def __init__(self):
super().__init__('mission_manager')
self.publisher_ = self.create_publisher(
MissionCommand,
MISSION_TOPIC_NAME,
qos_profile=QoSPresetProfiles.get_from_short_key(
'PARAMETER_EVENTS'))
self.subscription = self.create_subscription(
MissionCommand,
MISSION_TOPIC_NAME,
self.listener_callback,
qos_profile=QoSPresetProfiles.get_from_short_key(
'PARAMETER_EVENTS'))
self.subscription # prevent unused variable warning
self.reset_reports()
def choose_qos(self, node, args):
if (args.qos_profile is not None or
args.qos_reliability is not None or
args.qos_durability is not None or
args.qos_depth is not None or
args.qos_history is not None):
if args.qos_profile is None:
args.qos_profile = default_profile_str
return qos_profile_from_short_keys(args.qos_profile,
reliability=args.qos_reliability,
durability=args.qos_durability,
depth=args.qos_depth,
history=args.qos_history)
qos_profile = QoSPresetProfiles.get_from_short_key(default_profile_str)
reliability_reliable_endpoints_count = 0
durability_transient_local_endpoints_count = 0
pubs_info = node.get_publishers_info_by_topic(args.topic_name)
publishers_count = len(pubs_info)
if publishers_count == 0:
return qos_profile
for info in pubs_info:
if (info.qos_profile.reliability == QoSReliabilityPolicy.RELIABLE):
reliability_reliable_endpoints_count += 1
if (info.qos_profile.durability == QoSDurabilityPolicy.TRANSIENT_LOCAL):
durability_transient_local_endpoints_count += 1
# If all endpoints are reliable, ask for reliable
if reliability_reliable_endpoints_count == publishers_count:
qos_profile.reliability = QoSReliabilityPolicy.RELIABLE
else:
if reliability_reliable_endpoints_count > 0:
print(
'Some, but not all, publishers are offering '
'QoSReliabilityPolicy.RELIABLE. Falling back to '
'QoSReliabilityPolicy.BEST_EFFORT as it will connect '
'to all publishers'
)
qos_profile.reliability = QoSReliabilityPolicy.BEST_EFFORT
# If all endpoints are transient_local, ask for transient_local
if durability_transient_local_endpoints_count == publishers_count:
qos_profile.durability = QoSDurabilityPolicy.TRANSIENT_LOCAL
else:
if durability_transient_local_endpoints_count > 0:
print(
'Some, but not all, publishers are offering '
'QoSDurabilityPolicy.TRANSIENT_LOCAL. Falling back to '
'QoSDurabilityPolicy.VOLATILE as it will connect '
'to all publishers'
)
qos_profile.durability = QoSDurabilityPolicy.VOLATILE
return qos_profile
def test_preset_profiles(self):
# Make sure the Enum does what we expect
assert QoSPresetProfiles.SYSTEM_DEFAULT.value == qos_profile_system_default
assert (QoSPresetProfiles.SYSTEM_DEFAULT.value ==
QoSPresetProfiles.get_from_short_key('system_default'))