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add event_type_is_supported() for Publisher/Subscription. #3132

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add event_type_is_supported() for Publisher/Subscription. #3132

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15 changes: 15 additions & 0 deletions rclcpp/include/rclcpp/publisher_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,21 @@ class PublisherBase : public std::enable_shared_from_this<PublisherBase>
RCLCPP_PUBLIC
virtual ~PublisherBase();

/// Check if a publisher event type is supported by the active RMW implementation.
/**
* This API allows application code to introspect at runtime whether a
* particular publisher event type is supported by the currently loaded
* RMW implementation, enabling portable code that adapts gracefully
* when switching between RMW implementations.
*
* \param[in] event_type the publisher event type to check
* \return `true` if the event type is supported, `false` otherwise
*/
RCLCPP_PUBLIC
static
bool
event_type_is_supported(const rcl_publisher_event_type_t event_type);

/// Add event handlers for passed in event_callbacks.
RCLCPP_PUBLIC
void
Expand Down
15 changes: 15 additions & 0 deletions rclcpp/include/rclcpp/subscription_base.hpp
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Expand Up @@ -117,6 +117,21 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
RCLCPP_PUBLIC
virtual ~SubscriptionBase();

/// Check if a subscription event type is supported by the active RMW implementation.
/**
* This API allows application code to introspect at runtime whether a
* particular subscription event type is supported by the currently loaded
* RMW implementation, enabling portable code that adapts gracefully
* when switching between RMW implementations.
*
* \param[in] event_type the subscription event type to check
* \return `true` if the event type is supported, `false` otherwise
*/
RCLCPP_PUBLIC
static
bool
event_type_is_supported(const rcl_subscription_event_type_t event_type);

/// Add event handlers for passed in event_callbacks.
RCLCPP_PUBLIC
void
Expand Down
7 changes: 7 additions & 0 deletions rclcpp/src/rclcpp/publisher_base.cpp
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Expand Up @@ -25,6 +25,7 @@
#include <unordered_map>
#include <vector>

#include "rcl/event.h"
#include "rcutils/logging_macros.h"
#include "rmw/impl/cpp/demangle.hpp"

Expand Down Expand Up @@ -131,6 +132,12 @@ PublisherBase::get_topic_name() const
return rcl_publisher_get_topic_name(publisher_handle_.get());
}

bool
PublisherBase::event_type_is_supported(const rcl_publisher_event_type_t event_type)
{
return rcl_publisher_event_type_is_supported(event_type);
}

void
PublisherBase::bind_event_callbacks(
const PublisherEventCallbacks & event_callbacks, bool use_default_callbacks)
Expand Down
7 changes: 7 additions & 0 deletions rclcpp/src/rclcpp/subscription_base.cpp
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Expand Up @@ -30,6 +30,7 @@
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/event_handler.hpp"

#include "rcl/event.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"

Expand Down Expand Up @@ -108,6 +109,12 @@ SubscriptionBase::~SubscriptionBase()
ipm->remove_subscription(intra_process_subscription_id_);
}

bool
SubscriptionBase::event_type_is_supported(const rcl_subscription_event_type_t event_type)
{
return rcl_subscription_event_type_is_supported(event_type);
}

void
SubscriptionBase::bind_event_callbacks(
const SubscriptionEventCallbacks & event_callbacks, bool use_default_callbacks)
Expand Down
86 changes: 71 additions & 15 deletions rclcpp/test/rclcpp/test_qos_event.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "rcl/event.h"
#include "rcutils/logging.h"
#include "rmw/rmw.h"
#include "test_msgs/msg/empty.hpp"
Expand Down Expand Up @@ -73,8 +74,8 @@ TEST_F(TestQosEvent, test_publisher_constructor)
auto publisher = node->create_publisher<test_msgs::msg::Empty>(
topic_name, 10, options);

if (rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_LOST))
if (rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED) &&
rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_LIVELINESS_LOST))
Comment on lines +77 to +78
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@fujitatomoya fujitatomoya Apr 15, 2026

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now we have these APIs, so that call rclcpp APIs instead of rmws.

{
// options arg with one of the callbacks
options.event_callbacks.deadline_callback =
Expand Down Expand Up @@ -123,8 +124,9 @@ TEST_F(TestQosEvent, test_subscription_constructor)
auto subscription = node->create_subscription<test_msgs::msg::Empty>(
topic_name, 10, message_callback, options);

if (rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_CHANGED))
if (rclcpp::SubscriptionBase::event_type_is_supported(
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED) &&
rclcpp::SubscriptionBase::event_type_is_supported(RCL_SUBSCRIPTION_LIVELINESS_CHANGED))
{
// options arg with one of the callbacks
options.event_callbacks.deadline_callback =
Expand Down Expand Up @@ -239,7 +241,7 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {
// This callback requires some type of parameter, but it could be anything
auto callback = [](int) {};
const rcl_publisher_event_type_t event_type =
!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) ?
!rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED) ?
RCL_PUBLISHER_MATCHED : RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;

