Add Serv/Cli request/response QoS getters

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>

rclcpp/include/rclcpp/client.hpp

@@ -216,7 +216,7 @@ class ClientBase
   bool
   exchange_in_use_by_wait_set_state(bool in_use_state);
 
-  /// Get the actual QoS settings, after the defaults have been determined.
+  /// Get the actual request publsher QoS settings, after the defaults have been determined.
   /**
    * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
    * can only be resolved after the creation of the client, and it
@@ -225,12 +225,29 @@ class ClientBase
    * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
    * May throw runtime_error when an unexpected error occurs.
    *
-   * \return The actual qos settings.
+   * \return The actual request publsher qos settings.
    * \throws std::runtime_error if failed to get qos settings
    */
   RCLCPP_PUBLIC
   rclcpp::QoS
-  get_actual_qos() const;
+  get_request_publisher_actual_qos() const;
+
+  /// Get the actual response subscription QoS settings, after the defaults have been determined.
+  /**
+   * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
+   * can only be resolved after the creation of the client, and it
+   * depends on the underlying rmw implementation.
+   * If the underlying setting in use can't be represented in ROS terms,
+   * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
+   * May throw runtime_error when an unexpected error occurs.
+   *
+   * \return The actual response subscription qos settings.
+   * \throws std::runtime_error if failed to get qos settings
+   */
+  RCLCPP_PUBLIC
+  rclcpp::QoS
+  get_response_subscription_actual_qos() const;
+
 
 protected:
   RCLCPP_DISABLE_COPY(ClientBase)

rclcpp/include/rclcpp/service.hpp

@@ -122,7 +122,7 @@ class ServiceBase
   bool
   exchange_in_use_by_wait_set_state(bool in_use_state);
 
-  /// Get the actual QoS settings, after the defaults have been determined.
+  /// Get the actual response publisher QoS settings, after the defaults have been determined.
   /**
    * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
    * can only be resolved after the creation of the service, and it
@@ -131,12 +131,28 @@ class ServiceBase
    * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
    * May throw runtime_error when an unexpected error occurs.
    *
-   * \return The actual qos settings.
+   * \return The actual response publisher qos settings.
    * \throws std::runtime_error if failed to get qos settings
    */
   RCLCPP_PUBLIC
   rclcpp::QoS
-  get_actual_qos() const;
+  get_response_publisher_actual_qos() const;
+
+  /// Get the actual request subscription QoS settings, after the defaults have been determined.
+  /**
+   * The actual configuration applied when using RMW_QOS_POLICY_*_SYSTEM_DEFAULT
+   * can only be resolved after the creation of the service, and it
+   * depends on the underlying rmw implementation.
+   * If the underlying setting in use can't be represented in ROS terms,
+   * it will be set to RMW_QOS_POLICY_*_UNKNOWN.
+   * May throw runtime_error when an unexpected error occurs.
+   *
+   * \return The actual request subscription qos settings.
+   * \throws std::runtime_error if failed to get qos settings
+   */
+  RCLCPP_PUBLIC
+  rclcpp::QoS
+  get_request_subscription_actual_qos() const;
 
 protected:
   RCLCPP_DISABLE_COPY(ServiceBase)

rclcpp/src/rclcpp/client.cpp

@@ -200,14 +200,37 @@ ClientBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 }
 
 rclcpp::QoS
-ClientBase::get_actual_qos() const
+ClientBase::get_request_publisher_actual_qos() const
 {
-  const rmw_qos_profile_t * qos = rcl_client_get_actual_qos(client_handle_.get());
+  const rmw_qos_profile_t * qos =
+    rcl_client_request_publisher_get_actual_qos(client_handle_.get());
   if (!qos) {
-    auto msg = std::string("failed to get client qos settings: ") + rcl_get_error_string().str;
+    auto msg = std::string("failed to get client's request publisher qos settings: ")
+       + rcl_get_error_string().str;
     rcl_reset_error();
     throw std::runtime_error(msg);
   }
 
