Add --topic-config to specify QoS by topic via a .js file

bin/rosbridge.js

@@ -18,6 +18,7 @@
 
 const rosbridge = require('../index.js');
 const app = require('commander');
+const path = require('path');
 const pkg = require('../package.json');
 
 app
@@ -33,6 +34,13 @@ app
   .option('-g, --params_glob [glob_list]', 'A list or None')
   .option('-b, --bson_only_mode', 'Unsupported in WebSocket server, will be ignored')
   .option('-l, --status_level [level_string]', 'Status level (one of "error", "warning", "info", "none"; default "error")')
+  .option('--topic-config <path>', 'Path to a topic config (js file)') // example.topic-config.js
   .parse(process.argv);
 
+  if (app.topicConfig) {
+    const SubscriptionManager = require('../lib/subscription_manager.js');
+    const {config} = require(path.resolve(app.topicConfig));
+    SubscriptionManager._opts = config;
+  }
+
 rosbridge.createServer(app);

data/example.topic-config.js

@@ -0,0 +1,50 @@
+/**
+ * Enum for HistoryPolicy
+ * @readonly
+ * @enum {number}
+ */
+let HistoryPolicy = {
+    /** @member {number} */
+    RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT: 0,
+    /** @member {number} */
+    RMW_QOS_POLICY_HISTORY_KEEP_LAST: 1,
+    /** @member {number} */
+    RMW_QOS_POLICY_HISTORY_KEEP_ALL: 2
+  };
+
+  /**
+   * Enum for ReliabilityPolicy
+   * @readonly
+   * @enum {number}
+   */
+  let ReliabilityPolicy = {
+    /** @member {number} */
+    RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT: 0,
+    /** @member {number} */
+    RMW_QOS_POLICY_RELIABILITY_RELIABLE: 1,
+    /** @member {number} */
+    RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT: 2
+  };
+
+  /**
+   * Enum for DurabilityPolicy
+   * @readonly
+   * @enum {number}
+   */
+  let DurabilityPolicy = {
+    /** @member {number} */
+    RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT: 0,
+    /** @member {number} */
+    RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL: 1,
+    /** @member {number} */
+    RMW_QOS_POLICY_DURABILITY_VOLATILE: 2
+  };
+
+  module.exports.config = {
+    "/heartbeat": {
+      qos: {
+        history: HistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_ALL,
+        durability: DurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
+      }
+    }
+  };

lib/subscription_manager.js

@@ -54,7 +54,12 @@ class SubscriptionManager {
     let handle = this._subscripions.get(topicName);
 
     if (!handle) {
-      let subscription = this._node.createSubscription(messageType, topicName, {enableTypedArray: false}, (message) => {
+      const defaultOpts = {}
+      let opts = subscriptionManager._opts[topicName] !== undefined ? subscriptionManager._opts[topicName] : defaultOpts
+
+      console.log(topicName, opts)
+
+      let subscription = this._node.createSubscription(messageType, topicName, {enableTypedArray: false, ...opts}, (message) => {
         this._subscripions.get(topicName).callbacks.forEach(callback => {
           callback(topicName, message);
         });