qos_profiles.h

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// Copyright 2015 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.
 
#ifndef RMW__QOS_PROFILES_H_
#define RMW__QOS_PROFILES_H_
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#include "rmw/types.h"
 
static const rmw_qos_profile_t rmw_qos_profile_sensor_data =
{
  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
  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
};
 
static const rmw_qos_profile_t rmw_qos_profile_parameters =
{
  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
  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
};
 
static const rmw_qos_profile_t rmw_qos_profile_default =
{
  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
  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
};
 
static const rmw_qos_profile_t rmw_qos_profile_services_default =
{
  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
  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
};
 
static const rmw_qos_profile_t rmw_qos_profile_parameter_events =
{
  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
  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
};
 
static const rmw_qos_profile_t rmw_qos_profile_system_default =
{
  RMW_QOS_POLICY_HISTORY_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
};
 
static const rmw_qos_profile_t rmw_qos_profile_unknown =
{
  RMW_QOS_POLICY_HISTORY_UNKNOWN,
  RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT,
  RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
  RMW_QOS_POLICY_DURABILITY_UNKNOWN,
  RMW_QOS_DEADLINE_DEFAULT,
  RMW_QOS_LIFESPAN_DEFAULT,
  RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
  false
};
 
typedef enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_t
{
  RMW_QOS_COMPATIBILITY_OK = 0,
 
  RMW_QOS_COMPATIBILITY_WARNING,
 
  RMW_QOS_COMPATIBILITY_ERROR
} rmw_qos_compatibility_type_t;
 
 
 
RMW_PUBLIC
RMW_WARN_UNUSED
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);
 
#ifdef __cplusplus
}
#endif
 
#endif  // RMW__QOS_PROFILES_H_