Convenience function for Publisher and Subscription initialization with qos option "best effort"

rclc/include/rclc/publisher.h

@@ -52,6 +52,31 @@ rclc_publisher_init_default(
   const rosidl_message_type_support_t * type_support,
   const char * topic_name);
 
+/**
+ *  Creates an rcl publisher with quality-of-service option best effort
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes (in RCL)
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[inout] publisher a zero_initialized rcl_publisher_t
+ * \param[in] node the rcl node
+ * \param[in] type_support the message data type
+ * \param[in] topic_name the name of published topic
+ * \return `RCL_RET_OK` if successful
+ * \return `RCL_ERROR` (or other error code) if an error has occurred
+ */
+rcl_ret_t
+rclc_publisher_init_best_effort(
+  rcl_publisher_t * publisher,
+  const rcl_node_t * node,
+  const rosidl_message_type_support_t * type_support,
+  const char * topic_name);
+
 #if __cplusplus
 }
 #endif

rclc/include/rclc/subscription.h

@@ -24,6 +24,7 @@ extern "C"
 #include <rcl/subscription.h>
 #include <rclc/types.h>
 #include <rclc/init.h>
+
 /**
  *  Creates an rcl subscription.
  *
@@ -49,6 +50,31 @@ rclc_subscription_init_default(
   const rosidl_message_type_support_t * type_support,
   const char * topic_name);
 
+/**
+ *  Creates an rcl subscription with quality of service option best effort
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes (in RCL)
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[inout] subscription -  a zero-initialized rcl_subscription_t
+ * \param[in] node the rcl node
+ * \param[in] type_support the message data type
+ * \param[in] topic_name the name of subscribed topic
+ * \return `RCL_RET_OK` if successful
+ * \return `RCL_ERROR` (or other error code) if an error occurred
+ */
+rcl_ret_t
+rclc_subscription_init_best_effort(
+  rcl_subscription_t * subscription,
+  rcl_node_t * node,
+  const rosidl_message_type_support_t * type_support,
+  const char * topic_name);
+
 #if __cplusplus
 }
 #endif

rclc/src/rclc/publisher.c

@@ -47,3 +47,33 @@ rclc_publisher_init_default(
   }
   return rc;
 }
+
+rcl_ret_t
+rclc_publisher_init_best_effort(
+  rcl_publisher_t * publisher,
+  const rcl_node_t * node,
+  const rosidl_message_type_support_t * type_support,
+  const char * topic_name)
+{
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    publisher, "publisher is a null pointer", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    node, "node is a null pointer", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    type_support, "type_support is a null pointer", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    topic_name, "topic_name is a null pointer", return RCL_RET_INVALID_ARGUMENT);
+
+  rcl_publisher_options_t pub_opt = rcl_publisher_get_default_options();
+  pub_opt.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  rcl_ret_t rc = rcl_publisher_init(
+    publisher,
+    node,
+    type_support,
+    topic_name,
+    &pub_opt);
+  if (rc != RCL_RET_OK) {
+    PRINT_RCLC_ERROR(rclc_publisher_init_best_effort, rcl_publisher_init);
+  }
+  return rc;
+}

rclc/src/rclc/subscription.c

@@ -35,15 +35,45 @@ rclc_subscription_init_default(
   RCL_CHECK_FOR_NULL_WITH_MSG(
     topic_name, "topic_name is a null pointer", return RCL_RET_INVALID_ARGUMENT);
 
-  rcl_subscription_options_t sub_ops = rcl_subscription_get_default_options();
+  rcl_subscription_options_t sub_opt = rcl_subscription_get_default_options();
   rcl_ret_t rc = rcl_subscription_init(
     subscription,
     node,
     type_support,
     topic_name,
-    &sub_ops);
+    &sub_opt);
   if (rc != RCL_RET_OK) {
     PRINT_RCLC_ERROR(rclc_subscription_init_default, rcl_subscription_init);
   }
   return rc;
 }
+
+rcl_ret_t
+rclc_subscription_init_best_effort(
+  rcl_subscription_t * subscription,
+  rcl_node_t * node,
+  const rosidl_message_type_support_t * type_support,
+  const char * topic_name)
+{
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    subscription, "subscription is a null pointer", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    node, "node is a null pointer", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    type_support, "type_support is a null pointer", return RCL_RET_INVALID_ARGUMENT);
+  RCL_CHECK_FOR_NULL_WITH_MSG(
+    topic_name, "topic_name is a null pointer", return RCL_RET_INVALID_ARGUMENT);
+
+  rcl_subscription_options_t sub_opt = rcl_subscription_get_default_options();
+  sub_opt.qos.reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
+  rcl_ret_t rc = rcl_subscription_init(
+    subscription,
+    node,
+    type_support,
+    topic_name,
+    &sub_opt);
+  if (rc != RCL_RET_OK) {
+    PRINT_RCLC_ERROR(rclc_subscription_init_best_effort, rcl_subscription_init);
+  }
+  return rc;
+}

