#include <qos.hpp>

Public Types
enum	Liveliness { LivelinessNone = 0 , LivelinessAutomatic = 1 , LivelinessManualByTopic = 2 , LivelinessManualByNode = 3 }
	Liveliness policy kind. Matches DDS `LIVELINESS_QOS_POLICY`. More...

Public Member Functions
constexpr bool	avoid_ros_namespace_conventions () const
	Whether to skip the `/rt/` ROS topic-name prefix.

constexpr QoS &	avoid_ros_namespace_conventions (bool on)

constexpr QoS &	best_effort ()
	Set reliability to `BEST_EFFORT` (fire-and-forget; default for sensors).

constexpr uint32_t	deadline_ms () const
	Deadline in ms (`0` = infinite).

constexpr QoS &	deadline_ms (uint32_t ms)

constexpr int	depth () const
	Configured queue depth (only meaningful for `KEEP_LAST`).

constexpr int	durability_raw () const
	Durability as a raw int (0 = Volatile, 1 = TransientLocal).

constexpr QoS &	durability_volatile ()
	Set durability to `VOLATILE` — late joiners get nothing (default).

constexpr int	history_raw () const
	History as a raw int (0 = KeepLast, 1 = KeepAll).

constexpr QoS &	keep_all ()
	Use `KEEP_ALL` history (bounded by transport).

constexpr QoS &	keep_last (int depth)

constexpr uint32_t	lifespan_ms () const
	Lifespan in ms (`0` = infinite).

constexpr QoS &	lifespan_ms (uint32_t ms)
	Sample expiry. `0` = infinite.

constexpr QoS &	liveliness (Liveliness kind)

constexpr uint32_t	liveliness_lease_ms () const
	Liveliness lease in ms (`0` = infinite).

constexpr QoS &	liveliness_lease_ms (uint32_t ms)
	Liveliness lease duration. `0` = infinite.

constexpr int	liveliness_raw () const
	Liveliness kind as a raw int (0..3).

constexpr	QoS ()

constexpr int	reliability_raw () const
	Reliability as a raw int (0 = Reliable, 1 = BestEffort).

constexpr QoS &	reliable ()
	Set reliability to `RELIABLE` (acked transport, retransmits on loss).

constexpr QoS &	transient_local ()
	Set durability to `TRANSIENT_LOCAL` — late joiners get the last value.

Static Public Member Functions
static constexpr QoS	default_profile ()
	Default profile: `RELIABLE` + `VOLATILE` + `KEEP_LAST(10)`.

static constexpr QoS	sensor_data ()
	Sensor-data profile: `BEST_EFFORT` + `VOLATILE` + `KEEP_LAST(5)`.

static constexpr QoS	services ()
	Services profile: `RELIABLE` + `VOLATILE` + `KEEP_LAST(10)`.

Detailed Description

QoS profile for publishers and subscriptions.

Mirrors rclcpp::QoS with chainable setters and predefined profiles. All methods are constexpr — profiles can be computed at compile time.

Phase 108.B.7 — extended with full DDS QoS surface (deadline, lifespan, liveliness kind + lease, avoid_ros_namespace_conventions). Backends advertise per-policy support; entities created with a profile the active backend can't honour return NROS_CPP_RET_INCOMPATIBLE_QOS synchronously at create time.

Member Enumeration Documentation

◆ Liveliness

enum nros::QoS::Liveliness

Liveliness policy kind. Matches DDS LIVELINESS_QOS_POLICY.

Enumerator
LivelinessNone
LivelinessAutomatic
LivelinessManualByTopic
LivelinessManualByNode

Constructor & Destructor Documentation

◆ QoS()

constexpr nros::QoS::QoS ( )

inlineconstexpr

Default QoS: reliable, volatile, keep-last(10), automatic liveliness, no deadline / lifespan / lease.

Member Function Documentation

◆ avoid_ros_namespace_conventions() [1/2]

constexpr bool nros::QoS::avoid_ros_namespace_conventions ( ) const

inlineconstexpr

Whether to skip the /rt/ ROS topic-name prefix.

◆ avoid_ros_namespace_conventions() [2/2]

constexpr QoS & nros::QoS::avoid_ros_namespace_conventions ( bool on )

inlineconstexpr

Skip the ROS /rt/ topic-name prefix. Off by default; enable when interoperating with non-ROS DDS endpoints.

◆ best_effort()

constexpr QoS & nros::QoS::best_effort ( )

inlineconstexpr

Set reliability to BEST_EFFORT (fire-and-forget; default for sensors).

