Fast DDS  Version 3.1.0
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DataWriter.hpp
1// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
19#ifndef FASTDDS_DDS_PUBLISHER__DATAWRITER_HPP
20#define FASTDDS_DDS_PUBLISHER__DATAWRITER_HPP
21
22#include <fastdds/dds/builtin/topic/PublicationBuiltinTopicData.hpp>
23#include <fastdds/dds/builtin/topic/SubscriptionBuiltinTopicData.hpp>
24#include <fastdds/dds/core/Entity.hpp>
25#include <fastdds/dds/core/ReturnCode.hpp>
26#include <fastdds/dds/core/status/BaseStatus.hpp>
27#include <fastdds/dds/core/status/DeadlineMissedStatus.hpp>
28#include <fastdds/dds/core/status/IncompatibleQosStatus.hpp>
29#include <fastdds/dds/core/status/PublicationMatchedStatus.hpp>
30#include <fastdds/dds/core/status/StatusMask.hpp>
31#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
32#include <fastdds/fastdds_dll.hpp>
33#include <fastdds/rtps/common/LocatorList.hpp>
34#include <fastdds/rtps/common/Time_t.hpp>
35
36namespace eprosima {
37namespace fastdds {
38namespace rtps {
39
40class WriteParams;
41struct GUID_t;
42
43} // namespace rtps
44
45namespace dds {
46
47class PublisherListener;
48class PublisherImpl;
49class Publisher;
50
51class TypeSupport;
52
53class DataWriterImpl;
54class DataWriterListener;
55class DataWriterQos;
56class Topic;
57
64{
65protected:
66
67 friend class PublisherImpl;
68 friend class DataWriterImpl;
69
75 DataWriterImpl* impl,
76 const StatusMask& mask = StatusMask::all());
77
79 Publisher* pub,
80 Topic* topic,
82 DataWriterListener* listener = nullptr,
83 const StatusMask& mask = StatusMask::all());
84
85public:
86
117
118 virtual ~DataWriter();
119
126 FASTDDS_EXPORTED_API ReturnCode_t enable() override;
127
134 FASTDDS_EXPORTED_API ReturnCode_t write(
135 const void* const data);
136
144 FASTDDS_EXPORTED_API ReturnCode_t write(
145 const void* const data,
147
159 FASTDDS_EXPORTED_API ReturnCode_t write(
160 const void* const data,
161 const InstanceHandle_t& handle);
162
179 FASTDDS_EXPORTED_API ReturnCode_t write_w_timestamp(
180 const void* const data,
181 const InstanceHandle_t& handle,
182 const fastdds::dds::Time_t& timestamp);
183
194 const void* const instance);
195
215 const void* const instance,
216 const fastdds::dds::Time_t& timestamp);
217
229 FASTDDS_EXPORTED_API ReturnCode_t unregister_instance(
230 const void* const instance,
231 const InstanceHandle_t& handle);
232
253 const void* const instance,
254 const InstanceHandle_t& handle,
255 const fastdds::dds::Time_t& timestamp);
256
271 FASTDDS_EXPORTED_API ReturnCode_t get_key_value(
272 void* key_holder,
273 const InstanceHandle_t& handle);
274
286 FASTDDS_EXPORTED_API InstanceHandle_t lookup_instance(
287 const void* const instance) const;
288
294 FASTDDS_EXPORTED_API const fastdds::rtps::GUID_t& guid() const;
295
301 FASTDDS_EXPORTED_API InstanceHandle_t get_instance_handle() const;
302
308 FASTDDS_EXPORTED_API TypeSupport get_type() const;
309
317 const fastdds::dds::Duration_t& max_wait);
318
327
336
344 PublicationMatchedStatus& status) const;
345
353 FASTDDS_EXPORTED_API ReturnCode_t set_qos(
354 const DataWriterQos& qos);
355
361 FASTDDS_EXPORTED_API const DataWriterQos& get_qos() const;
362
369 FASTDDS_EXPORTED_API ReturnCode_t get_qos(
370 DataWriterQos& qos) const;
371
