Struct QosSettings

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pub struct QosSettings {
    pub history: QosHistoryPolicy,
    pub reliability: QosReliabilityPolicy,
    pub durability: QosDurabilityPolicy,
    pub liveliness_kind: QosLivelinessPolicy,
    pub depth: u32,
    pub deadline_ms: u32,
    pub lifespan_ms: u32,
    pub liveliness_lease_ms: u32,
    pub avoid_ros_namespace_conventions: bool,
}

Expand description

Full DDS-shaped QoS profile. Matches the field set of upstream rmw_qos_profile_t.

Backends advertise per-policy support via Session::supported_qos_policies; entities created with a profile the active backend can’t honour return TransportError::IncompatibleQos synchronously at create time — no silent downgrade.

Zero-valued time-window fields (“off”) mean infinite — the policy is effectively disabled for the entity.

Fields§

§history: QosHistoryPolicy

History policy

§reliability: QosReliabilityPolicy

Reliability policy

§durability: QosDurabilityPolicy

Durability policy

§liveliness_kind: QosLivelinessPolicy

Liveliness policy

§depth: u32

History depth (only used if history is KeepLast)

§deadline_ms: u32

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

§lifespan_ms: u32

Sample expiry, ms. Subscribers filter samples older than this. 0 = infinite (no expiry).

§liveliness_lease_ms: u32

Liveliness lease, ms. 0 = infinite.

§avoid_ros_namespace_conventions: bool

If true, topic-name encoding skips the /rt/ ROS prefix.

Implementations§

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impl QosSettings

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pub fn apply_overrides( self, topic: &str, role: QosOverrideRole, overrides: &[QosOverride], ) -> Self

Phase 211.H — fold the plan’s qos_overrides matching topic + role into this profile, returning the overridden profile. Setup-time only (called from create_publisher/create_subscription): a single linear scan over the baked &'static table, no alloc, RT-safe. Later entries win on a duplicate (topic, role, policy) (last-write), matching the planner’s sorted, de-conflicted emit. Non-matching entries are ignored, so passing the whole node table to every entity is cheap + correct.

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impl QosSettings

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pub const BEST_EFFORT: Self

Best-effort QoS (for real-time)

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pub const RELIABLE: Self

Reliable QoS

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pub const QOS_PROFILE_SYSTEM_DEFAULT: Self

System default QoS profile (matches rmw_qos_profile_system_default)

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pub const QOS_PROFILE_DEFAULT: Self

Default QoS profile (matches rmw_qos_profile_default)

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pub const QOS_PROFILE_SENSOR_DATA: Self

Sensor data QoS profile (matches rmw_qos_profile_sensor_data)

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pub const QOS_PROFILE_SERVICES_DEFAULT: Self

Services default QoS profile (matches rmw_qos_profile_services_default)

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pub const QOS_PROFILE_PARAMETERS: Self

Parameters QoS profile (matches rmw_qos_profile_parameters)

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pub const QOS_PROFILE_CLOCK: Self

Clock QoS profile - same as sensor data but with depth 1

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pub const QOS_PROFILE_PARAMETER_EVENTS: Self

Parameter events QoS profile (matches rmw_qos_profile_parameter_events)

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pub const QOS_PROFILE_ACTION_STATUS_DEFAULT: Self

Action status default QoS profile (matches rcl_action_qos_profile_status_default)

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pub const QOS_PROFILE_PX4: Self

PX4 companion QoS profile (Phase 233 / RFC-0039 Track B). Matches the QoS PX4’s uxrce_dds_client uses on /fmu/out/* and /fmu/in/* — BEST_EFFORT + VOLATILE + KEEP_LAST(1). A nano-ros node talking to the same MicroXRCEAgent must use this (a reliable or TRANSIENT_LOCAL reader will not match PX4’s volatile best-effort writers). Verified against real PX4 SITL (nros-px4-sitl-test): TRANSIENT_LOCAL durability silently fails to match /fmu/out/*. Adjust depth via .keep_last(n) for higher-rate streams.

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pub const fn new() -> Self

Create new QoS settings with defaults (matches QOS_PROFILE_DEFAULT: Reliable, Volatile, KeepLast(10)).

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pub const fn topics_default() -> Self

Get the default QoS profile for ordinary topics

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pub const fn px4() -> Self

The PX4 companion QoS profile (QOS_PROFILE_PX4) — use for /fmu/out/* subscriptions and /fmu/in/* publications against a MicroXRCEAgent.

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pub const fn sensor_data_default() -> Self

Get the default QoS profile for sensor data topics

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pub const fn services_default() -> Self

Get the default QoS profile for services

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pub const fn parameters_default() -> Self

Get the default QoS profile for parameter services

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pub const fn parameter_events_default() -> Self

Get the default QoS profile for parameter events

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pub const fn system_default() -> Self

Get the system default QoS profile

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pub const fn action_status_default() -> Self

Get the default QoS profile for action status topics

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pub const fn clock_default() -> Self

Get the default QoS profile for clock topics

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pub const fn keep_last(self, depth: u32) -> Self

Set history to keep last N messages

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pub const fn keep_all(self) -> Self

Set history to keep all messages

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pub const fn reliable(self) -> Self

Set reliability to reliable

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pub const fn best_effort(self) -> Self

Set reliability to best-effort

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pub const fn volatile(self) -> Self

Set durability to volatile

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pub const fn transient_local(self) -> Self

Set durability to transient local

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pub const fn reliability(self, policy: QosReliabilityPolicy) -> Self

Set reliability policy explicitly

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pub const fn durability(self, policy: QosDurabilityPolicy) -> Self

Set durability policy explicitly

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pub const fn history(self, policy: QosHistoryPolicy) -> Self

Set history policy explicitly

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pub const fn depth(self, depth: u32) -> Self

Set history depth explicitly

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pub const fn history_depth(&self) -> u8

Get history depth (for backwards compatibility)

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impl QosSettings

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pub fn required_policies(&self) -> QosPolicyMask

Compute the set of QoS policies actually requested by this profile.

Zero-valued time fields and LivelinessKind::None count as “not requesting” the corresponding policy — the cheap default. The CORE bits (reliability, durability=VOLATILE, history, depth) are always present because every nano-ros backend honours them.

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pub fn validate_against( &self, supported: QosPolicyMask, ) -> Result<(), TransportError>

Returns Err(TransportError::IncompatibleQos) if any policy this profile requires is missing from the backend’s supported mask. Used at entity-create time to enforce the no silent degradation contract.