def test_qos_profile_only_constructor(self):
test_qos_profile = QoSProfile(
**_rclpy.rclpy_get_rmw_qos_profile('qos_profile_default'))
info_for_ref = TopicEndpointInfo()
info_for_ref.qos_profile = test_qos_profile
info_from_ctor = TopicEndpointInfo(qos_profile=test_qos_profile)
self.assertEqual(info_for_ref, info_from_ctor)
self.assertEqual(test_qos_profile, info_from_ctor.qos_profile)
RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT = 0
RMW_QOS_POLICY_RELIABILITY_RELIABLE = 1
RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT = 2
class QoSDurabilityPolicy(IntEnum):
"""
Enum for QoS Durability settings.
This enum matches the one defined in rmw/types.h
"""
RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT = 0
RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL = 1
RMW_QOS_POLICY_DURABILITY_VOLATILE = 2
qos_profile_default = _rclpy.rclpy_get_rmw_qos_profile(
'qos_profile_default')
qos_profile_system_default = _rclpy.rclpy_get_rmw_qos_profile(
'qos_profile_system_default')
qos_profile_sensor_data = _rclpy.rclpy_get_rmw_qos_profile(
'qos_profile_sensor_data')
qos_profile_services_default = _rclpy.rclpy_get_rmw_qos_profile(
'qos_profile_services_default')
qos_profile_parameters = _rclpy.rclpy_get_rmw_qos_profile(
'qos_profile_parameters')
qos_profile_parameter_events = _rclpy.rclpy_get_rmw_qos_profile(
'qos_profile_parameter_events')
class QoSProfile:
"""Define Quality of Service policies."""
# default QoS profile not exposed to the user to encourage them to think about QoS settings
__qos_profile_default_dict = _rclpy.rclpy_get_rmw_qos_profile(
'qos_profile_default')
__slots__ = [
'_history',
'_depth',
'_reliability',
'_durability',
'_lifespan',
'_deadline',
'_liveliness',
'_liveliness_lease_duration',
'_avoid_ros_namespace_conventions',
]
def __init__(self, **kwargs):
assert all('_' + key in self.__slots__ for key in kwargs.keys()), \
'Invalid arguments passed to constructor: %r' % kwargs.keys()
if 'history' not in kwargs:
if 'depth' not in kwargs:
raise InvalidQoSProfileException(
'History and/or depth settings are required.')
kwargs[
'history'] = QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST
self.history = kwargs.get('history')
if (QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST == self.history
and 'depth' not in kwargs):
raise InvalidQoSProfileException(
'History set to KEEP_LAST without a depth setting.')
self.depth = kwargs.get('depth',
QoSProfile.__qos_profile_default_dict['depth'])
self.reliability = kwargs.get(
'reliability',
QoSProfile.__qos_profile_default_dict['reliability'])
self.durability = kwargs.get(
'durability', QoSProfile.__qos_profile_default_dict['durability'])
self.lifespan = kwargs.get(
'lifespan', QoSProfile.__qos_profile_default_dict['lifespan'])
self.deadline = kwargs.get(
'deadline', QoSProfile.__qos_profile_default_dict['deadline'])
self.liveliness = kwargs.get(
'liveliness', QoSProfile.__qos_profile_default_dict['liveliness'])
self.liveliness_lease_duration = kwargs.get(
'liveliness_lease_duration',
QoSProfile.__qos_profile_default_dict['liveliness_lease_duration'])
self.avoid_ros_namespace_conventions = kwargs.get(
'avoid_ros_namespace_conventions', QoSProfile.
__qos_profile_default_dict['avoid_ros_namespace_conventions'])
@property
def history(self):
"""
Get field 'history'.
:returns: history attribute
:rtype: QoSHistoryPolicy
"""
return self._history
@history.setter
def history(self, value):
assert isinstance(value, QoSHistoryPolicy) or isinstance(value, int)
self._history = QoSHistoryPolicy(value)
@property
def reliability(self):
"""
Get field 'reliability'.
:returns: reliability attribute
:rtype: QoSReliabilityPolicy
"""
return self._reliability
@reliability.setter
def reliability(self, value):
assert isinstance(value, QoSReliabilityPolicy) or isinstance(
value, int)
self._reliability = QoSReliabilityPolicy(value)
@property
def durability(self):
"""
Get field 'durability'.
