Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE…

…_QOS events (ros2#535) Signed-off-by: Jaison Titus <jaisontj92@gmail.com> Signed-off-by: Miaofei <miaofei@amazon.com> Co-authored-by: Miaofei <miaofei@amazon.com>
ApexAI · Mar 27, 2020 · 73948da · 73948da
1 parent c416feb
commit 73948da
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Showing 3 changed files with 256 additions and 56 deletions.
diff --git a/rcl/include/rcl/event.h b/rcl/include/rcl/event.h
@@ -30,13 +30,15 @@ extern "C"
 typedef enum rcl_publisher_event_type_t
 {
   RCL_PUBLISHER_OFFERED_DEADLINE_MISSED,
-  RCL_PUBLISHER_LIVELINESS_LOST
+  RCL_PUBLISHER_LIVELINESS_LOST,
+  RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS,
 } rcl_publisher_event_type_t;
 
 typedef enum rcl_subscription_event_type_t
 {
   RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED,
-  RCL_SUBSCRIPTION_LIVELINESS_CHANGED
+  RCL_SUBSCRIPTION_LIVELINESS_CHANGED,
+  RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS,
 } rcl_subscription_event_type_t;
 
 /// rmw struct.

diff --git a/rcl/src/rcl/event.c b/rcl/src/rcl/event.c
@@ -76,6 +76,9 @@ rcl_publisher_event_init(
     case RCL_PUBLISHER_LIVELINESS_LOST:
       rmw_event_type = RMW_EVENT_LIVELINESS_LOST;
       break;
+    case RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS:
+      rmw_event_type = RMW_EVENT_OFFERED_QOS_INCOMPATIBLE;
+      break;
     default:
       RCL_SET_ERROR_MSG("Event type for publisher not supported");
       return RCL_RET_INVALID_ARGUMENT;
@@ -116,6 +119,9 @@ rcl_subscription_event_init(
     case RCL_SUBSCRIPTION_LIVELINESS_CHANGED:
       rmw_event_type = RMW_EVENT_LIVELINESS_CHANGED;
       break;
+    case RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS:
+      rmw_event_type = RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE;
+      break;
     default:
       RCL_SET_ERROR_MSG("Event type for subscription not supported");
       return RCL_RET_INVALID_ARGUMENT;