{
Expand Down Expand Up @@ -277,7 +279,7 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {
}

TEST_F(TestQosEvent, execute) {
if (!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED)) {
if (!rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED)) {
GTEST_SKIP();
}

Expand Down Expand Up @@ -314,7 +316,7 @@ TEST_F(TestQosEvent, add_to_wait_set) {
auto callback = [](int) {};

const rcl_publisher_event_type_t event_type =
!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) ?
!rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED) ?
RCL_PUBLISHER_MATCHED : RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;

rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
Expand All @@ -338,8 +340,9 @@ TEST_F(TestQosEvent, add_to_wait_set) {

TEST_F(TestQosEvent, test_on_new_event_callback)
{
if (!rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED) ||
!rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED))
if (!rclcpp::SubscriptionBase::event_type_is_supported(
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED) ||
!rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED))
{
GTEST_SKIP();
}
Expand Down Expand Up @@ -389,8 +392,8 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
auto dummy_cb = [](size_t count_events) {(void)count_events;};

if (rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_LOST))
if (rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED) &&
rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_LIVELINESS_LOST))
{
EXPECT_NO_THROW(
pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED));
Expand All @@ -416,8 +419,9 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
EXPECT_NO_THROW(
pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_MATCHED));

if (rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_LIVELINESS_CHANGED))
if (rclcpp::SubscriptionBase::event_type_is_supported(
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED) &&
rclcpp::SubscriptionBase::event_type_is_supported(RCL_SUBSCRIPTION_LIVELINESS_CHANGED))
{
EXPECT_NO_THROW(
sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));
Expand All @@ -443,8 +447,9 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
EXPECT_NO_THROW(
sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_MATCHED));

if (rmw_event_type_is_supported(RMW_EVENT_REQUESTED_DEADLINE_MISSED) &&
rmw_event_type_is_supported(RMW_EVENT_OFFERED_DEADLINE_MISSED))
if (rclcpp::SubscriptionBase::event_type_is_supported(
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED) &&
rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED))
{
std::function<void(size_t)> invalid_cb;

Expand Down Expand Up @@ -639,3 +644,54 @@ TEST_F(TestQosEvent, test_sub_matched_event_by_option_event_callback)
}
ex.spin_until_future_complete(prom.get_future(), timeout);
}

/*
* Test rclcpp::PublisherBase::event_type_is_supported
*/
TEST_F(TestQosEvent, test_publisher_event_type_is_supported)
{
// Verify rclcpp results are consistent with the underlying rcl results
EXPECT_EQ(
rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED),
rcl_publisher_event_type_is_supported(RCL_PUBLISHER_OFFERED_DEADLINE_MISSED));
EXPECT_EQ(
rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_LIVELINESS_LOST),
rcl_publisher_event_type_is_supported(RCL_PUBLISHER_LIVELINESS_LOST));
EXPECT_EQ(
rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS),
rcl_publisher_event_type_is_supported(RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS));
EXPECT_EQ(
rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_INCOMPATIBLE_TYPE),
rcl_publisher_event_type_is_supported(RCL_PUBLISHER_INCOMPATIBLE_TYPE));
EXPECT_EQ(
rclcpp::PublisherBase::event_type_is_supported(RCL_PUBLISHER_MATCHED),
rcl_publisher_event_type_is_supported(RCL_PUBLISHER_MATCHED));
}

/*
* Test rclcpp::SubscriptionBase::event_type_is_supported
*/
TEST_F(TestQosEvent, test_subscription_event_type_is_supported)
{
// Verify rclcpp results are consistent with the underlying rcl results
EXPECT_EQ(
rclcpp::SubscriptionBase::event_type_is_supported(
RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED),
rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));
EXPECT_EQ(
rclcpp::SubscriptionBase::event_type_is_supported(RCL_SUBSCRIPTION_LIVELINESS_CHANGED),
rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_LIVELINESS_CHANGED));
EXPECT_EQ(
rclcpp::SubscriptionBase::event_type_is_supported(
RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS),
rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS));
EXPECT_EQ(
rclcpp::SubscriptionBase::event_type_is_supported(RCL_SUBSCRIPTION_MESSAGE_LOST),
rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_MESSAGE_LOST));
EXPECT_EQ(
rclcpp::SubscriptionBase::event_type_is_supported(RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE),
rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE));
EXPECT_EQ(
rclcpp::SubscriptionBase::event_type_is_supported(RCL_SUBSCRIPTION_MATCHED),
rcl_subscription_event_type_is_supported(RCL_SUBSCRIPTION_MATCHED));
}