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 Duration Deadline;
+        public Duration Lifespan;
+
+        public Policy.Liveliness LivelinessPolicy;
+        public Duration LivelinessLeaseDuration;
+
+        public bool AvoidRosNamespaceConventions;
+
+        public QOS(QOS q)
+        {
+            HistoryPolicy = q.HistoryPolicy;
+            Depth = q.Depth;
+            ReliabilityPolicy = q.ReliabilityPolicy;
+            DurabilityPolicy = q.DurabilityPolicy;
+            Deadline = q.Deadline;
+            Lifespan = q.Lifespan;
+            LivelinessPolicy = q.LivelinessPolicy;
+            LivelinessLeaseDuration = q.LivelinessLeaseDuration;
+            AvoidRosNamespaceConventions = q.AvoidRosNamespaceConventions;
+        }
+
+        public QOS(
+            Policy.History history,
+            uint depth,
+            Policy.Reliability reliability,
+            Policy.Durability durability,
+            double deadline,
+            double lifespan,
+            Policy.Liveliness liveliness,
+            double leaseDuration,
+            bool avoidRosNamespaceConventions)
+        {
+            HistoryPolicy = history;
+            Depth = depth;
+            ReliabilityPolicy = reliability;
+            DurabilityPolicy = durability;
+            Deadline = Duration.DoubleToTime(deadline);
+            Lifespan = Duration.DoubleToTime(lifespan);
+            LivelinessPolicy = liveliness;
+            LivelinessLeaseDuration = Duration.DoubleToTime(leaseDuration);
+            AvoidRosNamespaceConventions = avoidRosNamespaceConventions;
+        }
+
+        public QOS(
+            Policy.History history,
+            uint depth,
+            Policy.Reliability reliability,
+            Policy.Durability durability,
+            Duration deadline,
+            Duration lifespan,
+            Policy.Liveliness liveliness,
+            Duration 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.Keep_last,
+                10,
+                Policy.Reliability.Reliable,
+                Policy.Durability.Volatile,
+                Policy.Duration_Unspecified,
+                Policy.Duration_Unspecified,
+                Policy.Liveliness.System_Default,
+                Policy.Duration_Unspecified,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS SensorData = new QOS(
+                Policy.History.Keep_last,
+                5,
+                Policy.Reliability.Best_Effort,
+                Policy.Durability.Volatile,
+                Policy.Duration_Unspecified,
+                Policy.Duration_Unspecified,
+                Policy.Liveliness.System_Default,
+                Policy.Duration_Unspecified,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS Services = new QOS(
+                Policy.History.Keep_last,
+                10,
+                Policy.Reliability.Reliable,
+                Policy.Durability.Volatile,
+                Policy.Duration_Unspecified,
+                Policy.Duration_Unspecified,
+                Policy.Liveliness.System_Default,
+                Policy.Duration_Unspecified,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS ParameterEvents = new QOS(
+                Policy.History.Keep_last,
+                1000,
+                Policy.Reliability.Reliable,
+                Policy.Durability.Volatile,
+                Policy.Duration_Unspecified,
+                Policy.Duration_Unspecified,
+                Policy.Liveliness.System_Default,
+                Policy.Duration_Unspecified,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS Rosout = new QOS(
+                Policy.History.Keep_last,
+                1000,
+                Policy.Reliability.Reliable,
+                Policy.Durability.Transient_Local,
+                Policy.Duration_Unspecified,
+                new Duration(10, 0),
+                Policy.Liveliness.System_Default,
+                Policy.Duration_Unspecified,
+                false);
+
+            /// <summary> Default Sensor QOS profile </summary>
+            public static readonly QOS SystemDefault = new QOS(
+                Policy.History.System_Default,
+                0,
+                Policy.Reliability.System_Default,
+                Policy.Durability.System_Default,
+                Policy.Duration_Unspecified,
+                Policy.Duration_Unspecified,
+                Policy.Liveliness.System_Default,
+                Policy.Duration_Unspecified,
+                false);
+        }
+
+        public static class Policy
+        {
+            public static Duration Duration_Unspecified = new Duration(0ul, 0ul);
+            public static Duration Duration_Infinite = new Duration(9223372036ul, 854775807ul);
+
+            public enum History
+            {
+                /// <summary> Implementation default for history policy </summary>
+                System_Default = 0,
+
+                /// <summary> Only store up to a maximum number of samples, dropping oldest once max is exceeded </summary>
+                Keep_last = 1,
+
+                /// <summary> Store all samples, subject to resource limits </summary>
+                Keep_All = 2,
+
+                /// <summary> History policy has not yet been set </summary>
+                Unknown = 3
+            }
+            public enum Reliability
+            {
+                /// <summary> Implementation specific default </summary>
+                System_Default = 0,
+
+                /// <summary> Guarantee that samples are delivered, may retry multiple times </summary>
+                Reliable = 1,
+
+                /// <summary> Attempt to deliver samples, but some may be lost if the network is not robust </summary>
+                Best_Effort = 2,
+
+                /// <summary> Reliability policy has not yet been set </summary>
+                Unknown = 3,
+            }
+            public enum Durability
+            {
+                /// <summary> Implementation specific default </summary>
+                System_Default = 0,
+
+                /// <summary> The rmw publisher is responsible for persisting samples for “late-joining” subscribers </summary>
+                Transient_Local = 1,
+
+                /// <summary> Samples are not persistent </summary>
+                Volatile = 2,
+
+                /// <summary> Durability policy has not yet been set </summary>
+                Unknown = 3,
+            }
+
+            public enum Liveliness
+            {
+                /// <summary> Implementation specific default </summary>
+                System_Default = 0,
+
+                /// <summary> The signal that establishes a Topic is alive comes from the ROS rmw layer </summary>
+                Automatic = 1,
+
+                /// <summary> 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. </summary>
+                Manual_By_Topic = 3,
+
+                /// Liveliness policy has not yet been set </summary>
+                Unknown = 4,
+            }
+        }
+
+        public class Duration
+        {
+            public ulong Seconds;
+            public ulong Nanoseconds;
+            public Duration(ulong seconds, ulong nanoseconds)
+            {
+                Seconds = seconds;
+                Nanoseconds = nanoseconds;
+            }
+
+            public static Duration DoubleToTime(double time)
+            {
+                const ulong kcubed = 1000 * 1000 * 1000;
+                double ftime = System.Math.Floor(time);
+
+                ulong seconds = (ulong)(ftime);
+                ulong nseconds = (ulong)((time - ftime) * kcubed);
+                return new Duration(seconds, nseconds);
+            }
+        }
+    }
+#endif
+}