Support basic QoS settings

rmw_zenoh_cpp/CMakeLists.txt

@@ -21,6 +21,7 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
+find_package(rmw_dds_common REQUIRED)
 find_package(zenoh_c_vendor REQUIRED)
 find_package(zenohc REQUIRED)
 
@@ -57,6 +58,7 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
+    rmw_dds_common::rmw_dds_common_library
     zenohc::lib
 )
 

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -69,7 +69,9 @@
   timestamping: {
     /// Whether data messages should be timestamped if not already.
     /// Accepts a single boolean value or different values for router, peer and client.
-    enabled: { router: true, peer: false, client: false },
+    /// PublicationCache which is required for transient_local durability
+    /// only works when time-stamping is enabled.
+    enabled: { router: true, peer: true, client: false },
     /// Whether data messages with timestamps in the future should be dropped or not.
     /// If set to false (default), messages with timestamps in the future are retimestamped.
     /// Timestamps are ignored if timestamping is disabled.

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -69,7 +69,9 @@
   timestamping: {
     /// Whether data messages should be timestamped if not already.
     /// Accepts a single boolean value or different values for router, peer and client.
-    enabled: { router: true, peer: false, client: false },
+    /// PublicationCache which is required for transient_local durability
+    /// only works when time-stamping is enabled.
+    enabled: { router: true, peer: true, client: false },
     /// Whether data messages with timestamps in the future should be dropped or not.
     /// If set to false (default), messages with timestamps in the future are retimestamped.
     /// Timestamps are ignored if timestamping is disabled.
@@ -234,7 +236,7 @@
     },
     /// Shared memory configuration
     shared_memory: {
-      enabled: true, //
+      enabled: false,
     },
     /// Access control configuration
     auth: {

rmw_zenoh_cpp/package.xml

@@ -18,6 +18,7 @@
   <depend>rosidl_typesupport_fastrtps_c</depend>
   <depend>rosidl_typesupport_fastrtps_cpp</depend>
   <depend>rmw</depend>
+  <depend>rmw_dds_common</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -34,6 +34,7 @@
 #include "rmw/validate_node_name.h"
 
 #include "graph_cache.hpp"
+#include "rmw_data_types.hpp"
 
 ///=============================================================================
 using Entity = liveliness::Entity;
@@ -679,6 +680,46 @@ rmw_ret_t GraphCache::get_topic_names_and_types(
   return fill_names_and_types(graph_topics_, allocator, topic_names_and_types);
 }
 
+///=============================================================================
+rmw_ret_t GraphCache::publisher_count_matched_subscriptions(
+  const rmw_publisher_t * publisher,
+  size_t * subscription_count)
+{
+  // TODO(Yadunund): Check if QoS settings also match.
+  *subscription_count = 0;
+  GraphNode::TopicMap::const_iterator topic_it = graph_topics_.find(publisher->topic_name);
+  if (topic_it != graph_topics_.end()) {
+    rmw_publisher_data_t * pub_data = static_cast<rmw_publisher_data_t *>(publisher->data);
+    GraphNode::TopicDataMap::const_iterator topic_data_it = topic_it->second.find(
+      pub_data->type_support->get_name());
+    if (topic_data_it != topic_it->second.end()) {
+      *subscription_count = topic_data_it->second->stats_.sub_count_;
+    }
+  }
+
+  return RMW_RET_OK;
+}
+
+///=============================================================================
+rmw_ret_t GraphCache::subscription_count_matched_publishers(
+  const rmw_subscription_t * subscription,
+  size_t * publisher_count)
+{
+  // TODO(Yadunund): Check if QoS settings also match.
+  *publisher_count = 0;
+  GraphNode::TopicMap::const_iterator topic_it = graph_topics_.find(subscription->topic_name);
+  if (topic_it != graph_topics_.end()) {
+    rmw_subscription_data_t * sub_data = static_cast<rmw_subscription_data_t *>(subscription->data);
+    GraphNode::TopicDataMap::const_iterator topic_data_it = topic_it->second.find(
+      sub_data->type_support->get_name());
+    if (topic_data_it != topic_it->second.end()) {
+      *publisher_count = topic_data_it->second->stats_.pub_count_;
+    }
+  }
+
+  return RMW_RET_OK;
+}
+
 ///=============================================================================
 rmw_ret_t GraphCache::get_service_names_and_types(
   rcutils_allocator_t * allocator,
@@ -893,7 +934,7 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
       entity_type == EntityType::Publisher ? nodes[i]->pubs_ :
       nodes[i]->subs_;
     const GraphNode::TopicDataMap & topic_data_map = entity_map.find(topic_name)->second;
-    for (const auto & [topic_data, _] : topic_data_map) {
+    for (const auto & [topic_type, topic_data] : topic_data_map) {
       rmw_topic_endpoint_info_t & endpoint_info = endpoints_info->info_array[i];
       endpoint_info = rmw_get_zero_initialized_topic_endpoint_info();
 
@@ -915,7 +956,7 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
 
       ret = rmw_topic_endpoint_info_set_topic_type(
         &endpoint_info,
-        _demangle_if_ros_type(topic_data).c_str(),
+        _demangle_if_ros_type(topic_type).c_str(),
         allocator);
       if (RMW_RET_OK != ret) {
         return ret;
@@ -927,7 +968,16 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
       if (RMW_RET_OK != ret) {
         return ret;
       }
-      // TODO(Yadunund): Set type_hash, qos_profile, gid.
+
+      ret = rmw_topic_endpoint_info_set_qos_profile(
+        &endpoint_info,
+        &topic_data->info_.qos_
+      );
+      if (RMW_RET_OK != ret) {
+        return ret;
+      }
+
+      // TODO(Yadunund): Set type_hash, gid.
     }
   }
 

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -104,6 +104,14 @@ class GraphCache final
     bool no_demangle,
     rmw_names_and_types_t * topic_names_and_types) const;
 
+  rmw_ret_t publisher_count_matched_subscriptions(
+    const rmw_publisher_t * publisher,
+    size_t * subscription_count);
+
+  rmw_ret_t subscription_count_matched_publishers(
+    const rmw_subscription_t * subscription,
+    size_t * publisher_count);
+
   rmw_ret_t get_service_names_and_types(
     rcutils_allocator_t * allocator,
     rmw_names_and_types_t * service_names_and_types) const;