Add message lost event

rmw/include/rmw/event.h

@@ -29,13 +29,14 @@ extern "C"
 #include "rmw/ret_types.h"
 #include "rmw/visibility_control.h"
 
-/// Define QoS policy events
+/// Define publisher/subscription events
 typedef enum rmw_event_type_t
 {
   // subscription events
   RMW_EVENT_LIVELINESS_CHANGED,
   RMW_EVENT_REQUESTED_DEADLINE_MISSED,
   RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE,
+  RMW_EVENT_MESSAGE_LOST,
 
   // publisher events
   RMW_EVENT_LIVELINESS_LOST,

rmw/include/rmw/events_statuses/events_statuses.h

@@ -0,0 +1,25 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__EVENTS_STATUSES__EVENTS_STATUSES_H_
+#define RMW__EVENTS_STATUSES__EVENTS_STATUSES_H_
+
+#include "rmw/events_statuses/incompatible_qos.h"
+#include "rmw/events_statuses/liveliness_changed.h"
+#include "rmw/events_statuses/liveliness_lost.h"
+#include "rmw/events_statuses/message_lost.h"
+#include "rmw/events_statuses/offered_deadline_missed.h"
+#include "rmw/events_statuses/requested_deadline_missed.h"
+
+#endif  // RMW__EVENTS_STATUSES__EVENTS_STATUSES_H_

rmw/include/rmw/events_statuses/incompatible_qos.h

@@ -0,0 +1,68 @@
+// Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__EVENTS_STATUSES__INCOMPATIBLE_QOS_H_
+#define RMW__EVENTS_STATUSES__INCOMPATIBLE_QOS_H_
+
+#include <stdint.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// QoS Policy Kinds
+typedef enum RMW_PUBLIC_TYPE rmw_qos_policy_kind_t
+{
+  RMW_QOS_POLICY_INVALID = 1 << 0,
+  RMW_QOS_POLICY_DURABILITY = 1 << 1,
+  RMW_QOS_POLICY_DEADLINE = 1 << 2,
+  RMW_QOS_POLICY_LIVELINESS = 1 << 3,
+  RMW_QOS_POLICY_RELIABILITY = 1 << 4,
+  RMW_QOS_POLICY_HISTORY = 1 << 5,
+  RMW_QOS_POLICY_LIFESPAN = 1 << 6
+} rmw_qos_policy_kind_t;
+
+struct RMW_PUBLIC_TYPE rmw_qos_incompatible_event_status_t
+{
+  /**
+   * Total cumulative number of times the concerned subscription discovered a
+   * publisher for the same topic with an offered QoS that was incompatible
+   * with that requested by the subscription.
+   */
+  int32_t total_count;
+  /**
+   * The change in total_count since the last time the status was read.
+   */
+  int32_t total_count_change;
+  /**
+   * The Qos Policy Kind of one of the policies that was found to be
+   * incompatible the last time an incompatibility was detected.
+   */
+  rmw_qos_policy_kind_t last_policy_kind;
+};
+
+/// Event state for a subscription's 'RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE' events.
+typedef struct rmw_qos_incompatible_event_status_t rmw_requested_qos_incompatible_event_status_t;
+
+/// Event state for a publisher's 'RMW_EVENT_OFFERED_QOS_INCOMPATIBLE' events.
+typedef struct rmw_qos_incompatible_event_status_t rmw_offered_qos_incompatible_event_status_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__EVENTS_STATUSES__INCOMPATIBLE_QOS_H_

