Program Listing for File qos_overriding_options.hpp

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// Copyright 2020 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 RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_
#define RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_

#include <functional>
#include <initializer_list>
#include <ostream>
#include <string>
#include <utility>
#include <vector>

#include "rclcpp/qos.hpp"
#include "rclcpp/visibility_control.hpp"

#include "rcl_interfaces/msg/set_parameters_result.hpp"
#include "rmw/qos_policy_kind.h"

namespace rclcpp
{

enum class RCLCPP_PUBLIC_TYPE QosPolicyKind
{
  AvoidRosNamespaceConventions = RMW_QOS_POLICY_AVOID_ROS_NAMESPACE_CONVENTIONS,
  Deadline = RMW_QOS_POLICY_DEADLINE,
  Depth = RMW_QOS_POLICY_DEPTH,
  Durability = RMW_QOS_POLICY_DURABILITY,
  History = RMW_QOS_POLICY_HISTORY,
  Lifespan = RMW_QOS_POLICY_LIFESPAN,
  Liveliness = RMW_QOS_POLICY_LIVELINESS,
  LivelinessLeaseDuration = RMW_QOS_POLICY_LIVELINESS_LEASE_DURATION,
  Reliability = RMW_QOS_POLICY_RELIABILITY,
  Invalid = RMW_QOS_POLICY_INVALID,
};

RCLCPP_PUBLIC
const char *
qos_policy_kind_to_cstr(const QosPolicyKind & qpk);

RCLCPP_PUBLIC
std::ostream &
operator<<(std::ostream & os, const QosPolicyKind & qpk);

using QosCallbackResult = rcl_interfaces::msg::SetParametersResult;
using QosCallback = std::function<QosCallbackResult(const rclcpp::QoS &)>;

namespace detail
{
// forward declare
template<typename T>
class QosParameters;
}


class QosOverridingOptions
{
public:
  RCLCPP_PUBLIC
  QosOverridingOptions() = default;


  RCLCPP_PUBLIC
  QosOverridingOptions(
    std::initializer_list<QosPolicyKind> policy_kinds,
    QosCallback validation_callback = nullptr,
    std::string id = {});

  RCLCPP_PUBLIC
  const std::string &
  get_id() const;

  RCLCPP_PUBLIC
  const std::vector<QosPolicyKind> &
  get_policy_kinds() const;

  RCLCPP_PUBLIC
  const QosCallback &
  get_validation_callback() const;


  RCLCPP_PUBLIC
  static
  QosOverridingOptions
  with_default_policies(QosCallback validation_callback = nullptr, std::string id = {});

private:
  std::string id_;
  std::vector<QosPolicyKind> policy_kinds_;
  QosCallback validation_callback_;
};

}  // namespace rclcpp

#endif  // RCLCPP__QOS_OVERRIDING_OPTIONS_HPP_