rclc/test/rclc/test_publisher.cpp

@@ -57,3 +57,48 @@ TEST(Test, rclc_publisher_init_default) {
   rc = rclc_support_fini(&support);
   EXPECT_EQ(RCL_RET_OK, rc);
 }
+
+TEST(Test, rclc_publisher_init_best_effort) {
+  rclc_support_t support;
+  rcl_ret_t rc;
+
+  // preliminary setup
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rc = rclc_support_init(&support, 0, nullptr, &allocator);
+  const char * my_name = "test_name";
+  const char * my_namespace = "test_namespace";
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  rc = rclc_node_init_default(&node, my_name, my_namespace, &support);
+
+  // test with valid arguments
+  rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
+  const rosidl_message_type_support_t * type_support =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32);
+  rc = rclc_publisher_init_best_effort(&publisher, &node, type_support, "topic1");
+  EXPECT_EQ(RCL_RET_OK, rc);
+
+  // check for qos-option best effort
+  const rcl_publisher_options_t * pub_options = rcl_publisher_get_options(&publisher);
+  EXPECT_EQ(pub_options->qos.reliability, RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
+
+  // tests with invalid arguments
+  rc = rclc_publisher_init_best_effort(nullptr, &node, type_support, "topic1");
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rc);
+  rcutils_reset_error();
+  rc = rclc_publisher_init_best_effort(&publisher, nullptr, type_support, "topic1");
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rc);
+  rcutils_reset_error();
+  rc = rclc_publisher_init_best_effort(&publisher, &node, nullptr, "topic1");
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rc);
+  rcutils_reset_error();
+  rc = rclc_publisher_init_best_effort(&publisher, &node, type_support, nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rc);
+  rcutils_reset_error();
+  // clean up
+  rc = rcl_publisher_fini(&publisher, &node);
+  EXPECT_EQ(RCL_RET_OK, rc);
+  rc = rcl_node_fini(&node);
+  EXPECT_EQ(RCL_RET_OK, rc);
+  rc = rclc_support_fini(&support);
+  EXPECT_EQ(RCL_RET_OK, rc);
+}

rclc/test/rclc/test_subscription.cpp

@@ -58,3 +58,48 @@ TEST(Test, rclc_subscription_init_default) {
   rc = rclc_support_fini(&support);
   EXPECT_EQ(RCL_RET_OK, rc);
 }
+
+
+TEST(Test, rclc_subscription_init_best_effort) {
+  rclc_support_t support;
+  rcl_ret_t rc;
+
+  // preliminary setup
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rc = rclc_support_init(&support, 0, nullptr, &allocator);
+  const char * my_name = "test_name";
+  const char * my_namespace = "test_namespace";
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  rc = rclc_node_init_default(&node, my_name, my_namespace, &support);
+
+  // test with valid arguments
+
+  rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
+  const rosidl_message_type_support_t * type_support =
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32);
+  rc = rclc_subscription_init_best_effort(&subscription, &node, type_support, "topic1");
+  EXPECT_EQ(RCL_RET_OK, rc);
+  const rcl_subscription_options_t * sub_options = rcl_subscription_get_options(&subscription);
+  EXPECT_EQ(sub_options->qos.reliability, RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
+
+  // tests with invalid arguments
+  rc = rclc_subscription_init_best_effort(nullptr, &node, type_support, "topic1");
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rc);
+  rcutils_reset_error();
+  rc = rclc_subscription_init_best_effort(&subscription, nullptr, type_support, "topic1");
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rc);
+  rcutils_reset_error();
+  rc = rclc_subscription_init_best_effort(&subscription, &node, nullptr, "topic1");
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rc);
+  rcutils_reset_error();
+  rc = rclc_subscription_init_best_effort(&subscription, &node, type_support, nullptr);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rc);
+  rcutils_reset_error();
+  // clean up
+  rc = rcl_subscription_fini(&subscription, &node);
+  EXPECT_EQ(RCL_RET_OK, rc);
+  rc = rcl_node_fini(&node);
+  EXPECT_EQ(RCL_RET_OK, rc);
+  rc = rclc_support_fini(&support);
+  EXPECT_EQ(RCL_RET_OK, rc);
+}