Function rmw_zenoh_cpp::liveliness::qos_to_keyexpr

Function Documentation

std::string rmw_zenoh_cpp::liveliness::qos_to_keyexpr(const rmw_qos_profile_t &qos)

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Convert a rmw_qos_profile_t to a string with format:

<ReliabilityKind>:<DurabilityKind>:<HistoryKind>,<HistoryDepth>:<DeadlineSec, DeadlineNSec>:<LifespanSec, LifespanNSec>:<Liveliness, LivelinessSec, LivelinessNSec>”

Where:

<ReliabilityKind> - enum value from rmw_qos_reliability_policy_e.

<DurabilityKind> - enum value from rmw_qos_durability_policy_e.

<HistoryKind> - enum value from rmw_qos_history_policy_e.

<HistoryDepth> - The depth number.

<DeadlineSec> - The seconds component of the deadline duration.

<DeadlineNSec> - The nanoseconds component of the deadline duration.

<LifespanSec> - The seconds component of the lifespan duration.

<LifespanNSec> - The nanoseconds component of the lifespan duration.

<Liveliness> - enum value from rmw_qos_liveliness_policy_e.

<LivelinessSec> - The seconds component of the liveliness duration.

<LivelinessNSec> - The nanoseconds component of the liveliness duration.

For example, the liveliness substring for a topic with Reliability policy: reliable,

Durability policy: volatile, History policy: keep_last, and depth: 10,

Deadline: 5s0ns, Lifespan 60s3000ns, Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,

LivelinessDuration: 0s0ns would be “1:2:1,10:0,0:60,3000:1,0,0”.

See rmw/types.h for the values of each policy enum.