rmw/include/rmw/events_statuses/liveliness_changed.h

@@ -0,0 +1,58 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__EVENTS_STATUSES__LIVELINESS_CHANGED_H_
+#define RMW__EVENTS_STATUSES__LIVELINESS_CHANGED_H_
+
+#include <stdint.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// QoS Liveliness Changed information provided by a subscription.
+typedef struct RMW_PUBLIC_TYPE rmw_liveliness_changed_status_t
+{
+  /**
+   * The total number of currently active Publishers which publish to the topic associated with
+   * the Subscription.
+   * This count increases when a newly matched Publisher asserts its liveliness for the first time
+   * or when a Publisher previously considered to be not alive reasserts its liveliness.
+   * The count decreases when a Publisher considered alive fails to assert its liveliness and
+   * becomes not alive, whether because it was deleted normally or for some other reason.
+   */
+  int32_t alive_count;
+  /**
+   * The total count of current Publishers which publish to the topic associated with the
+   * Subscription that are no longer asserting their liveliness.
+   * This count increases when a Publisher considered alive fails to assert its liveliness and
+   * becomes not alive for some reason other than the normal deletion of that Publisher.
+   * It decreases when a previously not alive Publisher either reasserts its liveliness or is
+   * deleted normally.
+   */
+  int32_t not_alive_count;
+  /// The change in the alive_count since the status was last read.
+  int32_t alive_count_change;
+  /// The change in the not_alive_count since the status was last read.
+  int32_t not_alive_count_change;
+} rmw_liveliness_changed_status_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__EVENTS_STATUSES__LIVELINESS_CHANGED_H_

rmw/include/rmw/events_statuses/liveliness_lost.h

@@ -0,0 +1,45 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__EVENTS_STATUSES__LIVELINESS_LOST_H_
+#define RMW__EVENTS_STATUSES__LIVELINESS_LOST_H_
+
+#include <stdint.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// QoS Liveliness Lost information provided by a publisher.
+typedef struct RMW_PUBLIC_TYPE rmw_liveliness_lost_status_t
+{
+  /**
+   * Lifetime cumulative number of times that a previously-alive Publisher became not alive due to
+   * a failure to actively signal its liveliness within its offered liveliness period.
+   * This count does not change when an already not alive Publisher simply remains not alive for
+   * another liveliness period.
+   */
+  int32_t total_count;
+  /// The change in total_count since the last time the status was last read.
+  int32_t total_count_change;
+} rmw_liveliness_lost_status_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__EVENTS_STATUSES__LIVELINESS_LOST_H_

rmw/include/rmw/events_statuses/message_lost.h

@@ -0,0 +1,39 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__EVENTS_STATUSES__MESSAGE_LOST_H_
+#define RMW__EVENTS_STATUSES__MESSAGE_LOST_H_
+
+#include <stddef.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+typedef struct RMW_PUBLIC_TYPE rmw_message_lost_status_t
+{
+  /// Total number of messages lost.
+  size_t total_count;
+  /// Number of messages lost since last callback.
+  size_t total_count_change;
+} rmw_message_lost_status_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__EVENTS_STATUSES__MESSAGE_LOST_H_

rmw/include/rmw/events_statuses/offered_deadline_missed.h

@@ -0,0 +1,45 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__EVENTS_STATUSES__OFFERED_DEADLINE_MISSED_H_
+#define RMW__EVENTS_STATUSES__OFFERED_DEADLINE_MISSED_H_
+
+#include <stddef.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// QoS Deadline Missed information provided by a publisher.
+typedef struct RMW_PUBLIC_TYPE rmw_offered_deadline_missed_status_t
+{
+  /**
+   * Lifetime cumulative number of offered deadline periods elapsed during which a Publisher failed
+   * to provide data.
+   * Missed deadlines accumulate; that is, each deadline period the total_count will be incremented
+   * by one.
+   */
+  int32_t total_count;
+  /// The change in total_count since the last time the status was last read.
+  int32_t total_count_change;
+} rmw_offered_deadline_missed_status_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__EVENTS_STATUSES__OFFERED_DEADLINE_MISSED_H_

rmw/include/rmw/events_statuses/requested_deadline_missed.h

@@ -0,0 +1,45 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__EVENTS_STATUSES__REQUESTED_DEADLINE_MISSED_H_
+#define RMW__EVENTS_STATUSES__REQUESTED_DEADLINE_MISSED_H_
+
+#include <stdint.h>
+
+#include "rmw/visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/// QoS Requested Deadline Missed information provided by a subscription.
+typedef struct RMW_PUBLIC_TYPE rmw_requested_deadline_missed_status_t
+{
+  /**
+   * Lifetime cumulative number of missed deadlines detected for any instance read by the
+   * subscription.
+   * Missed deadlines accumulate; that is, each deadline period the total_count will be incremented
+   * by one for each instance for which data was not received.
+   */
+  int32_t total_count;
+  /// The incremental number of deadlines detected since the status was read.
+  int32_t total_count_change;
+} rmw_requested_deadline_missed_status_t;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__EVENTS_STATUSES__REQUESTED_DEADLINE_MISSED_H_