377 FASTDDS_EXPORTED_API Topic* get_topic() const;
378
384 FASTDDS_EXPORTED_API const DataWriterListener* get_listener() const;
385
392 FASTDDS_EXPORTED_API ReturnCode_t set_listener(
393 DataWriterListener* listener);
394
402 FASTDDS_EXPORTED_API ReturnCode_t set_listener(
403 DataWriterListener* listener,
404 const StatusMask& mask);
405
421 FASTDDS_EXPORTED_API ReturnCode_t dispose(
422 const void* const data,
423 const InstanceHandle_t& handle);
424
445 FASTDDS_EXPORTED_API ReturnCode_t dispose_w_timestamp(
446 const void* const instance,
447 const InstanceHandle_t& handle,
448 const fastdds::dds::Time_t& timestamp);
456 LivelinessLostStatus& status);
457
463 FASTDDS_EXPORTED_API const Publisher* get_publisher() const;
464
477 FASTDDS_EXPORTED_API ReturnCode_t assert_liveliness();
478
489 SubscriptionBuiltinTopicData& subscription_data,
490 const InstanceHandle_t& subscription_handle) const;
491
501 std::vector<InstanceHandle_t>& subscription_handles) const;
502
509 FASTDDS_EXPORTED_API ReturnCode_t clear_history(
510 size_t* removed);
511
537 FASTDDS_EXPORTED_API ReturnCode_t loan_sample(
538 void*& sample,
540
553 FASTDDS_EXPORTED_API ReturnCode_t discard_loan(
554 void*& sample);
555
564 FASTDDS_EXPORTED_API ReturnCode_t get_sending_locators(
565 rtps::LocatorList& locators) const;
566
584 const void* const instance,
585 const InstanceHandle_t& handle,
586 const fastdds::dds::Duration_t& max_wait);
587
597 PublicationBuiltinTopicData& publication_data) const;
598
599protected:
600
602};
603
604} // namespace dds
605} // namespace fastdds
606} // namespace eprosima
607
608#endif // FASTDDS_DDS_PUBLISHER__DATAWRITER_HPP
Class DataWriter, contains the actual implementation of the behaviour of the DataWriter.
Definition DataWriter.hpp:64
FASTDDS_EXPORTED_API ReturnCode_t set_listener(DataWriterListener *listener, const StatusMask &mask)
Modifies the DataWriterListener.
FASTDDS_EXPORTED_API ReturnCode_t discard_loan(void *&sample)
Discards a loaned sample pointer.
FASTDDS_EXPORTED_API ReturnCode_t get_liveliness_lost_status(LivelinessLostStatus &status)
Returns the liveliness lost status.
FASTDDS_EXPORTED_API InstanceHandle_t register_instance_w_timestamp(const void *const instance, const fastdds::dds::Time_t &timestamp)
This operation performs the same function as register_instance and can be used instead of register_in...
FASTDDS_EXPORTED_API ReturnCode_t dispose(const void *const data, const InstanceHandle_t &handle)
This operation requests the middleware to delete the data (the actual deletion is postponed until the...
FASTDDS_EXPORTED_API ReturnCode_t write(const void *const data, fastdds::rtps::WriteParams &params)
Write data with params to the topic.
FASTDDS_EXPORTED_API Topic * get_topic() const
Retrieves the topic for this DataWriter.
FASTDDS_EXPORTED_API const Publisher * get_publisher() const
Getter for the Publisher that creates this DataWriter.
FASTDDS_EXPORTED_API ReturnCode_t set_qos(const DataWriterQos &qos)
Establishes the DataWriterQos for this DataWriter.
FASTDDS_EXPORTED_API ReturnCode_t assert_liveliness()
This operation manually asserts the liveliness of the DataWriter.
friend class DataWriterImpl
Definition DataWriter.hpp:68
FASTDDS_EXPORTED_API ReturnCode_t write(const void *const data)
Write data to the topic.
