Added system default QoS profile

ros2 · Aug 19, 2015 · d9538a3 · d9538a3
1 parent b922e8c
commit d9538a3
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Showing 2 changed files with 32 additions and 0 deletions.
diff --git a/rmw_connext_cpp/src/functions.cpp b/rmw_connext_cpp/src/functions.cpp
@@ -634,6 +634,8 @@ rmw_create_publisher(
     case RMW_QOS_POLICY_KEEP_ALL_HISTORY:
       datawriter_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
       break;
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
+      break;
     default:
       RMW_SET_ERROR_MSG("Unknown QoS history policy");
       goto fail;
@@ -646,11 +648,17 @@ rmw_create_publisher(
     case RMW_QOS_POLICY_RELIABLE:
       datawriter_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
       break;
+    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
+      break;
     default:
       RMW_SET_ERROR_MSG("Unknown QoS reliability policy");
       goto fail;
   }
 
+  if (qos_profile.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
+    datawriter_qos.history.depth = qos_profile.depth;
+  }
+
   // ensure the history depth is at least the requested queue size
   assert(datawriter_qos.history.depth >= 0);
   if (
@@ -943,6 +951,8 @@ rmw_create_subscription(const rmw_node_t * node,
     case RMW_QOS_POLICY_KEEP_ALL_HISTORY:
       datareader_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
       break;
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
+      break;
     default:
       RMW_SET_ERROR_MSG("Unknown QoS history policy");
       goto fail;
@@ -955,11 +965,17 @@ rmw_create_subscription(const rmw_node_t * node,
     case RMW_QOS_POLICY_RELIABLE:
       datareader_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
       break;
+    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
+      break;
     default:
       RMW_SET_ERROR_MSG("Unknown QoS reliability policy");
       goto fail;
   }
 
+  if (qos_profile.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
+    datareader_qos.history.depth = qos_profile.depth;
+  }
+
   // ensure the history depth is at least the requested queue size
   assert(datareader_qos.history.depth >= 0);
   if (

diff --git a/rmw_connext_dynamic_cpp/src/functions.cpp b/rmw_connext_dynamic_cpp/src/functions.cpp
@@ -873,6 +873,8 @@ rmw_create_publisher(
     case RMW_QOS_POLICY_KEEP_ALL_HISTORY:
       datawriter_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
       break;
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
+      break;
     default:
       RMW_SET_ERROR_MSG("Unknown QoS history policy");
       goto fail;
@@ -885,11 +887,17 @@ rmw_create_publisher(
     case RMW_QOS_POLICY_RELIABLE:
       datawriter_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
       break;
+    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
+      break;
     default:
       RMW_SET_ERROR_MSG("Unknown QoS reliability policy");
       goto fail;
   }
 
+  if (qos_profile.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
+    datawriter_qos.history.depth = qos_profile.depth;
+  }
+
   // ensure the history depth is at least the requested queue size
   assert(datawriter_qos.history.depth >= 0);
   if (
@@ -1674,6 +1682,8 @@ rmw_create_subscription(
     case RMW_QOS_POLICY_KEEP_ALL_HISTORY:
       datareader_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
       break;
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
+      break;
     default:
       RMW_SET_ERROR_MSG("Unknown QoS history policy");
       goto fail;
@@ -1686,11 +1696,17 @@ rmw_create_subscription(
     case RMW_QOS_POLICY_RELIABLE:
       datareader_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
       break;
+    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
+      break;
     default:
       RMW_SET_ERROR_MSG("Unknown QoS reliability policy");
       goto fail;
   }
 
+  if (qos_profile.depth != RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT) {
+    datareader_qos.history.depth = qos_profile.depth;
+  }
+
   // ensure the history depth is at least the requested queue size
   assert(datareader_qos.history.depth >= 0);
   if (