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Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events #535

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merged 8 commits into from
Mar 27, 2020
Merged

Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events #535

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2e3a390
Added support for on_requested_incompatible_qos and
jaisontj Nov 12, 2019
f9bc47a
Refactored test_events to take in custom qos profiles.
jaisontj Nov 21, 2019
c728e76
Added tests for incompatible_qos events.
jaisontj Nov 21, 2019
62f3551
- Fixed code styling issues
jaisontj Nov 21, 2019
2cd4e50
Fixed typo in comment.
jaisontj Nov 21, 2019
1c7127e
fix compilation issues
mm318 Mar 4, 2020
8e6d625
use gtest's parameterized tests
mm318 Mar 4, 2020
f5cac5f
address PR comments
mm318 Mar 26, 2020
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6 changes: 4 additions & 2 deletions rcl/include/rcl/event.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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.
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6 changes: 6 additions & 0 deletions rcl/src/rcl/event.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand Down Expand Up @@ -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;
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