QOS Support

Libraries/RosBridgeClient/BaseMessages/QOS.cs

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+/*
+© ASTRA - of the Space Hardware Club at UAH, 2026
+Author: Roald Schaum, roaldschaum2019@gmail.com
+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.
+*/
+namespace RosSharp.RosBridgeClient
+{
+#if ROS2
+    public class QOS
+    {
+        public Policy.History HistoryPolicy;
+
+        public uint Depth;
+
+        public Policy.Reliability ReliabilityPolicy;
+        public Policy.Durability DurabilityPolicy;
+
+        public rmw_time_s Deadline;
+        public rmw_time_s Lifespan;
+
+        public Policy.Liveliness LivelinessPolicy;
+        public rmw_time_s LivelinessLeaseDuration;
+
+        public bool AvoidRosNamespaceConventions;
+
+        public QOS(
+            Policy.History history,
+            uint depth,
+            Policy.Reliability reliability,
+            Policy.Durability durability,
+            rmw_time_s deadline,
+            rmw_time_s lifespan,
+            Policy.Liveliness liveliness,
+            rmw_time_s leaseDuration,
+            bool avoidRosNamespaceConventions)
+        {
+            HistoryPolicy = history;
+            Depth = depth;
+            ReliabilityPolicy = reliability;
+            DurabilityPolicy = durability;
+            Deadline = deadline;
+            Lifespan = lifespan;
+            LivelinessPolicy = liveliness;
+            LivelinessLeaseDuration = leaseDuration;
+            AvoidRosNamespaceConventions = avoidRosNamespaceConventions;
+        }
+
+        /// <summary> Default QOS profiles as specified by the RMW qos_profiles.h file </summary>
+        public class Presets
+        {
+            /// <summary> Default QOS profile </summary>
+            public static readonly QOS Default = new QOS(
+                Policy.History.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+                10,
+                Policy.Reliability.RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+                Policy.Durability.RMW_QOS_POLICY_DURABILITY_VOLATILE,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.Liveliness.RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS SensorData = new QOS(
+                Policy.History.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+                5,
+                Policy.Reliability.RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
+                Policy.Durability.RMW_QOS_POLICY_DURABILITY_VOLATILE,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.Liveliness.RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS Services = new QOS(
+                Policy.History.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+                10,
+                Policy.Reliability.RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+                Policy.Durability.RMW_QOS_POLICY_DURABILITY_VOLATILE,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.Liveliness.RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS ParameterEvents = new QOS(
+                Policy.History.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+                1000,
+                Policy.Reliability.RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+                Policy.Durability.RMW_QOS_POLICY_DURABILITY_VOLATILE,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.Liveliness.RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS Rosout = new QOS(
+                Policy.History.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+                1000,
+                Policy.Reliability.RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+                Policy.Durability.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                new rmw_time_s(10, 0),
+                Policy.Liveliness.RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS SystemDefault = new QOS(
+                Policy.History.RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
+                0,
+                Policy.Reliability.RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
+                Policy.Durability.RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                Policy.Liveliness.RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+                Policy.RMW_DURATION_UNSPECIFIED,
+                false);
+        }
+
+        public static class Policy
+        {
+            public static rmw_time_s RMW_DURATION_UNSPECIFIED = new rmw_time_s(0ul, 0ul);
+            public static rmw_time_s RMW_DURATION_INFINITE = new rmw_time_s(9223372036ul, 854775807ul);
+
+            public enum History
+            {
+                /// Implementation default for history policy
+                RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
+
+                /// Only store up to a maximum number of samples, dropping oldest once max is exceeded
+                RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+
+                /// Store all samples, subject to resource limits
+                RMW_QOS_POLICY_HISTORY_KEEP_ALL,
+
+                /// History policy has not yet been set
+                RMW_QOS_POLICY_HISTORY_UNKNOWN
+            }
+            public enum Reliability
+            {
+                /// Implementation specific default
+                RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
+
+                /// Guarantee that samples are delivered, may retry multiple times.
+                RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+
+                /// Attempt to deliver samples, but some may be lost if the network is not robust
+                RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
+
+                /// Reliability policy has not yet been set
+                RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
+
+                /// Will match the majority of endpoints and use a reliable policy if possible
+                /**
+                 * A policy will be chosen at the time of creating a subscription or publisher.