-  return rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+  rclcpp::QoS request_publisher_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+
+  return request_publisher_qos;
+}
+
+rclcpp::QoS
+ClientBase::get_response_subscription_actual_qos() const
+{
+  const rmw_qos_profile_t * qos =
+    rcl_client_response_subscription_get_actual_qos(client_handle_.get());
+  if (!qos) {
+    auto msg = std::string("failed to get client's response subscription qos settings: ")
+       + rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(msg);
+  }
+
+  rclcpp::QoS response_subscription_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+
+  return response_subscription_qos;
 }

rclcpp/src/rclcpp/service.cpp

@@ -86,14 +86,37 @@ ServiceBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 }
 
 rclcpp::QoS
-ServiceBase::get_actual_qos() const
+ServiceBase::get_response_publisher_actual_qos() const
 {
-  const rmw_qos_profile_t * qos = rcl_service_get_actual_qos(service_handle_.get());
+  const rmw_qos_profile_t* qos =
+      rcl_service_response_publisher_get_actual_qos(service_handle_.get());
   if (!qos) {
-    auto msg = std::string("failed to get service qos settings: ") + rcl_get_error_string().str;
+    auto msg = std::string("failed to get service's response publisher qos settings: ") +
+        rcl_get_error_string().str;
     rcl_reset_error();
     throw std::runtime_error(msg);
   }
 
-  return rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+  rclcpp::QoS response_publisher_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+
+  return response_publisher_qos;
+}
+
+rclcpp::QoS
+ServiceBase::get_request_subscription_actual_qos() const
+{
+  const rmw_qos_profile_t* qos =
+      rcl_service_request_subscription_get_actual_qos(service_handle_.get());
+  if (!qos) {
+    auto msg = std::string("failed to get service's request subscription qos settings: ") +
+        rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(msg);
+  }
+
+  rclcpp::QoS request_subscription_qos =
+      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(*qos), *qos);
+
+  return request_subscription_qos;
 }

rclcpp/test/rclcpp/test_client.cpp

@@ -342,58 +342,44 @@ TEST_F(TestClientWithServer, take_response) {
   }
 }
 
-TEST_F(TestClient, rcl_client_get_actual_qos_error) {
+TEST_F(TestClient, rcl_client_request_publisher_get_actual_qos_error) {
   auto mock = mocking_utils::patch_and_return(
-    "lib:rclcpp", rcl_client_get_actual_qos, nullptr);
-  const std::string service_name = "service";
-  auto client = node->create_client<test_msgs::srv::Empty>(service_name);
+    "lib:rclcpp", rcl_client_request_publisher_get_actual_qos, nullptr);
+  auto client = node->create_client<test_msgs::srv::Empty>("service");
   RCLCPP_EXPECT_THROW_EQ(
-    client->get_actual_qos(),
-    std::runtime_error("failed to get client qos settings: error not set"));
+    client->get_request_publisher_actual_qos(),
+    std::runtime_error("failed to get client's request publisher qos settings: error not set"));
 }
 
-TEST_F(TestClient, client_qos_error) {
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_system_default;
-  EXPECT_THROW(
-    node->create_client<test_msgs::srv::Empty>("client", qos_profile),
-    rclcpp::exceptions::RCLError);
+TEST_F(TestClient, rcl_client_response_subscription_get_actual_qos_error) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_client_response_subscription_get_actual_qos, nullptr);
+  auto client = node->create_client<test_msgs::srv::Empty>("service");
+  RCLCPP_EXPECT_THROW_EQ(
+    client->get_response_subscription_actual_qos(),
+    std::runtime_error("failed to get client's response subscription qos settings: error not set"));
 }
 
