First pass RMW QoS Unspecified duration API

Signed-off-by: Emerson Knapp <[email protected]>
ros2 · Feb 18, 2021 · 5faaf81 · 5faaf81
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Showing 2 changed files with 13 additions and 6 deletions.
diff --git a/rmw/include/rmw/get_topic_endpoint_info.h b/rmw/include/rmw/get_topic_endpoint_info.h
@@ -72,6 +72,8 @@ extern "C"
  *   left unchanged on failure.
  *   If populated, it is up to the caller to finalize this array later on,
  *   using rmw_topic_endpoint_info_array_fini().
+ *   QoS Profiles in the info array will be set to RMW_DURATION_INFINITE for infinite durations,
+ *   avoiding exposing any implementation-specific values.
  * \return `RMW_RET_OK` if the query was successful, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `node` is NULL, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `allocator` is not valid,
@@ -142,6 +144,8 @@ rmw_get_publishers_info_by_topic(
  *   left unchanged on failure.
  *   If populated, it is up to the caller to finalize this array later on,
  *   using rmw_topic_endpoint_info_array_fini().
+ *   QoS Profiles in the info array will be set to RMW_DURATION_INFINITE for infinite durations,
+ *   avoiding exposing any implementation-specific values.
  * \return `RMW_RET_OK` if the query was successful, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `node` is NULL, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `allocator` is not valid,

diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
@@ -339,6 +339,9 @@ typedef struct RMW_PUBLIC_TYPE rmw_time_t
 /// A duration of time, measured in nanoseconds.
 typedef rcutils_duration_value_t rmw_duration_t;
 
+#define RMW_DURATION_INFINITE INT64_MAX
+
+
 typedef rcutils_time_point_value_t rmw_time_point_value_t;
 
 /// Meta-data for a service-related take.
@@ -430,14 +433,14 @@ enum RMW_PUBLIC_TYPE rmw_qos_liveliness_policy_t
   RMW_QOS_POLICY_LIVELINESS_UNKNOWN = 4
 };
 
-/// QoS Deadline default, 0s indicates deadline policies are not tracked or enforced
-#define RMW_QOS_DEADLINE_DEFAULT 0
+/// QoS Deadline default, indicates that no deadline is enforced
+#define RMW_QOS_DEADLINE_DEFAULT RMW_DURATION_INFINITE
 
-/// QoS Lifespan default, 0s indicate lifespan policies are not tracked or enforced
-#define RMW_QOS_LIFESPAN_DEFAULT 0
+/// QoS Lifespan default, indicates that no lifespan is enforced
+#define RMW_QOS_LIFESPAN_DEFAULT RMW_DURATION_INFINITE
 
-/// QoS Liveliness lease duration default, 0s indicate lease durations are not tracked or enforced
-#define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT 0
+/// QoS Liveliness lease duration default, indicates that no lease duration is enforced
+#define RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT RMW_DURATION_INFINITE
 
 /// ROS MiddleWare quality of service profile.
 typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t