Add RMW function to check QoS compatibility (#488)

Implements ros2/rmw#299

Depends on ros2/rmw_dds_common#45

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rmw_connext_cpp/CMakeLists.txt

@@ -182,6 +182,7 @@ add_library(
   src/rmw_node_names.cpp
   src/rmw_publish.cpp
   src/rmw_publisher.cpp
+  src/rmw_qos.cpp
   src/rmw_request.cpp
   src/rmw_response.cpp
   src/rmw_serialize.cpp

rmw_connext_cpp/src/rmw_qos.cpp

@@ -0,0 +1,30 @@
+// Copyright 2021 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.
+
+#include "rmw_connext_shared_cpp/rmw_qos.hpp"
+
+extern "C"
+{
+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)
+{
+  return qos_profile_check_compatible(
+    publisher_profile, subscription_profile, compatibility, reason, reason_size);
+}
+}  // extern "C"

rmw_connext_shared_cpp/CMakeLists.txt

@@ -25,6 +25,7 @@ endif()
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
+find_package(rmw_dds_common REQUIRED)
 
 include_directories(include)
 
@@ -50,6 +51,7 @@ add_library(
   src/qos.cpp
   src/names_and_types_helpers.cpp
   src/node_info_and_types.cpp
+  src/rmw_qos.cpp
   src/security_logging.cpp
   src/service_names_and_types.cpp
   src/topic_names_and_types.cpp
@@ -63,6 +65,7 @@ ament_target_dependencies(rmw_connext_shared_cpp
   "rcpputils"
   "rcutils"
   "rmw"
+  "rmw_dds_common"
   "Connext")
 ament_export_libraries(rmw_connext_shared_cpp)
 

rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/rmw_qos.hpp

@@ -0,0 +1,31 @@
+// Copyright 2021 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_CONNEXT_SHARED_CPP__RMW_QOS_HPP_
+#define RMW_CONNEXT_SHARED_CPP__RMW_QOS_HPP_
+
+#include "rmw/qos_profiles.h"
+
+#include "rmw_connext_shared_cpp/visibility_control.h"
+
+RMW_CONNEXT_SHARED_CPP_PUBLIC
+rmw_ret_t
+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);
+
+#endif  // RMW_CONNEXT_SHARED_CPP__RMW_QOS_HPP_

rmw_connext_shared_cpp/package.xml

@@ -24,6 +24,8 @@
   <build_export_depend>connext_cmake_module</build_export_depend>
   <build_export_depend>rti-connext-dds-5.3.1</build_export_depend>
 
+  <depend>rmw_dds_common</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

rmw_connext_shared_cpp/src/rmw_qos.cpp

@@ -0,0 +1,29 @@
+// Copyright 2021 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.
+
+#include "rmw_dds_common/qos.hpp"
+
+#include "rmw_connext_shared_cpp/rmw_qos.hpp"
+
+rmw_ret_t
+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)
+{
+  return rmw_dds_common::qos_profile_check_compatible(
+    publisher_profile, subscription_profile, compatibility, reason, reason_size);
+}