FASTDDS_EXPORTED_API ReturnCode_t loan_sample(void *&sample, LoanInitializationKind initialization=LoanInitializationKind::NO_LOAN_INITIALIZATION)
Get a pointer to the internal pool where the user could directly write.
DataWriter(DataWriterImpl *impl, const StatusMask &mask=StatusMask::all())
Create a data writer, assigning its pointer to the associated implementation.
DataWriterImpl * impl_
Definition DataWriter.hpp:601
DataWriter(Publisher *pub, Topic *topic, const DataWriterQos &qos=DATAWRITER_QOS_DEFAULT, DataWriterListener *listener=nullptr, const StatusMask &mask=StatusMask::all())
FASTDDS_EXPORTED_API ReturnCode_t get_matched_subscription_data(SubscriptionBuiltinTopicData &subscription_data, const InstanceHandle_t &subscription_handle) const
Retrieves in a subscription associated with the DataWriter.
FASTDDS_EXPORTED_API ReturnCode_t get_publication_matched_status(PublicationMatchedStatus &status) const
Returns the publication matched status.
FASTDDS_EXPORTED_API ReturnCode_t unregister_instance(const void *const instance, const InstanceHandle_t &handle)
This operation reverses the action of register_instance.
FASTDDS_EXPORTED_API TypeSupport get_type() const
Get data type associated to the DataWriter.
FASTDDS_EXPORTED_API InstanceHandle_t lookup_instance(const void *const instance) const
NOT YET IMPLEMENTED.
FASTDDS_EXPORTED_API ReturnCode_t get_key_value(void *key_holder, const InstanceHandle_t &handle)
This operation can be used to retrieve the instance key that corresponds to an instance_handle.
FASTDDS_EXPORTED_API const fastdds::rtps::GUID_t & guid() const
Returns the DataWriter's GUID.
FASTDDS_EXPORTED_API const DataWriterQos & get_qos() const
Retrieves the DataWriterQos for this DataWriter.
LoanInitializationKind
How to initialize samples loaned with loan_sample.
Definition DataWriter.hpp:91
@ ZERO_LOAN_INITIALIZATION
Initialize all memory with zero-valued bytes.
@ NO_LOAN_INITIALIZATION
Do not perform initialization of sample.
@ CONSTRUCTED_LOAN_INITIALIZATION
Use in-place constructor initialization.
FASTDDS_EXPORTED_API ReturnCode_t get_sending_locators(rtps::LocatorList &locators) const
Get the list of locators from which this DataWriter may send data.
FASTDDS_EXPORTED_API InstanceHandle_t get_instance_handle() const
Returns the DataWriter's InstanceHandle.
FASTDDS_EXPORTED_API ReturnCode_t unregister_instance_w_timestamp(const void *const instance, const InstanceHandle_t &handle, const fastdds::dds::Time_t &timestamp)
This operation performs the same function as unregister_instance and can be used instead of unregiste...
FASTDDS_EXPORTED_API ReturnCode_t get_offered_incompatible_qos_status(OfferedIncompatibleQosStatus &status)
Returns the offered incompatible qos status.
FASTDDS_EXPORTED_API ReturnCode_t set_listener(DataWriterListener *listener)
Modifies the DataWriterListener, sets the mask to StatusMask::all()
FASTDDS_EXPORTED_API ReturnCode_t get_publication_builtin_topic_data(PublicationBuiltinTopicData &publication_data) const
Retrieve the publication data discovery information.
FASTDDS_EXPORTED_API InstanceHandle_t register_instance(const void *const instance)
Informs that the application will be modifying a particular instance.
FASTDDS_EXPORTED_API ReturnCode_t dispose_w_timestamp(const void *const instance, const InstanceHandle_t &handle, const fastdds::dds::Time_t &timestamp)
This operation performs the same functions as dispose except that the application provides the value ...
FASTDDS_EXPORTED_API ReturnCode_t enable() override
This operation enables the DataWriter.
