Expose qos setting for /rosout (ros2#722)

* Expose qos setting for /rosout Signed-off-by: Ada-King <[email protected]> * Modify some details based on review Signed-off-by: Ada-King <[email protected]> * Add test Signed-off-by: Ada-King <[email protected]> * Modify based on reviews Signed-off-by: Ada-King <[email protected]>
ApexAI · Aug 4, 2020 · b0d0143 · b0d0143
1 parent af438bc
commit b0d0143
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Showing 5 changed files with 61 additions and 10 deletions.
diff --git a/rcl/include/rcl/logging_rosout.h b/rcl/include/rcl/logging_rosout.h
@@ -26,6 +26,25 @@ extern "C"
 {
 #endif
 
+/// The default qos profile setting for topic /rosout
+/**
+ * - depth = 1000
+ * - durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
+ * - lifespan = {10, 0}
+ */
+static const rmw_qos_profile_t rcl_qos_profile_rosout_default =
+{
+  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+  1000,
+  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+  RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+  RMW_QOS_DEADLINE_DEFAULT,
+  {10, 0},
+  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
+  false
+};
+
 /// Initializes the rcl_logging_rosout features
 /**
  * Calling this will initialize the rcl_logging_rosout features. This function must be called

diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
@@ -49,17 +49,20 @@ typedef struct rcl_node_options_t
 
   /// Flag to enable rosout for this node
   bool enable_rosout;
+
+  /// Middleware quality of service settings for /rosout.
+  rmw_qos_profile_t rosout_qos;
 } rcl_node_options_t;
 
 /// Return the default node options in a rcl_node_options_t.
 /**
  * The default values are:
  *
- * - domain_id = RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID
  * - allocator = rcl_get_default_allocator()
  * - use_global_arguments = true
  * - enable_rosout = true
  * - arguments = rcl_get_zero_initialized_arguments()
+ * - rosout_qos = rcl_qos_profile_rosout_default
  */
 RCL_PUBLIC
 rcl_node_options_t

diff --git a/rcl/src/rcl/logging_rosout.c b/rcl/src/rcl/logging_rosout.c
@@ -173,11 +173,12 @@ rcl_ret_t rcl_logging_rosout_init_publisher_for_node(
   const rosidl_message_type_support_t * type_support =
     rosidl_typesupport_c__get_message_type_support_handle__rcl_interfaces__msg__Log();
   rcl_publisher_options_t options = rcl_publisher_get_default_options();
-  // Late joining subscriptions get the last 10 seconds of logs, up to 1000 logs.
-  options.qos.depth = 1000;
-  options.qos.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
-  options.qos.lifespan.sec = 10;
-  options.qos.lifespan.nsec = 0;
+
+  // Late joining subscriptions get the user's setting of rosout qos options.
+  const rcl_node_options_t * node_options = rcl_node_get_options(node);
+  RCL_CHECK_FOR_NULL_WITH_MSG(node_options, "Node options was null.", return RCL_RET_ERROR);
+
+  options.qos = node_options->rosout_qos;
   new_entry.publisher = rcl_get_zero_initialized_publisher();
   status =
     rcl_publisher_init(&new_entry.publisher, node, type_support, ROSOUT_TOPIC_NAME, &options);

diff --git a/rcl/src/rcl/node_options.c b/rcl/src/rcl/node_options.c
@@ -28,13 +28,13 @@ rcl_node_options_t
 rcl_node_get_default_options()
 {
   // !!! MAKE SURE THAT CHANGES TO THESE DEFAULTS ARE REFLECTED IN THE HEADER DOC STRING
-  static rcl_node_options_t default_options = {
+  rcl_node_options_t default_options = {
+    .allocator = rcl_get_default_allocator(),
     .use_global_arguments = true,
+    .arguments = rcl_get_zero_initialized_arguments(),
     .enable_rosout = true,
+    .rosout_qos = rcl_qos_profile_rosout_default,
   };
-  // Must set the allocator after because it is not a compile time constant.
-  default_options.allocator = rcl_get_default_allocator();
-  default_options.arguments = rcl_get_zero_initialized_arguments();
   return default_options;
 }
 
@@ -56,6 +56,7 @@ rcl_node_options_copy(
   options_out->allocator = options->allocator;
   options_out->use_global_arguments = options->use_global_arguments;
   options_out->enable_rosout = options->enable_rosout;
+  options_out->rosout_qos = options->rosout_qos;
   if (NULL != options->arguments.impl) {
     rcl_ret_t ret = rcl_arguments_copy(&(options->arguments), &(options_out->arguments));
     return ret;

diff --git a/rcl/test/rcl/test_node.cpp b/rcl/test/rcl/test_node.cpp
@@ -26,6 +26,7 @@
 #include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp"
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
+#include "rcl/logging_rosout.h"
 
 #ifdef RMW_IMPLEMENTATION
 # define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
@@ -39,6 +40,28 @@ using osrf_testing_tools_cpp::memory_tools::on_unexpected_realloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_calloc;
 using osrf_testing_tools_cpp::memory_tools::on_unexpected_free;
 
+bool operator==(
+  const rmw_time_t & lhs,
+  const rmw_time_t & rhs)
+{
+  return lhs.sec == rhs.sec && lhs.nsec == rhs.nsec;
+}
+
+bool operator==(
+  const rmw_qos_profile_t & lhs,
+  const rmw_qos_profile_t & rhs)
+{
+  return lhs.history == rhs.history &&
+         lhs.depth == rhs.depth &&
+         lhs.reliability == rhs.reliability &&
+         lhs.durability == rhs.durability &&
+         lhs.deadline == rhs.deadline &&
+         lhs.lifespan == rhs.lifespan &&
+         lhs.liveliness == rhs.liveliness &&
+         lhs.liveliness_lease_duration == rhs.liveliness_lease_duration &&
+         lhs.avoid_ros_namespace_conventions == rhs.avoid_ros_namespace_conventions;
+}
+
 class CLASSNAME (TestNodeFixture, RMW_IMPLEMENTATION) : public ::testing::Test
 {
 public:
@@ -723,9 +746,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_names) {
 TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
   rcl_node_options_t default_options = rcl_node_get_default_options();
   rcl_node_options_t not_ini_options = rcl_node_get_default_options();
+  memset(&not_ini_options.rosout_qos, 0, sizeof(rmw_qos_profile_t));
 
   EXPECT_TRUE(default_options.use_global_arguments);
   EXPECT_TRUE(default_options.enable_rosout);
+  EXPECT_EQ(rcl_qos_profile_rosout_default, default_options.rosout_qos);
   EXPECT_TRUE(rcutils_allocator_is_valid(&(default_options.allocator)));
 
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(nullptr, &default_options));
@@ -740,9 +765,11 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
     rcl_parse_arguments(argc, argv, default_options.allocator, &(default_options.arguments)));
   default_options.use_global_arguments = false;
   default_options.enable_rosout = false;
+  default_options.rosout_qos = rmw_qos_profile_default;
   EXPECT_EQ(RCL_RET_OK, rcl_node_options_copy(&default_options, &not_ini_options));
   EXPECT_FALSE(not_ini_options.use_global_arguments);
   EXPECT_FALSE(not_ini_options.enable_rosout);
+  EXPECT_EQ(default_options.rosout_qos, not_ini_options.rosout_qos);
   EXPECT_EQ(
     rcl_arguments_get_count_unparsed(&(default_options.arguments)),
     rcl_arguments_get_count_unparsed(&(not_ini_options.arguments)));