Struct rmw_qos_profile_t 

#[repr(C)]
pub struct rmw_qos_profile_t {
    pub reliability: u8,
    pub durability: u8,
    pub history: u8,
    pub liveliness_kind: u8,
    pub depth: u16,
    pub _reserved0: u16,
    pub deadline_ms: u32,
    pub lifespan_ms: u32,
    pub liveliness_lease_ms: u32,
    pub avoid_ros_namespace_conventions: u8,
    pub _reserved1: [u8; 3],
}

Full DDS-shaped QoS profile.

Matches the field set of upstream rmw_qos_profile_t. Backends advertise per-policy support via the runtime’s supported_qos_policies() query; entities created with a profile the active backend can’t honour return NROS_RMW_RET_INCOMPATIBLE_QOS synchronously at create time — no silent downgrade.

Zero-valued fields (“off”) preserve the cheap default for apps that don’t request the policy:

• deadline_ms = 0 → infinite deadline (no check).
• lifespan_ms = 0 → infinite lifespan (no expiry).
• liveliness_kind = NONE → no liveliness tracking.
• liveliness_lease_ms = 0 → infinite lease.

Boundary semantics (phase-301, issue 0241). Durations are u32 MILLISECONDS; that width is part of the contract:

• 0 = unset/no-check (matches upstream RMW_QOS_*_DEFAULT, the zero time — a “real 0-duration” is inexpressible upstream too).
• NROS_RMW_DURATION_INFINITE_MS = explicit infinite.
• Callers lowering finer-grained times MUST round sub-ms values UP to 1 ms (rounding down would silently turn a real deadline into “no deadline”) and MUST reject values past the u32-ms range (other than the infinite sentinel) at create time (NROS_RMW_RET_INVALID_ARGUMENT) — never clamp.

depth is uint16_t (max 65 535). Embedded ROS application queue depths are typically 1–100; the 16-bit width saves two bytes per entity vs the upstream 32-bit choice. A requested depth the width cannot represent is a create-time error, never a silent saturate (phase-301, issue 0241).

Pure policy mirror (phase-301, issue 0240). Transport hints (tx_express, rx_buffer_hint) moved OUT of this struct into rmw_publisher_options_t / rmw_subscription_options_t — the upstream rmw_publisher_options_t / rmw_subscription_options_t home for exactly that class. QoS carries DDS policy only; hint growth no longer churns this ABI.

Fields

reliability: u8

< @see NROS_RMW_RELIABILITY_*

durability: u8

< @see NROS_RMW_DURABILITY_*

history: u8

< @see NROS_RMW_HISTORY_*

liveliness_kind: u8

< @see rmw_liveliness_kind_t

depth: u16

_reserved0: u16

< Reserved; must be zero.

deadline_ms: u32

Subscription: max acceptable inter-arrival time, ms. Publisher: max acceptable inter-publish (offered rate), ms. 0 = infinite (no deadline).

lifespan_ms: u32

Sample expiry, ms. Subscription filters samples older than this. 0 = infinite (no expiry).

liveliness_lease_ms: u32

Liveliness lease, ms. Publisher must assert liveliness within this window or be considered dead. 0 = infinite.

avoid_ros_namespace_conventions: u8

If non-zero, topic-name encoding skips the ROS /rt/ prefix and uses raw application names. Matches upstream avoid_ros_namespace_conventions. 0 = false, non-zero = true. (uint8_t instead of bool; sizeof(_Bool) is impl- defined per C99 — uint8_t keeps the layout stable across toolchains.)

_reserved1: [u8; 3]

< Reserved; must be zero.

Trait Implementations

impl Clone for rmw_qos_profile_t

fn clone(&self) -> rmw_qos_profile_t

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for rmw_qos_profile_t

impl Debug for rmw_qos_profile_t

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for rmw_qos_profile_t

impl PartialEq for rmw_qos_profile_t

fn eq(&self, other: &Self) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.