Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events

rmw/include/rmw/event.h

@@ -35,10 +35,12 @@ typedef enum rmw_event_type_t
   // subscription events
   RMW_EVENT_LIVELINESS_CHANGED,
   RMW_EVENT_REQUESTED_DEADLINE_MISSED,
+  RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE,
 
   // publisher events
   RMW_EVENT_LIVELINESS_LOST,
   RMW_EVENT_OFFERED_DEADLINE_MISSED,
+  RMW_EVENT_OFFERED_QOS_INCOMPATIBLE,
 
   // sentinel value
   RMW_EVENT_INVALID

rmw/include/rmw/incompatible_qos_events_statuses.h

@@ -0,0 +1,68 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// 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__INCOMPATIBLE_QOS_EVENTS_STATUSES_H_
+#define RMW__INCOMPATIBLE_QOS_EVENTS_STATUSES_H_
+
+#include <stdint.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// QoS Policy Kinds
+typedef enum RMW_PUBLIC_TYPE rmw_qos_policy_kind_t
+{
+  RMW_QOS_POLICY_INVALID = 1 << 0,
+  RMW_QOS_POLICY_DURABILITY = 1 << 1,
+  RMW_QOS_POLICY_DEADLINE = 1 << 2,
+  RMW_QOS_POLICY_LIVELINESS = 1 << 3,
+  RMW_QOS_POLICY_RELIABILITY = 1 << 4,
+  RMW_QOS_POLICY_HISTORY = 1 << 5,
+  RMW_QOS_POLICY_LIFESPAN = 1 << 6
+} rmw_qos_policy_kind_t;
+
+struct RMW_PUBLIC_TYPE rmw_qos_incompatible_event_status_t
+{
+  /**
+   * Total cumulative number of times the concerned subscription discovered a
+   * publisher for the same topic with an offered QoS that was incompatible
+   * with that requested by the subscription.
+   */
+  int32_t total_count;
+  /**
+   * The change in total_count since the last time the status was read.
+   */
+  int32_t total_count_change;
+  /**
+   * The Qos Policy Kind of one of the policies that was found to be
+   * incompatible the last time an incompatibility was detected.
+   */
+  rmw_qos_policy_kind_t last_policy_kind;
+};
+
+/// Event state for a subscription's 'RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE' events.
+typedef struct rmw_qos_incompatible_event_status_t rmw_requested_qos_incompatible_event_status_t;
+
+/// Event state for a publisher's 'RMW_EVENT_OFFERED_QOS_INCOMPATIBLE' events.
+typedef struct rmw_qos_incompatible_event_status_t rmw_offered_qos_incompatible_event_status_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__INCOMPATIBLE_QOS_EVENTS_STATUSES_H_