Qos configurability (take 2) (#1465)

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

rclcpp/CMakeLists.txt

@@ -85,6 +85,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/publisher_base.cpp
   src/rclcpp/qos.cpp
   src/rclcpp/qos_event.cpp
+  src/rclcpp/qos_overriding_options.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp

rclcpp/include/rclcpp/create_publisher.hpp

@@ -17,54 +17,108 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 #include "rclcpp/node_options.hpp"
 #include "rclcpp/publisher_factory.hpp"
 #include "rclcpp/publisher_options.hpp"
 #include "rclcpp/qos.hpp"
+#include "rclcpp/qos_overriding_options.hpp"
+#include "rclcpp/detail/qos_parameters.hpp"
+
 #include "rmw/qos_profiles.h"
 
 namespace rclcpp
 {
 
+namespace detail
+{
 /// Create and return a publisher of the given MessageT type.
-/**
- * The NodeT type only needs to have a method called get_node_topics_interface()
- * which returns a shared_ptr to a NodeTopicsInterface.
- */
 template<
   typename MessageT,
   typename AllocatorT = std::allocator<void>,
   typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
-  typename NodeT>
+  typename NodeParametersT,
+  typename NodeTopicsT>
 std::shared_ptr<PublisherT>
 create_publisher(
-  NodeT & node,
+  NodeParametersT & node_parameters,
+  NodeTopicsT & node_topics,
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
     rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
   )
 )
 {
-  // Extract the NodeTopicsInterface from the NodeT.
-  using rclcpp::node_interfaces::get_node_topics_interface;
-  auto node_topics = get_node_topics_interface(node);
+  auto node_topics_interface = rclcpp::node_interfaces::get_node_topics_interface(node_topics);
+  const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
+    rclcpp::detail::declare_qos_parameters(
+    options.qos_overriding_options, node_parameters,
+    node_topics_interface->resolve_topic_name(topic_name),
+    qos, rclcpp::detail::PublisherQosParametersTraits{}) :
+    qos;
 
   // Create the publisher.
-  auto pub = node_topics->create_publisher(
+  auto pub = node_topics_interface->create_publisher(
     topic_name,
     rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(options),
-    qos
+    actual_qos
   );
 
   // Add the publisher to the node topics interface.
-  node_topics->add_publisher(pub, options.callback_group);
+  node_topics_interface->add_publisher(pub, options.callback_group);
 
   return std::dynamic_pointer_cast<PublisherT>(pub);
 }
+}  // namespace detail
+
+
+/// Create and return a publisher of the given MessageT type.
+/**
+ * The NodeT type only needs to have a method called get_node_topics_interface()
+ * which returns a shared_ptr to a NodeTopicsInterface.
+ */
+template<
+  typename MessageT,
+  typename AllocatorT = std::allocator<void>,
+  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>,
+  typename NodeT>
+std::shared_ptr<PublisherT>
+create_publisher(
+  NodeT & node,
+  const std::string & topic_name,
+  const rclcpp::QoS & qos,
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
+  )
+)
+{
+  return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
+    node, node, topic_name, qos, options);
+}
+
+/// Create and return a publisher of the given MessageT type.
+template<
+  typename MessageT,
+  typename AllocatorT = std::allocator<void>,
+  typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
+std::shared_ptr<PublisherT>
+create_publisher(
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
+  const std::string & topic_name,
+  const rclcpp::QoS & qos,
+  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::PublisherOptionsWithAllocator<AllocatorT>()
+  )
+)
+{
+  return detail::create_publisher<MessageT, AllocatorT, PublisherT>(
+    node_parameters, node_topics, topic_name, qos, options);
+}
 
 }  // namespace rclcpp
 

rclcpp/include/rclcpp/create_subscription.hpp

@@ -41,44 +41,21 @@
 namespace rclcpp
 {
 
-/// Create and return a subscription of the given MessageT type.
-/**
- * The NodeT type only needs to have a method called get_node_topics_interface()
- * which returns a shared_ptr to a NodeTopicsInterface, or be a
- * NodeTopicsInterface pointer itself.
- *
- * \tparam MessageT
- * \tparam CallbackT
- * \tparam AllocatorT
- * \tparam CallbackMessageT
- * \tparam SubscriptionT
- * \tparam MessageMemoryStrategyT
- * \tparam NodeT
- * \param node
- * \param topic_name
- * \param qos
- * \param callback
- * \param options
- * \param msg_mem_strat
- * \return the created subscription
- * \throws std::invalid_argument if topic statistics is enabled and the publish period is
- * less than or equal to zero.
- */
+namespace detail
+{
 template<
   typename MessageT,
   typename CallbackT,
-  typename AllocatorT = std::allocator<void>,
-  typename CallbackMessageT =
-  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
-  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT,
-    AllocatorT
-  >,
-  typename NodeT>
+  typename AllocatorT,
+  typename CallbackMessageT,
+  typename SubscriptionT,
+  typename MessageMemoryStrategyT,
+  typename NodeParametersT,
+  typename NodeTopicsT>
 typename std::shared_ptr<SubscriptionT>
 create_subscription(
-  NodeT && node,
+  NodeParametersT & node_parameters,
+  NodeTopicsT & node_topics,
   const std::string & topic_name,
   const rclcpp::QoS & qos,
   CallbackT && callback,
@@ -91,14 +68,14 @@ create_subscription(
 )
 {
   using rclcpp::node_interfaces::get_node_topics_interface;
-  auto node_topics = get_node_topics_interface(std::forward<NodeT>(node));
+  auto node_topics_interface = get_node_topics_interface(node_topics);
 
   std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>>
   subscription_topic_stats = nullptr;
 
   if (rclcpp::detail::resolve_enable_topic_statistics(
       options,
-      *node_topics->get_node_base_interface()))
+      *node_topics_interface->get_node_base_interface()))
   {
     if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
       throw std::invalid_argument(
@@ -107,15 +84,16 @@ create_subscription(
               " ms");
     }
 