FASTDDS_EXPORTED_API ReturnCode_t get_matched_subscriptions(std::vector< InstanceHandle_t > &subscription_handles) const
Fills the given vector with the InstanceHandle_t of matched DataReaders.
FASTDDS_EXPORTED_API ReturnCode_t write(const void *const data, const InstanceHandle_t &handle)
Write data with handle.
friend class PublisherImpl
Definition DataWriter.hpp:67
FASTDDS_EXPORTED_API const DataWriterListener * get_listener() const
Retrieves the listener for this DataWriter.
FASTDDS_EXPORTED_API ReturnCode_t wait_for_acknowledgments(const void *const instance, const InstanceHandle_t &handle, const fastdds::dds::Duration_t &max_wait)
Block the current thread until the writer has received the acknowledgment corresponding to the given ...
FASTDDS_EXPORTED_API ReturnCode_t get_offered_deadline_missed_status(OfferedDeadlineMissedStatus &status)
Returns the offered deadline missed status.
FASTDDS_EXPORTED_API ReturnCode_t wait_for_acknowledgments(const fastdds::dds::Duration_t &max_wait)
Waits the current thread until all writers have received their acknowledgments.
FASTDDS_EXPORTED_API ReturnCode_t write_w_timestamp(const void *const data, const InstanceHandle_t &handle, const fastdds::dds::Time_t &timestamp)
This operation performs the same function as write except that it also provides the value for the sou...
FASTDDS_EXPORTED_API ReturnCode_t clear_history(size_t *removed)
Clears the DataWriter history.
FASTDDS_EXPORTED_API ReturnCode_t get_qos(DataWriterQos &qos) const
Fills the DataWriterQos with the values of this DataWriter.
Class DataWriterListener, allows the end user to implement callbacks triggered by certain events.
Definition DataWriterListener.hpp:39
Class DataWriterQos, containing all the possible Qos that can be set for a determined DataWriter.
Definition DataWriterQos.hpp:85
The DomainEntity class is a subclass of Entity created in order to differentiate between DomainPartic...
Definition Entity.hpp:166
Class Publisher, used to send data to associated subscribers.
Definition Publisher.hpp:61
StatusMask is a bitmap or bitset field.
Definition StatusMask.hpp:48
static StatusMask all()
Get all StatusMasks.
Definition StatusMask.hpp:104
Class Topic, represents the fact that both publications and subscriptions are tied to a single data-t...
Definition Topic.hpp:53
Class TypeSupport used to provide the DomainRTPSParticipant with the methods to serialize,...
Definition TypeSupport.hpp:47
Class LocatorList, a Locator vector that doesn't allow duplicates.
Definition LocatorList.hpp:97
This class contains additional information of a CacheChange.
Definition WriteParams.hpp:34
Definition DomainParticipant.hpp:45
FASTDDS_EXPORTED_API const DataWriterQos DATAWRITER_QOS_DEFAULT
int32_t ReturnCode_t
Definition DDSReturnCode.hpp:59
eProsima namespace.
A struct storing the base status.
Definition BaseStatus.hpp:30
A struct storing the deadline status.
Definition DeadlineMissedStatus.hpp:31
A struct storing the requested incompatible QoS status.
Definition IncompatibleQosStatus.hpp:61
A structure storing the publication status.
Definition PublicationMatchedStatus.hpp:32
Structure Time_t, used to describe times at a DDS level.
Definition Time_t.hpp:36
Structure GUID_t, entity identifier, unique in DDS-RTPS Domain.
Definition Guid.hpp:40
Struct InstanceHandle_t, used to contain the key for WITH_KEY topics.
Definition InstanceHandle.hpp:154
Structure PublicationBuiltinTopicData, contains the information on a discovered publication.
Definition PublicationBuiltinTopicData.hpp:39
Structure SubscriptionBuiltinTopicData, contains the information on a discovered subscription.
Definition SubscriptionBuiltinTopicData.hpp:37