rmw_entity.h

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#ifndef NROS_RMW_ENTITY_H
#define NROS_RMW_ENTITY_H
 
#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>
 
/* ------------------------------------------------------------------ */
/* QoS profile — full DDS shape (matches `rmw_qos_profile_t`)          */
/* ------------------------------------------------------------------ */
 
#define NROS_RMW_RELIABILITY_BEST_EFFORT 0
#define NROS_RMW_RELIABILITY_RELIABLE    1
 
#define NROS_RMW_DURABILITY_VOLATILE         0
#define NROS_RMW_DURABILITY_TRANSIENT_LOCAL  1
 
#define NROS_RMW_HISTORY_KEEP_LAST 0
#define NROS_RMW_HISTORY_KEEP_ALL  1
 
typedef enum nros_rmw_liveliness_kind_t {
    NROS_RMW_LIVELINESS_NONE              = 0,
    NROS_RMW_LIVELINESS_AUTOMATIC         = 1,
    NROS_RMW_LIVELINESS_MANUAL_BY_TOPIC   = 2,
    NROS_RMW_LIVELINESS_MANUAL_BY_NODE    = 3,
} nros_rmw_liveliness_kind_t;
 
typedef struct nros_rmw_qos_t {
    /* ---- 8-byte core, layout-equivalent to the original subset ---- */
    uint8_t  reliability;     
    uint8_t  durability;      
    uint8_t  history;         
    uint8_t  liveliness_kind; 
    uint16_t depth;
    uint16_t _reserved0;      
    /* ---- 16-byte extension (Phase 109) ---- */
    uint32_t deadline_ms;
 
    uint32_t lifespan_ms;
 
    uint32_t liveliness_lease_ms;
 
    uint8_t  avoid_ros_namespace_conventions;
    uint8_t  _reserved1[3];   
    uint32_t rx_buffer_hint;
} nros_rmw_qos_t;             /* 28 bytes */
 
/* ---- Standard QoS profile constants ---- */
/* Defined as static const initialisers at the bottom of this
 * header so they're available in every compilation unit that
 * includes it. Match the field set of upstream
 * `rmw_qos_profile_default` etc. */
 
#define NROS_RMW_QOS_PROFILE_DEFAULT \
    ((nros_rmw_qos_t){                                                   \
        .reliability = NROS_RMW_RELIABILITY_RELIABLE,                    \
        .durability  = NROS_RMW_DURABILITY_VOLATILE,                     \
        .history     = NROS_RMW_HISTORY_KEEP_LAST,                       \
        .liveliness_kind = NROS_RMW_LIVELINESS_AUTOMATIC,                \
        .depth       = 10,                                               \
        ._reserved0  = 0,                                                \
        .deadline_ms = 0,                                                \
        .lifespan_ms = 0,                                                \
        .liveliness_lease_ms = 0,                                        \
        .avoid_ros_namespace_conventions = 0,                            \
        ._reserved1  = {0, 0, 0},                                        \
    })
 
#define NROS_RMW_QOS_PROFILE_SENSOR_DATA \
    ((nros_rmw_qos_t){                                                   \
        .reliability = NROS_RMW_RELIABILITY_BEST_EFFORT,                 \
        .durability  = NROS_RMW_DURABILITY_VOLATILE,                     \
        .history     = NROS_RMW_HISTORY_KEEP_LAST,                       \
        .liveliness_kind = NROS_RMW_LIVELINESS_AUTOMATIC,                \
        .depth       = 5,                                                \
        ._reserved0  = 0,                                                \
        .deadline_ms = 0,                                                \
        .lifespan_ms = 0,                                                \
        .liveliness_lease_ms = 0,                                        \
        .avoid_ros_namespace_conventions = 0,                            \
        ._reserved1  = {0, 0, 0},                                        \
    })
 
#define NROS_RMW_QOS_PROFILE_SERVICES_DEFAULT  NROS_RMW_QOS_PROFILE_DEFAULT
 
#define NROS_RMW_QOS_PROFILE_PARAMETERS \
    ((nros_rmw_qos_t){                                                   \
        .reliability = NROS_RMW_RELIABILITY_RELIABLE,                    \
        .durability  = NROS_RMW_DURABILITY_VOLATILE,                     \
        .history     = NROS_RMW_HISTORY_KEEP_LAST,                       \
        .liveliness_kind = NROS_RMW_LIVELINESS_AUTOMATIC,                \
        .depth       = 1000,                                             \
        ._reserved0  = 0,                                                \
        .deadline_ms = 0,                                                \
        .lifespan_ms = 0,                                                \
        .liveliness_lease_ms = 0,                                        \
        .avoid_ros_namespace_conventions = 0,                            \
        ._reserved1  = {0, 0, 0},                                        \
    })
 
#define NROS_RMW_QOS_PROFILE_SYSTEM_DEFAULT  NROS_RMW_QOS_PROFILE_DEFAULT
 
/* ------------------------------------------------------------------ */
/* Entity structs                                                     */
/* ------------------------------------------------------------------ */
 
typedef struct nros_rmw_session_t {
    const char *node_name;
    const char *namespace_;
    uint8_t     _reserved[8];
    void       *backend_data;
} nros_rmw_session_t;
 
typedef struct nros_rmw_publisher_t {
    const char    *topic_name;
    const char    *type_name;
    nros_rmw_qos_t qos;
    bool           can_loan_messages;
    uint8_t        _reserved[7];
    void          *backend_data;
} nros_rmw_publisher_t;
 
typedef struct nros_rmw_subscriber_t {
    const char    *topic_name;
    const char    *type_name;
    nros_rmw_qos_t qos;
    bool           can_loan_messages;
    uint8_t        _reserved[7];
    void          *backend_data;
} nros_rmw_subscriber_t;
 
typedef struct nros_rmw_service_server_t {
    const char *service_name;
    const char *type_name;
    uint8_t     _reserved[8];
    void       *backend_data;
} nros_rmw_service_server_t;
 
typedef struct nros_rmw_service_client_t {
    const char *service_name;
    const char *type_name;
    uint8_t     _reserved[8];
    void       *backend_data;
} nros_rmw_service_client_t;
 
#endif /* NROS_RMW_ENTITY_H */