Add convenience name translations for use by commandline utilities etc.

rclpy/rclpy/qos.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from enum import Enum
 from enum import IntEnum
 import warnings
 
@@ -228,53 +229,78 @@ def __eq__(self, other):
             for slot in self.__slots__)
 
 
-class QoSHistoryPolicy(IntEnum):
+class QoSPolicyEnum(IntEnum):
+    """
+    Base for QoS Policy enumerations.
+
+    Provides helper function to filter keys for utilities.
+    """
+
+    @classmethod
+    def short_keys(cls):
+        return [k for k in cls.__members__.keys() if not k.startswith('RMW')]
+
+
+class QoSHistoryPolicy(QoSPolicyEnum):
     """
     Enum for QoS History settings.
 
     This enum matches the one defined in rmw/types.h
     """
 
     RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT = 0
+    system_default = RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT
     RMW_QOS_POLICY_HISTORY_KEEP_LAST = 1
+    keep_last = RMW_QOS_POLICY_HISTORY_KEEP_LAST
     RMW_QOS_POLICY_HISTORY_KEEP_ALL = 2
+    keep_all = RMW_QOS_POLICY_HISTORY_KEEP_ALL
 
 
-class QoSReliabilityPolicy(IntEnum):
+class QoSReliabilityPolicy(QoSPolicyEnum):
     """
     Enum for QoS Reliability settings.
 
     This enum matches the one defined in rmw/types.h
     """
 
     RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT = 0
+    system_default = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT
     RMW_QOS_POLICY_RELIABILITY_RELIABLE = 1
+    reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE
     RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT = 2
+    best_effort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
 
 
-class QoSDurabilityPolicy(IntEnum):
+class QoSDurabilityPolicy(QoSPolicyEnum):
     """
     Enum for QoS Durability settings.
 
     This enum matches the one defined in rmw/types.h
     """
 
     RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT = 0
+    system_default = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT
     RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL = 1
+    transient_local = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
     RMW_QOS_POLICY_DURABILITY_VOLATILE = 2
+    volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE
 
 
-class QoSLivelinessPolicy(IntEnum):
+class QoSLivelinessPolicy(QoSPolicyEnum):
     """
     Enum for QoS Liveliness settings.
 
     This enum matches the one defined in rmw/types.h
     """
 
     RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT = 0
+    system_default = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT
     RMW_QOS_POLICY_LIVELINESS_AUTOMATIC = 1
+    automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC
     RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE = 2
+    manual_by_node = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE
     RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC = 3
+    manual_by_topic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC
 
 
 class DeprecatedQoSProfile(QoSProfile):
@@ -308,3 +334,12 @@ def __init__(self, qos_profile: QoSProfile, profile_name: str):
     'qos_profile_parameter_events')
 qos_profile_action_status_default = _rclpy_action.rclpy_action_get_rmw_qos_profile(
     'rcl_action_qos_profile_status_default')
+
+
+class QoSPresetProfiles(Enum):
+    system_default = qos_profile_system_default
+    sensor_data = qos_profile_sensor_data
+    services_default = qos_profile_services_default
+    parameters = qos_profile_parameters
+    parameter_events = qos_profile_parameter_events
+    action_status_default = qos_profile_action_status_default

rclpy/test/test_qos.py

@@ -17,9 +17,11 @@
 
 from rclpy.duration import Duration
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+from rclpy.qos import qos_profile_system_default
 from rclpy.qos import QoSDurabilityPolicy
 from rclpy.qos import QoSHistoryPolicy
 from rclpy.qos import QoSLivelinessPolicy
+from rclpy.qos import QoSPresetProfiles
 from rclpy.qos import QoSProfile
 from rclpy.qos import QoSReliabilityPolicy
 
@@ -120,3 +122,17 @@ def test_deprecation_warnings(self):
             # No deprecation if only depth
             QoSProfile(depth=1)
             assert len(w) == 0, str(w[-1].message)
+
+    def test_policy_short_names(self):
+        # Full test on History to show the mechanism works
+        assert QoSHistoryPolicy.short_keys() == ['system_default', 'keep_last', 'keep_all']
+        assert (
+            QoSHistoryPolicy['system_default'] ==
+            QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT)
+        assert QoSHistoryPolicy['keep_all'] == QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_ALL
+        assert QoSHistoryPolicy['keep_last'] == QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST
+
+    def test_preset_profiles(self):
+        # Make sure the Enum does what we expect
+        assert QoSPresetProfiles.system_default.value == qos_profile_system_default
+        assert QoSPresetProfiles['system_default'] == QoSPresetProfiles.system_default