chore: apply the QoS mapping

ros2 · Jan 22, 2025 · 9f72ee8 · 9f72ee8
1 parent 066fce3
commit 9f72ee8
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Showing 2 changed files with 20 additions and 12 deletions.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -107,25 +107,25 @@ std::shared_ptr<PublisherData> PublisherData::make(
     return nullptr;
   }
 
-  auto adv_pub_opts = zenoh::ext::SessionExt::AdvancedPublisherOptions::create_default();
+  using AdvancedPublisherOptions = zenoh::ext::SessionExt::AdvancedPublisherOptions;
+  auto adv_pub_opts = AdvancedPublisherOptions::create_default();
 
-  // Create a Publication Cache if durability is transient_local.
   if (adapted_qos_profile.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL) {
-    // Retransmission can only be done if history is enabled on subscriber side.
+    // Allow this publisher to be detected through liveliness.
     adv_pub_opts.publisher_detection = true;
   }
 
   if (adapted_qos_profile.durability == RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
     || adapted_qos_profile.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE) {
-    adv_pub_opts.cache =
-      zenoh::ext::SessionExt::AdvancedPublisherOptions::CacheOptions::create_default();
+    adv_pub_opts.cache = AdvancedPublisherOptions::CacheOptions::create_default();
     adv_pub_opts.cache->max_samples = adapted_qos_profile.depth;
   }
 
   if (adapted_qos_profile.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE) {
-    // Allow this publisher to be detected through liveliness.
-    adv_pub_opts.sample_miss_detection = true;
-    // Heartbeat
+    // Allow matching Subscribers to detect lost samples and ask for retransimission.
+    adv_pub_opts.sample_miss_detection = AdvancedPublisherOptions::SampleMissDetectionOptions::create_default();
+    // The period of publisher heartbeats in ms, used by ``AdvancedSubscriber`` with heartbeat-based recovery enabled for missed sample retransimission.
+    adv_pub_opts.sample_miss_detection->heartbeat_period_ms = 1000;
   }
 
   zenoh::KeyExpr pub_ke(entity->topic_info()->topic_keyexpr_);

diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -168,7 +168,8 @@ bool SubscriptionData::init()
 
   sess_ = context_impl->session();
 
-  auto adv_sub_opts = zenoh::ext::SessionExt::AdvancedSubscriberOptions::create_default();
+  using AdvancedSubscriberOptions = zenoh::ext::SessionExt::AdvancedSubscriberOptions;
+  auto adv_sub_opts = AdvancedSubscriberOptions::create_default();
 
   // Instantiate the subscription with suitable options depending on the
   // adapted_qos_profile.
@@ -179,11 +180,18 @@ bool SubscriptionData::init()
     adv_sub_opts.subscriber_detection = true;
     adv_sub_opts.query_timeout_ms = std::numeric_limits<uint64_t>::max();
     // History can only be retransmitted by Publishers that enable caching.
-    adv_sub_opts.history =
-      zenoh::ext::SessionExt::AdvancedSubscriberOptions::HistoryOptions::create_default();
+    adv_sub_opts.history = AdvancedSubscriberOptions::HistoryOptions::create_default();
+    // Enable detection of late joiner publishers and query for their historical data.
     adv_sub_opts.history->detect_late_publishers = true;
     adv_sub_opts.history->max_samples = entity_->topic_info()->qos_.depth;
-    adv_sub_opts.recovery = zenoh::ext::SessionExt::AdvancedSubscriberOptions::RecoveryOptions{};
+
+  }
+
+  if (entity_->topic_info()->qos_.reliability == RMW_QOS_POLICY_RELIABILITY_RELIABLE) {
+    // Retransmission of detected lost Samples. This requires publishers to enable caching and sample_miss_detection.
+    adv_sub_opts.recovery = AdvancedSubscriberOptions::RecoveryOptions::create_default();
+    // Heartbeat-based last sample detection.
+    adv_sub_opts.recovery->last_sample_miss_detection = AdvancedSubscriberOptions::RecoveryOptions::Heartbeat{};
   }
 
   std::weak_ptr<SubscriptionData> data_wp = shared_from_this();