+                 * A reliable policy will by chosen if it matches with all discovered endpoints,
+                 * otherwise a best effort policy will be chosen.
+                 *
+                 * The QoS policy reported by functions like `rmw_subscription_get_actual_qos` or
+                 * `rmw_publisher_get_actual_qos` may be best available, reliable, or best effort.
+                 *
+                 * Services and clients are not supported and default to the reliability value in
+                 * `rmw_qos_profile_services_default`.
+                 *
+                 * The middleware is not expected to update the policy after creating a subscription or
+                 * publisher, even if the chosen policy is incompatible with newly discovered endpoints.
+                 * Therefore, this policy should be used with care since non-deterministic behavior
+                 * can occur due to races with discovery.
+                 */
+                RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE
+            }
+            public enum Durability
+            {
+                /// Impplementation specific default
+                RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
+
+                /// The rmw publisher is responsible for persisting samples for “late-joining” subscribers
+                RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+
+                /// Samples are not persistent
+                RMW_QOS_POLICY_DURABILITY_VOLATILE,
+
+                /// Durability policy has not yet been set
+                RMW_QOS_POLICY_DURABILITY_UNKNOWN,
+
+                /// Will match the majority of endpoints and use a transient local policy if possible
+                /**
+                 * A policy will be chosen at the time of creating a subscription or publisher.
+                 * A transient local policy will by chosen if it matches with all discovered endpoints,
+                 * otherwise a volatile policy will be chosen.
+                 *
+                 * In the case that a volatile policy is chosen for a subscription, any messages sent before
+                 * the subscription was created by transient local publishers will not be received.
+                 *
+                 * The QoS policy reported by functions like `rmw_subscription_get_actual_qos` or
+                 * `rmw_publisher_get_actual_qos` may be best available, transient local, or volatile.
+                 *
+                 * Services and clients are not supported and default to the durability value in
+                 * `rmw_qos_profile_services_default`.
+                 *
+                 * The middleware is not expected to update the policy after creating a subscription or
+                 * publisher, even if the chosen policy is incompatible with newly discovered endpoints.
+                 * Therefore, this policy should be used with care since non-deterministic behavior
+                 * can occur due to races with discovery.
+                 */
+                RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE
+            }
+
+            public enum Liveliness
+            {
+                /// Implementation specific default
+                RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT = 0,
+
+                /// The signal that establishes a Topic is alive comes from the ROS rmw layer.
+                RMW_QOS_POLICY_LIVELINESS_AUTOMATIC = 1,
+
+                /// The signal that establishes a Topic is alive is at the Topic level. Only publishing a message
+                /// on the Topic or an explicit signal from the application to assert liveliness on the Topic
+                /// will mark the Topic as being alive.
+                // Using `3` for backwards compatibility.
+                RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC = 3,
+
+                /// Liveliness policy has not yet been set
+                RMW_QOS_POLICY_LIVELINESS_UNKNOWN = 4,
+
+                /// Will match the majority of endpoints and use a manual by topic policy if possible
+                /**
+                 * A policy will be chosen at the time of creating a subscription or publisher.
+                 * A manual by topic policy will by chosen if it matches with all discovered endpoints,
+                 * otherwise an automatic policy will be chosen.
+                 *
+                 * The QoS policy reported by functions like `rmw_subscription_get_actual_qos` or
+                 * `rmw_publisher_get_actual_qos` may be best available, automatic, or manual by topic.
+                 *
+                 * Services and clients are not supported and default to the liveliness value in
+                 * `rmw_qos_profile_services_default`.
+                 *
+                 * The middleware is not expected to update the policy after creating a subscription or
+                 * publisher, even if the chosen policy is incompatible with newly discovered endpoints.
+                 * Therefore, this policy should be used with care since non-deterministic behavior
+                 * can occur due to races with discovery.
+                 */
+                RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE = 5
+            }
+        }
+
+        public class rmw_time_s
+        {
+            public ulong sec;
+            public ulong nsec;
+            public rmw_time_s(ulong s, ulong n)
+            {
+                sec = s;
+                nsec = n;
+            }
+        }
+    }
+#endif
+}