 TEST_F(TestClient, client_qos) {
-  rmw_qos_profile_t qos_profile;
-  qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
-  qos_profile.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_services_default;
   qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
-  qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
-  qos_profile.depth = 1;
-  uint64_t duration = 2;
-  qos_profile.deadline.sec = duration;
-  qos_profile.lifespan.sec = duration;
-  qos_profile.liveliness_lease_duration.sec = duration;
-  qos_profile.deadline.nsec = 0;
-  qos_profile.lifespan.nsec = 0;
-  qos_profile.liveliness_lease_duration.nsec = 0;
-  qos_profile.avoid_ros_namespace_conventions = false;
-
-  auto client = node->create_client<test_msgs::srv::Empty>("client", qos_profile);
-
-  EXPECT_EQ(rclcpp::ReliabilityPolicy::BestEffort, client->get_actual_qos().reliability());
-  EXPECT_EQ(rclcpp::DurabilityPolicy::Volatile, client->get_actual_qos().durability());
-  EXPECT_EQ(rclcpp::LivelinessPolicy::Automatic, client->get_actual_qos().liveliness());
-  EXPECT_EQ(rclcpp::HistoryPolicy::KeepLast, client->get_actual_qos().history());
-  EXPECT_EQ(qos_profile.depth, client->get_actual_qos().depth());
-  EXPECT_EQ(
-    duration,
-    static_cast<uint64_t>(client->get_actual_qos().deadline().seconds()));
-  EXPECT_EQ(
-    duration,
-    static_cast<uint64_t>(client->get_actual_qos().lifespan().seconds()));
-  EXPECT_EQ(
-    duration,
-    static_cast<uint64_t>(client->get_actual_qos().liveliness_lease_duration().seconds()));
-  EXPECT_EQ(
-    qos_profile.avoid_ros_namespace_conventions,
-    client->get_actual_qos().avoid_ros_namespace_conventions());
+  uint64_t duration = 1;
+  qos_profile.deadline = {duration, duration};
+  qos_profile.lifespan = {duration, duration};
+  qos_profile.liveliness_lease_duration = {duration, duration};
+
+  auto client =
+      node->create_client<test_msgs::srv::Empty>("client", qos_profile);
+
+  auto init_qos =
+   rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile), qos_profile);
+  auto rp_qos = client->get_request_publisher_actual_qos();
+  auto rs_qos = client->get_response_subscription_actual_qos();
+
+  EXPECT_EQ(init_qos, rp_qos);
+  // Lifespan has no meaning for subscription/readers
+  rs_qos.lifespan(qos_profile.lifespan);
+  EXPECT_EQ(init_qos, rs_qos);
 }
 
 TEST_F(TestClient, client_qos_depth) {

rclcpp/test/rclcpp/test_service.cpp

@@ -237,66 +237,53 @@ TEST_F(TestService, send_response) {
   }
 }
 
-TEST_F(TestService, rcl_service_get_actual_qos_error) {
+TEST_F(TestService, rcl_service_response_publisher_get_actual_qos_error) {
   auto mock = mocking_utils::patch_and_return(
-    "lib:rclcpp", rcl_service_get_actual_qos, nullptr);
+    "lib:rclcpp", rcl_service_response_publisher_get_actual_qos, nullptr);
   auto callback =
     [](const test_msgs::srv::Empty::Request::SharedPtr,
       test_msgs::srv::Empty::Response::SharedPtr) {};
   auto server = node->create_service<test_msgs::srv::Empty>("service", callback);
   RCLCPP_EXPECT_THROW_EQ(
-    server->get_actual_qos(),
-    std::runtime_error("failed to get service qos settings: error not set"));
+    server->get_response_publisher_actual_qos(),
+    std::runtime_error("failed to get service's response publisher qos settings: error not set"));
 }
 