◆ deadline_ms() [1/2]

constexpr uint32_t nros::QoS::deadline_ms ( ) const

inlineconstexpr

Deadline in ms (0 = infinite).

◆ deadline_ms() [2/2]

constexpr QoS & nros::QoS::deadline_ms ( uint32_t ms )

inlineconstexpr

Subscriber max-inter-arrival / publisher offered-rate. 0 = infinite (no deadline check).

◆ default_profile()

static constexpr QoS nros::QoS::default_profile ( )

inlinestaticconstexpr

Default profile: RELIABLE + VOLATILE + KEEP_LAST(10).

◆ depth()

constexpr int nros::QoS::depth ( ) const

inlineconstexpr

Configured queue depth (only meaningful for KEEP_LAST).

◆ durability_raw()

constexpr int nros::QoS::durability_raw ( ) const

inlineconstexpr

Durability as a raw int (0 = Volatile, 1 = TransientLocal).

◆ durability_volatile()

constexpr QoS & nros::QoS::durability_volatile ( )

inlineconstexpr

Set durability to VOLATILE — late joiners get nothing (default).

◆ history_raw()

constexpr int nros::QoS::history_raw ( ) const

inlineconstexpr

History as a raw int (0 = KeepLast, 1 = KeepAll).

◆ keep_all()

constexpr QoS & nros::QoS::keep_all ( )

inlineconstexpr

Use KEEP_ALL history (bounded by transport).

◆ keep_last()

constexpr QoS & nros::QoS::keep_last ( int depth )

inlineconstexpr

Use KEEP_LAST history with the given depth.

Parameters

depth maximum number of messages buffered per entity.

◆ lifespan_ms() [1/2]

constexpr uint32_t nros::QoS::lifespan_ms ( ) const

inlineconstexpr

Lifespan in ms (0 = infinite).

◆ lifespan_ms() [2/2]

constexpr QoS & nros::QoS::lifespan_ms ( uint32_t ms )

inlineconstexpr

Sample expiry. 0 = infinite.

◆ liveliness()

constexpr QoS & nros::QoS::liveliness ( Liveliness kind )

inlineconstexpr

Liveliness kind. Pair with liveliness_lease_ms() for MANUAL_BY_TOPIC / MANUAL_BY_NODE. AUTOMATIC is the default.

◆ liveliness_lease_ms() [1/2]

constexpr uint32_t nros::QoS::liveliness_lease_ms ( ) const

inlineconstexpr

Liveliness lease in ms (0 = infinite).

◆ liveliness_lease_ms() [2/2]

constexpr QoS & nros::QoS::liveliness_lease_ms ( uint32_t ms )

inlineconstexpr

Liveliness lease duration. 0 = infinite.

◆ liveliness_raw()

constexpr int nros::QoS::liveliness_raw ( ) const

inlineconstexpr

Liveliness kind as a raw int (0..3).

◆ reliability_raw()

constexpr int nros::QoS::reliability_raw ( ) const

inlineconstexpr

Reliability as a raw int (0 = Reliable, 1 = BestEffort).

◆ reliable()

constexpr QoS & nros::QoS::reliable ( )

inlineconstexpr

Set reliability to RELIABLE (acked transport, retransmits on loss).

◆ sensor_data()

static constexpr QoS nros::QoS::sensor_data ( )

inlinestaticconstexpr

Sensor-data profile: BEST_EFFORT + VOLATILE + KEEP_LAST(5).

◆ services()

static constexpr QoS nros::QoS::services ( )

inlinestaticconstexpr

Services profile: RELIABLE + VOLATILE + KEEP_LAST(10).

◆ transient_local()

constexpr QoS & nros::QoS::transient_local ( )

inlineconstexpr

Set durability to TRANSIENT_LOCAL — late joiners get the last value.

The documentation for this class was generated from the following file:

include/nros/qos.hpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ Liveliness

Constructor & Destructor Documentation

◆ QoS()

Member Function Documentation

◆ avoid_ros_namespace_conventions() [1/2]

◆ avoid_ros_namespace_conventions() [2/2]

◆ best_effort()

◆ deadline_ms() [1/2]

◆ deadline_ms() [2/2]

◆ default_profile()

◆ depth()

◆ durability_raw()

◆ durability_volatile()

◆ history_raw()

◆ keep_all()

◆ keep_last()

◆ lifespan_ms() [1/2]

◆ lifespan_ms() [2/2]

◆ liveliness()

◆ liveliness_lease_ms() [1/2]

◆ liveliness_lease_ms() [2/2]

◆ liveliness_raw()

◆ reliability_raw()

◆ reliable()

◆ sensor_data()

◆ services()

◆ transient_local()