pre-allocated by the caller. This parameter is optional and may be set to `NULL` if the reason information is not desired.
[in]	reason_size	Size of the string buffer `reason`, if one is provided. If `reason` is `nullptr`, then this parameter must be zero.

Returns: RMW_RET_OK if the check was successful, or; RMW_RET_INVALID_ARGUMENT if compatiblity is nullptr, or; RMW_RET_INVALID_ARGUMENT if reason is NULL and reason_size is not zero, or; RMW_RET_ERROR if there is an unexpected error.

Variable Documentation

◆ RMW_QOS_COMPATIBILITY_OK

RMW_QOS_COMPATIBILITY_OK = 0

QoS policies are compatible.

◆ RMW_QOS_COMPATIBILITY_WARNING

RMW_QOS_COMPATIBILITY_WARNING

QoS policies may not be compatible.

Typedefs

Functions