-TEST_F(TestService, server_qos_error) {
-  rmw_qos_profile_t qos_profile = rmw_qos_profile_system_default;
-  auto callback = [](const test_msgs::srv::Empty::Request::SharedPtr,
+TEST_F(TestService, rcl_service_request_subscription_get_actual_qos_error) {
+  auto mock = mocking_utils::patch_and_return(
+    "lib:rclcpp", rcl_service_request_subscription_get_actual_qos, nullptr);
+  auto callback =
+    [](const test_msgs::srv::Empty::Request::SharedPtr,
       test_msgs::srv::Empty::Response::SharedPtr) {};
-
-  EXPECT_THROW(
-    node->create_service<test_msgs::srv::Empty>("service", callback, qos_profile),
-    rclcpp::exceptions::RCLError);
+  auto server = node->create_service<test_msgs::srv::Empty>("service", callback);
+  RCLCPP_EXPECT_THROW_EQ(
+    server->get_request_subscription_actual_qos(),
+    std::runtime_error("failed to get service's request subscription qos settings: error not set"));
 }
 
+
 TEST_F(TestService, server_qos) {
-  rmw_qos_profile_t qos_profile;
-  qos_profile.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
-  qos_profile.durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
+  rmw_qos_profile_t qos_profile = rmw_qos_profile_services_default;
   qos_profile.liveliness = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC;
-  qos_profile.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
-  qos_profile.depth = 1;
-  uint64_t duration = 2;
-  qos_profile.deadline.sec = duration;
-  qos_profile.lifespan.sec = duration;
-  qos_profile.liveliness_lease_duration.sec = duration;
-  qos_profile.deadline.nsec = 0;
-  qos_profile.lifespan.nsec = 0;
-  qos_profile.liveliness_lease_duration.nsec = 0;
-  qos_profile.avoid_ros_namespace_conventions = false;
+  uint64_t duration = 1;
+  qos_profile.deadline = {duration, duration};
+  qos_profile.lifespan = {duration, duration};
+  qos_profile.liveliness_lease_duration = {duration, duration};
 
   auto callback = [](const test_msgs::srv::Empty::Request::SharedPtr,
-      test_msgs::srv::Empty::Response::SharedPtr) {};
-
-  auto server = node->create_service<test_msgs::srv::Empty>("service", callback, qos_profile);
-
-  EXPECT_EQ(rclcpp::ReliabilityPolicy::BestEffort, server->get_actual_qos().reliability());
-  EXPECT_EQ(rclcpp::DurabilityPolicy::Volatile, server->get_actual_qos().durability());
-  EXPECT_EQ(rclcpp::LivelinessPolicy::Automatic, server->get_actual_qos().liveliness());
-  EXPECT_EQ(rclcpp::HistoryPolicy::KeepLast, server->get_actual_qos().history());
-  EXPECT_EQ(qos_profile.depth, server->get_actual_qos().depth());
-  EXPECT_EQ(
-    duration,
-    static_cast<uint64_t>(server->get_actual_qos().deadline().seconds()));
-  EXPECT_EQ(
-    duration,
-    static_cast<uint64_t>(server->get_actual_qos().lifespan().seconds()));
-  EXPECT_EQ(
-    duration,
-    static_cast<uint64_t>(server->get_actual_qos().liveliness_lease_duration().seconds()));
-  EXPECT_EQ(
-    qos_profile.avoid_ros_namespace_conventions,
-    server->get_actual_qos().avoid_ros_namespace_conventions());
+                     test_msgs::srv::Empty::Response::SharedPtr) {};
+
+  auto server = node->create_service<test_msgs::srv::Empty>("service", callback,
+                                                            qos_profile);
+  auto init_qos =
+    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile), qos_profile);
+  auto rs_qos = server->get_request_subscription_actual_qos();
+  auto rp_qos = server->get_response_publisher_actual_qos();
+
+  EXPECT_EQ(init_qos, rp_qos);
+  // Lifespan has no meaning for subscription/readers
+  rs_qos.lifespan(qos_profile.lifespan);
+  EXPECT_EQ(init_qos, rs_qos);
 }
 
 TEST_F(TestService, server_qos_depth) {