qos.hpp

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// nros-cpp: QoS (Quality of Service) profiles
// Freestanding C++ — no STL required
 
#ifndef NROS_CPP_QOS_HPP
#define NROS_CPP_QOS_HPP
 
#include <stdint.h>
 
// FFI struct definition — mirrors `nros_cpp_qos_t` in
// nros_cpp_ffi.h. Phase 118.D: guarded by `NROS_CPP_FFI_H`. If
// `nros_cpp_ffi.h` was included earlier (it sets that guard), the
// canonical types are already in scope; otherwise emit local
// definitions so this header stays self-contained for callers that
// don't pull the cbindgen header directly.
#ifndef NROS_CPP_FFI_H
extern "C" {
enum nros_cpp_qos_reliability_t {
    NROS_CPP_QOS_RELIABLE = 0,
    NROS_CPP_QOS_BEST_EFFORT = 1,
};
enum nros_cpp_qos_durability_t {
    NROS_CPP_QOS_VOLATILE = 0,
    NROS_CPP_QOS_TRANSIENT_LOCAL = 1,
};
enum nros_cpp_qos_history_t {
    NROS_CPP_QOS_KEEP_LAST = 0,
    NROS_CPP_QOS_KEEP_ALL = 1,
};
enum nros_cpp_qos_liveliness_t {
    NROS_CPP_QOS_LIVELINESS_NONE = 0,
    NROS_CPP_QOS_LIVELINESS_AUTOMATIC = 1,
    NROS_CPP_QOS_LIVELINESS_MANUAL_BY_TOPIC = 2,
    NROS_CPP_QOS_LIVELINESS_MANUAL_BY_NODE = 3,
};
struct nros_cpp_qos_t {
    enum nros_cpp_qos_reliability_t reliability;
    enum nros_cpp_qos_durability_t durability;
    enum nros_cpp_qos_history_t history;
    enum nros_cpp_qos_liveliness_t liveliness_kind;
    int depth;
    uint32_t deadline_ms;
    uint32_t lifespan_ms;
    uint32_t liveliness_lease_ms;
    uint8_t avoid_ros_namespace_conventions;
    uint8_t tx_express;
};
}
#endif // NROS_CPP_FFI_H
 
namespace nros {
 
class QoS {
  public:
    enum Liveliness {
        LivelinessNone = 0,
        LivelinessAutomatic = 1,
        LivelinessManualByTopic = 2,
        LivelinessManualByNode = 3,
    };
 
    constexpr QoS()
        : reliability_(Reliable), durability_(Volatile), history_(KeepLast),
          liveliness_(LivelinessAutomatic), depth_(10), deadline_ms_(0), lifespan_ms_(0),
          liveliness_lease_ms_(0), avoid_ros_namespace_conventions_(0), tx_express_(0) {}
 
    // -- Chainable setters (match rclcpp fluent API) --
 
    constexpr QoS& reliable() {
        reliability_ = Reliable;
        return *this;
    }
 
    constexpr QoS& best_effort() {
        reliability_ = BestEffort;
        return *this;
    }
 
    constexpr QoS& transient_local() {
        durability_ = TransientLocal;
        return *this;
    }
 
    constexpr QoS& durability_volatile() {
        durability_ = Volatile;
        return *this;
    }
 
    constexpr QoS& keep_last(int depth) {
        history_ = KeepLast;
        depth_ = depth;
        return *this;
    }
 
    constexpr QoS& keep_all() {
        history_ = KeepAll;
        return *this;
    }
 
    constexpr QoS& deadline_ms(uint32_t ms) {
        deadline_ms_ = ms;
        return *this;
    }
 
    constexpr QoS& lifespan_ms(uint32_t ms) {
        lifespan_ms_ = ms;
        return *this;
    }
 
    constexpr QoS& liveliness(Liveliness kind) {
        liveliness_ = kind;
        return *this;
    }
 
    constexpr QoS& liveliness_lease_ms(uint32_t ms) {
        liveliness_lease_ms_ = ms;
        return *this;
    }
 
    constexpr QoS& avoid_ros_namespace_conventions(bool on) {
        avoid_ros_namespace_conventions_ = on ? 1 : 0;
        return *this;
    }
 
    constexpr QoS& tx_express(bool on) {
        tx_express_ = on ? 1 : 0;
        return *this;
    }
 
    // -- Predefined profiles (match rclcpp named constructors) --
 
    static constexpr QoS default_profile() { return QoS(); }
 
    static constexpr QoS sensor_data() { return QoS().best_effort().keep_last(5); }
 
    static constexpr QoS services() { return QoS().reliable(); }
 
    // -- Accessors --
 
    constexpr int reliability_raw() const { return static_cast<int>(reliability_); }
    constexpr int durability_raw() const { return static_cast<int>(durability_); }
    constexpr int history_raw() const { return static_cast<int>(history_); }
    constexpr int liveliness_raw() const { return static_cast<int>(liveliness_); }
    constexpr int depth() const { return depth_; }
    constexpr uint32_t deadline_ms() const { return deadline_ms_; }
    constexpr uint32_t lifespan_ms() const { return lifespan_ms_; }
    constexpr uint32_t liveliness_lease_ms() const { return liveliness_lease_ms_; }
    constexpr bool avoid_ros_namespace_conventions() const {
        return avoid_ros_namespace_conventions_ != 0;
    }
    constexpr bool tx_express() const { return tx_express_ != 0; }
 
  private:
    enum Reliability { Reliable = 0, BestEffort = 1 } reliability_;
    enum Durability { Volatile = 0, TransientLocal = 1 } durability_;
    enum History { KeepLast = 0, KeepAll = 1 } history_;
    Liveliness liveliness_;
    int depth_;
    uint32_t deadline_ms_;
    uint32_t lifespan_ms_;
    uint32_t liveliness_lease_ms_;
    uint8_t avoid_ros_namespace_conventions_;
    uint8_t tx_express_;
};
 
} // namespace nros
 
#endif // NROS_CPP_QOS_HPP