Add default implementation and builder pattern for QoS (#361)

* Add default implementation and builder pattern for QoS

Signed-off-by: Luca Della Vedova <[email protected]>

* Add method that take a duration

Signed-off-by: Luca Della Vedova <[email protected]>

* Add comment to default implementation

Signed-off-by: Luca Della Vedova <[email protected]>

---------

Signed-off-by: Luca Della Vedova <[email protected]>

Author: luca-della-vedova

rclrs/src/qos.rs

@@ -179,6 +179,13 @@ pub struct QoSProfile {
     pub avoid_ros_namespace_conventions: bool,
 }
 
+/// Sets the `QoSProfile` to the RCL default.
+impl Default for QoSProfile {
+    fn default() -> Self {
+        QOS_PROFILE_DEFAULT
+    }
+}
+
 impl From<QoSProfile> for rmw_qos_profile_t {
     fn from(qos: QoSProfile) -> Self {
         Self {
@@ -199,6 +206,62 @@ impl From<QoSProfile> for rmw_qos_profile_t {
     }
 }
 
+impl QoSProfile {
+    /// Sets the QoS profile history to [QoSHistoryPolicy::KeepLast] with the specified depth.
+    pub fn keep_last(mut self, depth: u32) -> Self {
+        self.history = QoSHistoryPolicy::KeepLast { depth };
+        self
+    }
+
+    /// Sets the QoS profile history to [QoSHistoryPolicy::KeepAll].
+    pub fn keep_all(mut self) -> Self {
+        self.history = QoSHistoryPolicy::KeepAll;
+        self
+    }
+
+    /// Sets the QoS profile reliability to [QoSReliabilityPolicy::Reliable].
+    pub fn reliable(mut self) -> Self {
+        self.reliability = QoSReliabilityPolicy::Reliable;
+        self
+    }
+
+    /// Sets the QoS profile reliability to [QoSReliabilityPolicy::BestEffort].
+    pub fn best_effort(mut self) -> Self {
+        self.reliability = QoSReliabilityPolicy::BestEffort;
+        self
+    }
+
+    /// Sets the QoS profile durability to [QoSDurabilityPolicy::Volatile].
+    pub fn volatile(mut self) -> Self {
+        self.durability = QoSDurabilityPolicy::Volatile;
+        self
+    }
+
+    /// Sets the QoS profile durability to [QoSDurabilityPolicy::TransientLocal].
+    pub fn transient_local(mut self) -> Self {
+        self.durability = QoSDurabilityPolicy::TransientLocal;
+        self
+    }
+
+    /// Sets the QoS profile deadline to the specified `Duration`.
+    pub fn deadline(mut self, deadline: Duration) -> Self {
+        self.deadline = QoSDuration::Custom(deadline);
+        self
+    }
+
+    /// Sets the QoS profile liveliness lease duration to the specified `Duration`.
+    pub fn liveliness_lease_duration(mut self, lease_duration: Duration) -> Self {
+        self.liveliness_lease_duration = QoSDuration::Custom(lease_duration);
+        self
+    }
+
+    /// Sets the QoS profile lifespan to the specified `Duration`.
+    pub fn lifespan(mut self, lifespan: Duration) -> Self {
+        self.lifespan = QoSDuration::Custom(lifespan);
+        self
+    }
+}
+
 impl From<QoSHistoryPolicy> for rmw_qos_history_policy_t {
     fn from(policy: QoSHistoryPolicy) -> Self {
         match policy {