Add RMW function to check QoS compatibility (#511)

* Add RMW function to check QoS compatibility

Implements ros2/rmw#299

Depends on ros2/rmw_dds_common#45

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

* Add tests to exercise new API

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

rmw_fastrtps_cpp/CMakeLists.txt

@@ -73,6 +73,7 @@ add_library(rmw_fastrtps_cpp
   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_fastrtps_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_fastrtps_shared_cpp/rmw_common.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 rmw_fastrtps_shared_cpp::__rmw_qos_profile_check_compatible(
+    publisher_profile, subscription_profile, compatibility, reason, reason_size);
+}
+}  // extern "C"

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -76,6 +76,7 @@ add_library(rmw_fastrtps_dynamic_cpp
   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_fastrtps_dynamic_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_fastrtps_shared_cpp/rmw_common.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 rmw_fastrtps_shared_cpp::__rmw_qos_profile_check_compatible(
+    publisher_profile, subscription_profile, compatibility, reason, reason_size);
+}
+}  // extern "C"

rmw_fastrtps_shared_cpp/CMakeLists.txt

@@ -71,6 +71,7 @@ add_library(rmw_fastrtps_shared_cpp
   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_security_logging.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp

@@ -392,6 +392,15 @@ __rmw_get_subscriptions_info_by_topic(
   bool no_mangle,
   rmw_topic_endpoint_info_array_t * subscriptions_info);
 
+RMW_FASTRTPS_SHARED_CPP_PUBLIC
+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);
+
 }  // namespace rmw_fastrtps_shared_cpp
 
 #endif  // RMW_FASTRTPS_SHARED_CPP__RMW_COMMON_HPP_

rmw_fastrtps_shared_cpp/src/rmw_qos.cpp

@@ -0,0 +1,36 @@
+// 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/types.h"
+
+#include "rmw_dds_common/qos.hpp"
+
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+namespace rmw_fastrtps_shared_cpp
+{
+
+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 rmw_dds_common::qos_profile_check_compatible(
+    publisher_profile, subscription_profile, compatibility, reason, reason_size);
+}
+
+}  // namespace rmw_fastrtps_shared_cpp

rmw_fastrtps_shared_cpp/test/CMakeLists.txt

@@ -35,6 +35,12 @@ if(TARGET test_names)
   target_link_libraries(test_names ${PROJECT_NAME})
 endif()
 
+ament_add_gtest(test_qos_profile_check_compatible test_qos_profile_check_compatible.cpp)
+if(TARGET test_qos_profile_check_compatible)
+  ament_target_dependencies(test_qos_profile_check_compatible rmw)
+  target_link_libraries(test_qos_profile_check_compatible ${PROJECT_NAME})
+endif()
+
 ament_add_gtest(test_logging test_logging.cpp)
 if(TARGET test_logging)
   ament_target_dependencies(test_logging

rmw_fastrtps_shared_cpp/test/test_qos_profile_check_compatible.cpp

@@ -0,0 +1,101 @@
+// 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 <gtest/gtest.h>
+
+#include "rmw/qos_profiles.h"
+#include "rmw/types.h"
+
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+TEST(TestQoSProfileCheckCompatible, compatible)
+{
+  rmw_qos_profile_t qos_profile = {
+    RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+    5,  // history depth
+    RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
+    RMW_QOS_POLICY_DURABILITY_VOLATILE,
+    {1, 0},   // deadline
+    {1, 0},   // lifespan
+    RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
+    {1, 0},   // liveliness lease duration
+    false  // avoid_ros_namespace_conventions
+  };
+
+  rmw_qos_compatibility_type_t compatibility;
+  rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_qos_profile_check_compatible(
+    qos_profile,
+    qos_profile,
+    &compatibility,
+    nullptr,
+    0u);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(compatibility, RMW_QOS_COMPATIBILITY_OK);
+}
+
+TEST(TestQoSProfileCheckCompatible, incompatible)
+{
+  rmw_qos_profile_t pub_profile = {
+    RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+    5,  // history depth
+    RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
+    RMW_QOS_POLICY_DURABILITY_VOLATILE,
+    {1, 0},   // deadline
+    {1, 0},   // lifespan
+    RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
+    {1, 0},   // liveliness lease duration
+    false  // avoid_ros_namespace_conventions
+  };
+
+  rmw_qos_profile_t sub_profile = pub_profile;
+  sub_profile.reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+
+  rmw_qos_compatibility_type_t compatibility;
+  rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_qos_profile_check_compatible(
+    pub_profile,
+    sub_profile,
+    &compatibility,
+    nullptr,
+    0u);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(compatibility, RMW_QOS_COMPATIBILITY_ERROR);
+}
+
+TEST(TestQoSProfileCheckCompatible, warn_compatible)
+{
+  rmw_qos_profile_t pub_profile = {
+    RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+    5,  // history depth
+    RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
+    RMW_QOS_POLICY_DURABILITY_VOLATILE,
+    {1, 0},   // deadline
+    {1, 0},   // lifespan
+    RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
+    {1, 0},   // liveliness lease duration
+    false  // avoid_ros_namespace_conventions
+  };
+
+  rmw_qos_profile_t sub_profile = pub_profile;
+  sub_profile.reliability = RMW_QOS_POLICY_RELIABILITY_UNKNOWN;
+
+  rmw_qos_compatibility_type_t compatibility;
+  rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_qos_profile_check_compatible(
+    pub_profile,
+    sub_profile,
+    &compatibility,
+    nullptr,
+    0u);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(compatibility, RMW_QOS_COMPATIBILITY_WARNING);
+}