Durability QoS (#241)

* Durability QoS * Uncrustified * Remove default
eProsima · May 17, 2021 · 984d0b9 · 984d0b9
1 parent 29e709e
commit 984d0b9
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Showing 4 changed files with 54 additions and 12 deletions.
diff --git a/examples/BinaryEntityCreation/main.c b/examples/BinaryEntityCreation/main.c
@@ -96,15 +96,15 @@ int main(
 
     uxrObjectId datawriter_id = uxr_object_id(0x01, UXR_DATAWRITER_ID);
     uint16_t datawriter_req = uxr_buffer_create_datawriter_bin(&session, reliable_out, datawriter_id, publisher_id,
-                    topic_id, 1, 1, 1, UXR_REPLACE);
+                    topic_id, 1, 1, UXR_DURABILITY_TRANSIENT_LOCAL, UXR_REPLACE);
 
     uxrObjectId subscriber_id = uxr_object_id(0x01, UXR_SUBSCRIBER_ID);
     uint16_t subscriber_req = uxr_buffer_create_subscriber_bin(&session, reliable_out, subscriber_id, participant_id,
                     UXR_REPLACE);
 
     uxrObjectId datareader_id = uxr_object_id(0x01, UXR_DATAREADER_ID);
     uint16_t datareader_req = uxr_buffer_create_datareader_bin(&session, reliable_out, datareader_id, subscriber_id,
-                    topic_id, 1, 1, 1, UXR_REPLACE);
+                    topic_id, 1, 1, UXR_DURABILITY_TRANSIENT_LOCAL, UXR_REPLACE);
 
     // Send create entities message and wait its status
     uint16_t requests[] = {

diff --git a/include/uxr/client/core/session/create_entities_bin.h b/include/uxr/client/core/session/create_entities_bin.h
@@ -115,6 +115,18 @@ UXRDLLAPI uint16_t uxr_buffer_create_subscriber_bin(
         uxrObjectId participant_id,
         uint8_t mode);
 
+/**
+ * The enum that identifies the durability of the QoS of the DDS entity.
+ */
+
+typedef enum uxrQoSDurability
+{
+    UXR_DURABILITY_VOLATILE = 0,
+    UXR_DURABILITY_TRANSIENT_LOCAL,
+    UXR_DURABILITY_TRANSIENT,
+    UXR_DURABILITY_PERSISTENT
+} uxrQoSDurability;
+
 /**
  * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataWriter payload.
  *        The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called.
@@ -142,7 +154,7 @@ UXRDLLAPI uint16_t uxr_buffer_create_datawriter_bin(
         uxrObjectId topic_id,
         bool reliable,
         bool keep_last,
-        bool transient_local,
+        uxrQoSDurability durability,
         uint8_t mode);
 
 /**
@@ -172,7 +184,7 @@ UXRDLLAPI uint16_t uxr_buffer_create_datareader_bin(
         uxrObjectId topic_id,
         bool reliable,
         bool keep_last,
-        bool transient_local,
+        uxrQoSDurability durability,
         uint8_t mode);
 /**
  * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Requester payload.

diff --git a/src/c/core/session/create_entities_bin.c b/src/c/core/session/create_entities_bin.c
@@ -1,3 +1,5 @@
+#include <uxr/client/core/session/create_entities_bin.h>
+
 #include <uxr/client/core/type/xrce_types.h>
 
 #include "common_create_entities_internal.h"
@@ -122,7 +124,7 @@ uint16_t uxr_buffer_create_datawriter_bin(
         uxrObjectId topic_id,
         bool reliable,
         bool keep_last,
-        bool transient_local,
+        uxrQoSDurability durability,
         uint8_t mode)
 {
     CREATE_Payload payload;
@@ -148,9 +150,23 @@ uint16_t uxr_buffer_create_datawriter_bin(
     {
         datawriter.qos.base.qos_flags |= is_history_keep_last;
     }
-    if (transient_local)
+
+    switch (durability)
     {
-        datawriter.qos.base.qos_flags |= is_durability_transient_local;
+        case UXR_DURABILITY_VOLATILE:
+            // datawriter.qos.base.qos_flags all flags zeroed
+            break;
+        case UXR_DURABILITY_TRANSIENT_LOCAL:
+            datawriter.qos.base.qos_flags |= is_durability_transient_local;
+            break;
+        case UXR_DURABILITY_TRANSIENT:
+            datawriter.qos.base.qos_flags |= is_durability_transient;
+            break;
+        case UXR_DURABILITY_PERSISTENT:
+            datawriter.qos.base.qos_flags |= is_durability_persistent;
+            break;
+        default:
+            break;
     }
 
     UXR_ADD_SHARED_MEMORY_ENTITY_BIN(session, object_id, &datawriter);
@@ -172,7 +188,7 @@ uint16_t uxr_buffer_create_datareader_bin(
         uxrObjectId topic_id,
         bool reliable,
         bool keep_last,
-        bool transient_local,
+        uxrQoSDurability durability,
         uint8_t mode)
 {
     CREATE_Payload payload;
@@ -199,9 +215,23 @@ uint16_t uxr_buffer_create_datareader_bin(
     {
         datareader.qos.base.qos_flags |= is_history_keep_last;
     }
-    if (transient_local)
+
+    switch (durability)
     {
-        datareader.qos.base.qos_flags |= is_durability_transient_local;
+        case UXR_DURABILITY_VOLATILE:
+            // datawriter.qos.base.qos_flags all flags zeroed
+            break;
+        case UXR_DURABILITY_TRANSIENT_LOCAL:
+            datareader.qos.base.qos_flags |= is_durability_transient_local;
+            break;
+        case UXR_DURABILITY_TRANSIENT:
+            datareader.qos.base.qos_flags |= is_durability_transient;
+            break;
+        case UXR_DURABILITY_PERSISTENT:
+            datareader.qos.base.qos_flags |= is_durability_persistent;
+            break;
+        default:
+            break;
     }
 
     UXR_ADD_SHARED_MEMORY_ENTITY_BIN(session, object_id, &datareader);

diff --git a/test/shared_memory/SharedMemory.cpp b/test/shared_memory/SharedMemory.cpp
@@ -87,7 +87,7 @@ class SharedMemoryTest : public ::testing::TestWithParam<XRCECreationMode>
                 uxr_buffer_create_topic_bin(&session, output_besteffort, topic_id, participant_id,
                         topic.c_str(), type.c_str(), UXR_REPLACE);
                 uxr_buffer_create_datawriter_bin(&session, output_besteffort, datawriter_id, publisher_id, topic_id, 1,
-                        1, 1, UXR_REPLACE);
+                        1, UXR_DURABILITY_TRANSIENT_LOCAL, UXR_REPLACE);
                 break;
             default:
                 // ASSERT_TRUE(0);
@@ -127,7 +127,7 @@ class SharedMemoryTest : public ::testing::TestWithParam<XRCECreationMode>
                 uxr_buffer_create_topic_bin(&session, output_besteffort, topic_id, participant_id,
                         topic.c_str(), type.c_str(), UXR_REPLACE);
                 uxr_buffer_create_datareader_bin(&session, output_besteffort, datareader_id, subscriber_id, topic_id, 1,
-                        1, 1, UXR_REPLACE);
+                        1, UXR_DURABILITY_TRANSIENT_LOCAL, UXR_REPLACE);
                 break;
             default:
                 // ASSERT_TRUE(0);