Update Bin entity creation API (#213) (#214)

* Update Bin entity creation API

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Fix

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Fix

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Fix

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Update .github/workflows/ci.yml

* Update .github/workflows/ci.yml

(cherry picked from commit d5985d6)

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

Author: mergify[bot]

rmw_microxrcedds_c/src/rmw_client.c

@@ -140,6 +140,7 @@ rmw_create_client(
       res_type_name,
       req_topic_name,
       res_topic_name,
+      convert_qos_profile(qos_policies),
       UXR_REPLACE | UXR_REUSE);
 #endif /* ifdef RMW_UXRCE_USE_XML */
 

rmw_microxrcedds_c/src/rmw_microros_internal/utils.h

@@ -25,6 +25,8 @@ bool run_xrce_session(
   uint16_t requests,
   int timeout);
 
+uxrQoS_t convert_qos_profile(const rmw_qos_profile_t * rmw_qos);
+
 int generate_name(
   const uxrObjectId * id,
   char name[],

rmw_microxrcedds_c/src/rmw_publisher.c

@@ -198,33 +198,13 @@ rmw_create_publisher(
       custom_publisher->datawriter_id,
       custom_publisher->publisher_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE | UXR_REUSE);
   #else
-    bool reliability = qos_policies->reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE ||
-      qos_policies->reliability == RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
-    bool history = qos_policies->history == RMW_QOS_POLICY_HISTORY_KEEP_LAST;
-
-    uxrQoSDurability durability;
-    switch (qos_policies->durability) {
-      case RMW_QOS_POLICY_DURABILITY_VOLATILE:
-        durability = UXR_DURABILITY_VOLATILE;
-        break;
-      case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
-      case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
-      case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
-      default:
-        durability = UXR_DURABILITY_TRANSIENT_LOCAL;
-        break;
-    }
-
     datawriter_req = uxr_buffer_create_datawriter_bin(
       &custom_publisher->owner_node->context->session,
       *custom_node->context->creation_stream,
       custom_publisher->datawriter_id,
       custom_publisher->publisher_id,
       custom_publisher->topic->topic_id,
-      reliability,
-      history,
-      qos_policies->depth,
-      durability,
+      convert_qos_profile(qos_policies),
       UXR_REPLACE | UXR_REUSE);
   #endif /* ifdef RMW_UXRCE_USE_REFS */
 

rmw_microxrcedds_c/src/rmw_service.c

@@ -137,6 +137,7 @@ rmw_create_service(
       res_type_name,
       req_topic_name,
       res_topic_name,
+      convert_qos_profile(qos_policies),
       UXR_REPLACE | UXR_REUSE);
 #endif /* ifdef RMW_UXRCE_USE_XML */
 

rmw_microxrcedds_c/src/rmw_subscription.c

@@ -183,33 +183,13 @@ rmw_create_subscription(
       *custom_node->context->creation_stream, custom_subscription->datareader_id,
       custom_subscription->subscriber_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE | UXR_REUSE);
 #else
-    bool reliability = qos_policies->reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE ||
-      qos_policies->reliability == RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT;
-    bool history = qos_policies->history == RMW_QOS_POLICY_HISTORY_KEEP_LAST;
-
-    uxrQoSDurability durability;
-    switch (qos_policies->durability) {
-      case RMW_QOS_POLICY_DURABILITY_VOLATILE:
-        durability = UXR_DURABILITY_VOLATILE;
-        break;
-      case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
-      case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
-      case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
-      default:
-        durability = UXR_DURABILITY_TRANSIENT_LOCAL;
-        break;
-    }
-
     datareader_req = uxr_buffer_create_datareader_bin(
       &custom_node->context->session,
       *custom_node->context->creation_stream,
       custom_subscription->datareader_id,
       custom_subscription->subscriber_id,
       custom_subscription->topic->topic_id,
-      reliability,
-      history,
-      qos_policies->depth,
-      durability,
+      convert_qos_profile(qos_policies),
       UXR_REPLACE | UXR_REUSE);
 #endif /* ifdef RMW_UXRCE_USE_XML */
 

rmw_microxrcedds_c/src/utils.c

@@ -49,6 +49,55 @@ bool run_xrce_session(
   return true;
 }
 
+uxrQoS_t convert_qos_profile(const rmw_qos_profile_t * rmw_qos)
+{
+  uxrQoSDurability durability;
+  switch (rmw_qos->durability) {
+    case RMW_QOS_POLICY_DURABILITY_VOLATILE:
+      durability = UXR_DURABILITY_VOLATILE;
+      break;
+    case RMW_QOS_POLICY_DURABILITY_UNKNOWN:
+    case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:
+    case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
+    default:
+      durability = UXR_DURABILITY_TRANSIENT_LOCAL;
+      break;
+  }
+
+  uxrQoSReliability reliability;
+  switch (rmw_qos->reliability) {
+    case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
+      reliability = UXR_RELIABILITY_BEST_EFFORT;
+      break;
+    case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
+    case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
+    default:
+      reliability = UXR_RELIABILITY_RELIABLE;
+      break;
+  }
+
+  uxrQoSHistory history;
+  switch (rmw_qos->history) {
+    case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
+      history = UXR_HISTORY_KEEP_ALL;
+      break;
+    case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
+    default:
+      history = UXR_HISTORY_KEEP_LAST;
+      break;
+  }
+
+  uxrQoS_t qos = {
+    .durability = durability,
+    .reliability = reliability,
+    .history = history,
+    .depth = rmw_qos->depth,
+  };
+
+  return qos;
+}
+
+
 int build_participant_xml(
   size_t domain_id,
   const char * participant_name,