.. _program_listing_file_include_rmw_qos_profiles.h:

Program Listing for File qos_profiles.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rmw_qos_profiles.h>` (``include/rmw/qos_profiles.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2015 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__QOS_PROFILES_H_
   #define RMW__QOS_PROFILES_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include "rmw/types.h"
   
   static const rmw_qos_profile_t rmw_qos_profile_sensor_data =
   {
     RMW_QOS_POLICY_HISTORY_KEEP_LAST,
     5,
     RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
     RMW_QOS_POLICY_DURABILITY_VOLATILE,
     RMW_QOS_DEADLINE_DEFAULT,
     RMW_QOS_LIFESPAN_DEFAULT,
     RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
     RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
     false
   };
   
   static const rmw_qos_profile_t rmw_qos_profile_parameters =
   {
     RMW_QOS_POLICY_HISTORY_KEEP_LAST,
     1000,
     RMW_QOS_POLICY_RELIABILITY_RELIABLE,
     RMW_QOS_POLICY_DURABILITY_VOLATILE,
     RMW_QOS_DEADLINE_DEFAULT,
     RMW_QOS_LIFESPAN_DEFAULT,
     RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
     RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
     false
   };
   
   static const rmw_qos_profile_t rmw_qos_profile_default =
   {
     RMW_QOS_POLICY_HISTORY_KEEP_LAST,
     10,
     RMW_QOS_POLICY_RELIABILITY_RELIABLE,
     RMW_QOS_POLICY_DURABILITY_VOLATILE,
     RMW_QOS_DEADLINE_DEFAULT,
     RMW_QOS_LIFESPAN_DEFAULT,
     RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
     RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
     false
   };
   
   static const rmw_qos_profile_t rmw_qos_profile_services_default =
   {
     RMW_QOS_POLICY_HISTORY_KEEP_LAST,
     10,
     RMW_QOS_POLICY_RELIABILITY_RELIABLE,
     RMW_QOS_POLICY_DURABILITY_VOLATILE,
     RMW_QOS_DEADLINE_DEFAULT,
     RMW_QOS_LIFESPAN_DEFAULT,
     RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
     RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
     false
   };
   
   static const rmw_qos_profile_t rmw_qos_profile_parameter_events =
   {
     RMW_QOS_POLICY_HISTORY_KEEP_LAST,
     1000,
     RMW_QOS_POLICY_RELIABILITY_RELIABLE,
     RMW_QOS_POLICY_DURABILITY_VOLATILE,
     RMW_QOS_DEADLINE_DEFAULT,
     RMW_QOS_LIFESPAN_DEFAULT,
     RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
     RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
     false
   };
   
   static const rmw_qos_profile_t rmw_qos_profile_system_default =
   {
     RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
     RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT,
     RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
     RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
     RMW_QOS_DEADLINE_DEFAULT,
     RMW_QOS_LIFESPAN_DEFAULT,
     RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
     RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
     false
   };
   
   
   static const rmw_qos_profile_t rmw_qos_profile_best_available =
   {
     RMW_QOS_POLICY_HISTORY_KEEP_LAST,
     10,
     RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE,
     RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE,
     RMW_QOS_DEADLINE_BEST_AVAILABLE,
     RMW_QOS_LIFESPAN_DEFAULT,
     RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE,
     RMW_QOS_LIVELINESS_LEASE_DURATION_BEST_AVAILABLE,
     false
   };
   
   static const rmw_qos_profile_t rmw_qos_profile_unknown =
   {
     RMW_QOS_POLICY_HISTORY_UNKNOWN,
     RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT,
     RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
     RMW_QOS_POLICY_DURABILITY_UNKNOWN,
     RMW_QOS_DEADLINE_DEFAULT,
     RMW_QOS_LIFESPAN_DEFAULT,
     RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
     RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
     false
   };
   
   typedef enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_e
   {
     RMW_QOS_COMPATIBILITY_OK = 0,
   
     RMW_QOS_COMPATIBILITY_WARNING,
   
     RMW_QOS_COMPATIBILITY_ERROR
   } rmw_qos_compatibility_type_t;
   
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RMW__QOS_PROFILES_H_