-    std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
-      create_publisher<statistics_msgs::msg::MetricsMessage>(
-      node,
+    std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>>
+    publisher = rclcpp::detail::create_publisher<statistics_msgs::msg::MetricsMessage>(
+      node_parameters,
+      node_topics_interface,
       options.topic_stats_options.publish_topic,
       qos);
 
     subscription_topic_stats = std::make_shared<
       rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
-      >(node_topics->get_node_base_interface()->get_name(), publisher);
+      >(node_topics_interface->get_node_base_interface()->get_name(), publisher);
 
     std::weak_ptr<
       rclcpp::topic_statistics::SubscriptionTopicStatistics<CallbackMessageT>
@@ -127,14 +105,14 @@ create_subscription(
         }
       };
 
-    auto node_timer_interface = node_topics->get_node_timers_interface();
+    auto node_timer_interface = node_topics_interface->get_node_timers_interface();
 
     auto timer = create_wall_timer(
       std::chrono::duration_cast<std::chrono::nanoseconds>(
         options.topic_stats_options.publish_period),
       sub_call_back,
       options.callback_group,
-      node_topics->get_node_base_interface(),
+      node_topics_interface->get_node_base_interface(),
       node_timer_interface
     );
 
@@ -148,11 +126,109 @@ create_subscription(
     subscription_topic_stats
   );
 
-  auto sub = node_topics->create_subscription(topic_name, factory, qos);
-  node_topics->add_subscription(sub, options.callback_group);
+  const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
+    rclcpp::detail::declare_qos_parameters(
+    options.qos_overriding_options, node_parameters,
+    node_topics_interface->resolve_topic_name(topic_name),
+    qos, rclcpp::detail::SubscriptionQosParametersTraits{}) :
+    qos;
+
+  auto sub = node_topics_interface->create_subscription(topic_name, factory, actual_qos);
+  node_topics_interface->add_subscription(sub, options.callback_group);
 
   return std::dynamic_pointer_cast<SubscriptionT>(sub);
 }
+}  // namespace detail
+
+/// Create and return a subscription of the given MessageT type.
+/**
+ * The NodeT type only needs to have a method called get_node_topics_interface()
+ * which returns a shared_ptr to a NodeTopicsInterface, or be a
+ * NodeTopicsInterface pointer itself.
+ *
+ * \tparam MessageT
+ * \tparam CallbackT
+ * \tparam AllocatorT
+ * \tparam CallbackMessageT
+ * \tparam SubscriptionT
+ * \tparam MessageMemoryStrategyT
+ * \tparam NodeT
+ * \param node
+ * \param topic_name
+ * \param qos
+ * \param callback
+ * \param options
+ * \param msg_mem_strat
+ * \return the created subscription
+ * \throws std::invalid_argument if topic statistics is enabled and the publish period is
+ * less than or equal to zero.
+ */
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename AllocatorT = std::allocator<void>,
+  typename CallbackMessageT =
+  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >,
+  typename NodeT>
+typename std::shared_ptr<SubscriptionT>
+create_subscription(
+  NodeT & node,
+  const std::string & topic_name,
+  const rclcpp::QoS & qos,
+  CallbackT && callback,
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  ),
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
+    MessageMemoryStrategyT::create_default()
+  )
+)
+{
+  return rclcpp::detail::create_subscription<
+    MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT>(
+    node, node, topic_name, qos, std::forward<CallbackT>(callback), options, msg_mem_strat);
+}
+
+/// Create and return a subscription of the given MessageT type.
+/**
+ * See \ref create_subscription().
+ */
+template<
+  typename MessageT,
+  typename CallbackT,
+  typename AllocatorT = std::allocator<void>,
+  typename CallbackMessageT =
+  typename rclcpp::subscription_traits::has_message_type<CallbackT>::type,
+  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    CallbackMessageT,
+    AllocatorT
+  >>
+typename std::shared_ptr<SubscriptionT>
+create_subscription(
+  rclcpp::node_interfaces::NodeParametersInterface::SharedPtr & node_parameters,
+  rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr & node_topics,
+  const std::string & topic_name,
+  const rclcpp::QoS & qos,
+  CallbackT && callback,
+  const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
+    rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
+  ),
+  typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (
+    MessageMemoryStrategyT::create_default()
+  )
+)
+{
+  return rclcpp::detail::create_subscription<
+    MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT, MessageMemoryStrategyT>(
+    node_parameters, node_topics, topic_name, qos,
+    std::forward<CallbackT>(callback), options, msg_mem_strat);
+}
 
 }  // namespace rclcpp