:returns: durability attribute
:rtype: QoSDurabilityPolicy
"""
return self._durability
@durability.setter
def durability(self, value):
assert isinstance(value, QoSDurabilityPolicy) or isinstance(value, int)
self._durability = QoSDurabilityPolicy(value)
@property
def depth(self):
"""
Get field 'depth'.
:returns: depth attribute
:rtype: int
"""
return self._depth
@depth.setter
def depth(self, value):
assert isinstance(value, int)
self._depth = value
@property
def lifespan(self):
"""
Get field 'lifespan'.
:returns: lifespan attribute
:rtype: Duration
"""
return self._lifespan
@lifespan.setter
def lifespan(self, value):
assert isinstance(value, Duration)
self._lifespan = value
@property
def deadline(self):
"""
Get field 'deadline'.
:returns: deadline attribute.
:rtype: Duration
"""
return self._deadline
@deadline.setter
def deadline(self, value):
assert isinstance(value, Duration)
self._deadline = value
@property
def liveliness(self):
"""
Get field 'liveliness'.
:returns: liveliness attribute
:rtype: QoSLivelinessPolicy
"""
return self._liveliness
@liveliness.setter
def liveliness(self, value):
assert isinstance(value, (QoSLivelinessPolicy, int))
self._liveliness = QoSLivelinessPolicy(value)
@property
def liveliness_lease_duration(self):
"""
Get field 'liveliness_lease_duration'.
:returns: liveliness_lease_duration attribute.
:rtype: Duration
"""
return self._liveliness_lease_duration
@liveliness_lease_duration.setter
def liveliness_lease_duration(self, value):
assert isinstance(value, Duration)
self._liveliness_lease_duration = value
@property
def avoid_ros_namespace_conventions(self):
"""
Get field 'avoid_ros_namespace_conventions'.
:returns: avoid_ros_namespace_conventions attribute
:rtype: bool
"""
return self._avoid_ros_namespace_conventions
@avoid_ros_namespace_conventions.setter
def avoid_ros_namespace_conventions(self, value):
assert isinstance(value, bool)
self._avoid_ros_namespace_conventions = value
def get_c_qos_profile(self):
return _rclpy.rclpy_convert_from_py_qos_policy(
self.history,
self.depth,
self.reliability,
self.durability,
self.lifespan.get_c_duration(),
self.deadline.get_c_duration(),
self.liveliness,
self.liveliness_lease_duration.get_c_duration(),
self.avoid_ros_namespace_conventions,
)
def __eq__(self, other):
if not isinstance(other, QoSProfile):
return False
return all(
self.__getattribute__(slot) == other.__getattribute__(slot)
for slot in self.__slots__)
RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT = 0
SYSTEM_DEFAULT = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT
RMW_QOS_POLICY_LIVELINESS_AUTOMATIC = 1
AUTOMATIC = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC = 3
MANUAL_BY_TOPIC = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC
RMW_QOS_POLICY_LIVELINESS_UNKNOWN = 4
UNKNOWN = RMW_QOS_POLICY_LIVELINESS_UNKNOWN
# Alias with the old name, for retrocompatibility
QoSLivelinessPolicy = LivelinessPolicy
qos_profile_unknown = QoSProfile(
**_rclpy.rclpy_get_rmw_qos_profile('qos_profile_unknown'))
qos_profile_system_default = QoSProfile(
**_rclpy.rclpy_get_rmw_qos_profile('qos_profile_system_default'))
qos_profile_sensor_data = QoSProfile(
**_rclpy.rclpy_get_rmw_qos_profile('qos_profile_sensor_data'))
qos_profile_services_default = QoSProfile(
**_rclpy.rclpy_get_rmw_qos_profile('qos_profile_services_default'))
qos_profile_parameters = QoSProfile(
**_rclpy.rclpy_get_rmw_qos_profile('qos_profile_parameters'))
qos_profile_parameter_events = QoSProfile(
**_rclpy.rclpy_get_rmw_qos_profile('qos_profile_parameter_events'))
qos_profile_action_status_default = QoSProfile(
**_rclpy_action.rclpy_action_get_rmw_qos_profile(
'rcl_action_qos_profile_status_default'))
