Add SubscriptionOptions wrapper

Signed-off-by: Clint Lombard <[email protected]>

rclpy/CMakeLists.txt

@@ -97,6 +97,7 @@ pybind11_add_module(_rclpy_pybind11 SHARED
   src/rclpy/service_info.cpp
   src/rclpy/signal_handler.cpp
   src/rclpy/subscription.cpp
+  src/rclpy/subscription_options.cpp
   src/rclpy/time_point.cpp
   src/rclpy/timer.cpp
   src/rclpy/utils.cpp

rclpy/rclpy/node.py

@@ -73,6 +73,7 @@
 from rclpy.qos_overriding_options import QoSOverridingOptions
 from rclpy.service import Service
 from rclpy.subscription import Subscription
+from rclpy.subscription_options import SubscriptionOptions
 from rclpy.time_source import TimeSource
 from rclpy.timer import Rate
 from rclpy.timer import Timer
@@ -1508,7 +1509,8 @@ def create_subscription(
         callback_group: Optional[CallbackGroup] = None,
         event_callbacks: Optional[SubscriptionEventCallbacks] = None,
         qos_overriding_options: Optional[QoSOverridingOptions] = None,
-        raw: bool = False
+        raw: bool = False,
+        subscription_options: Optional[SubscriptionOptions] = None,
     ) -> Subscription:
         """
         Create a new subscription.
@@ -1553,7 +1555,12 @@ def create_subscription(
         try:
             with self.handle:
                 subscription_object = _rclpy.Subscription(
-                    self.handle, msg_type, topic, qos_profile.get_c_qos_profile())
+                    self.handle,
+                    msg_type,
+                    topic,
+                    qos_profile.get_c_qos_profile(),
+                    subscription_options,
+                )
         except ValueError:
             failed = True
         if failed:

rclpy/rclpy/subscription_options.py

@@ -0,0 +1,18 @@
+# Copyright 2023 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+
+
+class SubscriptionOptions(_rclpy.rmw_subscription_options_t):
+    pass

rclpy/src/rclpy/_rclpy_pybind11.cpp

@@ -46,6 +46,7 @@
 #include "service_info.hpp"
 #include "signal_handler.hpp"
 #include "subscription.hpp"
+#include "subscription_options.hpp"
 #include "time_point.hpp"
 #include "timer.hpp"
 #include "utils.hpp"
@@ -144,6 +145,7 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
   rclpy::define_guard_condition(m);
   rclpy::define_timer(m);
   rclpy::define_subscription(m);
+  rclpy::define_subscription_options(m);
   rclpy::define_time_point(m);
   rclpy::define_clock(m);
   rclpy::define_waitset(m);

rclpy/src/rclpy/subscription.cpp

@@ -20,6 +20,7 @@
 #include <rcl/types.h>
 #include <rosidl_runtime_c/message_type_support_struct.h>
 #include <rmw/types.h>
+#include <rmw/subscription_options.h>
 
 #include <memory>
 #include <stdexcept>
@@ -37,7 +38,7 @@ namespace rclpy
 {
 Subscription::Subscription(
   Node & node, py::object pymsg_type, std::string topic,
-  py::object pyqos_profile)
+  py::object pyqos_profile, py::object pysubscription_options)
 : node_(node)
 {
   auto msg_type = static_cast<rosidl_message_type_support_t *>(
@@ -52,6 +53,11 @@ Subscription::Subscription(
     subscription_ops.qos = pyqos_profile.cast<rmw_qos_profile_t>();
   }
 
+  if (!pysubscription_options.is_none()) {
+    subscription_ops.rmw_subscription_options =
+      pysubscription_options.cast<rmw_subscription_options_t>();
+  }
+
   rcl_subscription_ = std::shared_ptr<rcl_subscription_t>(
     new rcl_subscription_t,
     [node](rcl_subscription_t * subscription)
@@ -172,7 +178,7 @@ void
 define_subscription(py::object module)
 {
   py::class_<Subscription, Destroyable, std::shared_ptr<Subscription>>(module, "Subscription")
-  .def(py::init<Node &, py::object, std::string, py::object>())
+  .def(py::init<Node &, py::object, std::string, py::object, py::object>())
   .def_property_readonly(
     "pointer", [](const Subscription & subscription) {
       return reinterpret_cast<size_t>(subscription.rcl_ptr());

rclpy/src/rclpy/subscription.hpp

@@ -46,10 +46,11 @@ class Subscription : public Destroyable, public std::enable_shared_from_this<Sub
    * \param[in] pymsg_type Message module associated with the subscriber
    * \param[in] topic The topic name
    * \param[in] pyqos_profile rmw_qos_profile_t object for this subscription
+   * \param[in] pysubscription_options rmw_subscription_options_t object for this subscription
    */
   Subscription(
     Node & node, py::object pymsg_type, std::string topic,
-    py::object pyqos_profile);
+    py::object pyqos_profile, py::object pysubscription_options);
 
   /// Take a message and its metadata from a subscription
   /**
@@ -100,7 +101,7 @@ class Subscription : public Destroyable, public std::enable_shared_from_this<Sub
   Node node_;
   std::shared_ptr<rcl_subscription_t> rcl_subscription_;
 };
-/// Define a pybind11 wrapper for an rclpy::Service
+/// Define a pybind11 wrapper for an rclpy::Subscription
 void define_subscription(py::object module);
 }  // namespace rclpy
 

rclpy/src/rclpy/subscription_options.cpp

@@ -0,0 +1,35 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <pybind11/pybind11.h>
+
+#include <rmw/types.h>
+#include <rmw/subscription_options.h>
+
+#include "subscription_options.hpp"
+
+using pybind11::literals::operator""_a;
+
+namespace rclpy
+{
+void
+define_subscription_options(py::object module)
+{
+  py::class_<rmw_subscription_options_t>(module, "rmw_subscription_options_t")
+  .def(py::init<>(&rmw_get_default_subscription_options))
+  .def_readwrite(
+    "ignore_local_publications",
+    &rmw_subscription_options_t::ignore_local_publications);
+}
+}  // namespace rclpy

rclpy/src/rclpy/subscription_options.hpp

@@ -0,0 +1,28 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLPY__SUBSCRIPTION_OPTIONS_HPP_
+#define RCLPY__SUBSCRIPTION_OPTIONS_HPP_
+
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+namespace rclpy
+{
+/// Define a pybind11 wrapper for an rclpy::SubscriptionOptions
+void define_subscription_options(py::object module);
+}  // namespace rclpy
+
+#endif  // RCLPY__SUBSCRIPTION_OPTIONS_HPP_

rclpy/test/test_waitable.py

@@ -175,7 +175,12 @@ def __init__(self, node):
 
         with node.handle:
             self.subscription = _rclpy.Subscription(
-                node.handle, EmptyMsg, 'test_topic', QoSProfile(depth=10).get_c_qos_profile())
+                node.handle,
+                EmptyMsg,
+                'test_topic',
+                QoSProfile(depth=10).get_c_qos_profile(),
+                None
+            )
         self.subscription_index = None
         self.subscription_is_ready = False