235 lines
7.9 KiB
C++
235 lines
7.9 KiB
C++
/*
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* Copyright(c) 2006 to 2020 ZettaScale Technology and others
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*
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* This program and the accompanying materials are made available under the
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* terms of the Eclipse Public License v. 2.0 which is available at
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* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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* v. 1.0 which is available at
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* http://www.eclipse.org/org/documents/edl-v10.php.
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*
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* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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*/
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#ifndef OMG_DDS_SUB_DETAIL_DATA_READER_HPP_
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#define OMG_DDS_SUB_DETAIL_DATA_READER_HPP_
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#include <dds/topic/Topic.hpp>
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#include <dds/topic/TopicInstance.hpp>
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#include <dds/core/status/Status.hpp>
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#include <dds/sub/status/detail/DataStateImpl.hpp>
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#include <dds/sub/detail/Manipulators.hpp>
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#include <dds/sub/LoanedSamples.hpp>
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#include <dds/sub/Subscriber.hpp>
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#include <dds/sub/Query.hpp>
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#include <org/eclipse/cyclonedds/core/EntityDelegate.hpp>
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#include <org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp>
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#include <org/eclipse/cyclonedds/core/ScopedLock.hpp>
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#include <org/eclipse/cyclonedds/ForwardDeclarations.hpp>
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#include <dds/dds.h>
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/***************************************************************************
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*
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* dds/sub/detail/DataReader<> DELEGATE declaration.
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* Implementation can be found in dds/sub/detail/TDataReaderImpl.hpp
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*
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***************************************************************************/
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template <typename T>
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class dds::sub::detail::DataReader : public ::org::eclipse::cyclonedds::sub::AnyDataReaderDelegate
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{
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public:
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typedef typename ::dds::core::smart_ptr_traits< DataReader<T> >::ref_type ref_type;
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typedef typename ::dds::core::smart_ptr_traits< DataReader<T> >::weak_ref_type weak_ref_type;
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DataReader(const dds::sub::Subscriber& sub,
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const dds::topic::Topic<T>& topic,
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const dds::sub::qos::DataReaderQos& qos,
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dds::sub::DataReaderListener<T>* listener = NULL,
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const dds::core::status::StatusMask& mask = ::dds::core::status::StatusMask::none());
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DataReader(const dds::sub::Subscriber& sub,
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const dds::topic::ContentFilteredTopic<T, dds::topic::detail::ContentFilteredTopic>& topic,
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const dds::sub::qos::DataReaderQos& qos,
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dds::sub::DataReaderListener<T>* listener = NULL,
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const dds::core::status::StatusMask& mask = ::dds::core::status::StatusMask::none());
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void common_constructor(dds::sub::DataReaderListener<T>* listener,
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const dds::core::status::StatusMask& mask);
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virtual ~DataReader();
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void copy_samples(
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dds::sub::detail::SamplesHolder& samples,
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void**& c_sample_pointers,
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dds_sample_info_t*& c_sample_infos,
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int num_read);
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void init(ObjectDelegate::weak_ref_type weak_ref);
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dds::sub::status::DataState default_filter_state();
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void default_filter_state(const dds::sub::status::DataState& state);
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bool is_loan_supported();
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dds::sub::LoanedSamples<org::eclipse::cyclonedds::topic::CDRBlob> read_cdr();
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dds::sub::LoanedSamples<org::eclipse::cyclonedds::topic::CDRBlob> take_cdr();
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dds::sub::LoanedSamples<T> read();
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dds::sub::LoanedSamples<T> take();
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template<typename SamplesFWIterator>
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uint32_t read(SamplesFWIterator samples, uint32_t max_samples);
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template<typename SamplesFWIterator>
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uint32_t take(SamplesFWIterator samples, uint32_t max_samples);
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template<typename SamplesBIIterator>
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uint32_t read(SamplesBIIterator samples);
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template<typename SamplesBIIterator>
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uint32_t take(SamplesBIIterator samples);
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dds::topic::TopicInstance<T> key_value(const dds::core::InstanceHandle& h);
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T& key_value(T& key, const dds::core::InstanceHandle& h);
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const dds::core::InstanceHandle lookup_instance(const T& key) const;
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virtual const dds::sub::Subscriber& subscriber() const;
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void close();
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dds::sub::DataReaderListener<T>* listener();
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void listener(dds::sub::DataReaderListener<T>* l,
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const dds::core::status::StatusMask& event_mask);
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dds::sub::DataReader<T, dds::sub::detail::DataReader> wrapper();
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void on_requested_deadline_missed(dds_entity_t,
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org::eclipse::cyclonedds::core::RequestedDeadlineMissedStatusDelegate &);
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void on_requested_incompatible_qos(dds_entity_t,
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org::eclipse::cyclonedds::core::RequestedIncompatibleQosStatusDelegate &);
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void on_sample_rejected(dds_entity_t,
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org::eclipse::cyclonedds::core::SampleRejectedStatusDelegate &);
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void on_liveliness_changed(dds_entity_t,
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org::eclipse::cyclonedds::core::LivelinessChangedStatusDelegate &);
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void on_data_available(dds_entity_t);
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void on_subscription_matched(dds_entity_t,
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org::eclipse::cyclonedds::core::SubscriptionMatchedStatusDelegate &);
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void on_sample_lost(dds_entity_t,
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org::eclipse::cyclonedds::core::SampleLostStatusDelegate &);
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private:
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dds::sub::Subscriber sub_;
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dds::sub::status::DataState status_filter_;
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//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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private:
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enum SelectMode {
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SELECT_MODE_READ,
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SELECT_MODE_READ_INSTANCE,
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SELECT_MODE_READ_NEXT_INSTANCE,
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SELECT_MODE_READ_WITH_CONDITION,
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SELECT_MODE_READ_INSTANCE_WITH_CONDITION,
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SELECT_MODE_READ_NEXT_INSTANCE_WITH_CONDITION
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};
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public:
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class Selector
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{
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public:
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Selector(typename DataReader<T>::ref_type dr);
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Selector& instance(const dds::core::InstanceHandle& h);
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Selector& next_instance(const dds::core::InstanceHandle& h);
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Selector& filter_state(const dds::sub::status::DataState& s);
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Selector& max_samples(uint32_t n);
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Selector& filter_content(const dds::sub::Query& query);
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dds::sub::LoanedSamples<T> read();
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dds::sub::LoanedSamples<T> take();
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// --- Forward Iterators: --- //
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template<typename SamplesFWIterator>
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uint32_t read(SamplesFWIterator sfit, uint32_t max_samples);
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template<typename SamplesFWIterator>
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uint32_t take(SamplesFWIterator sfit, uint32_t max_samples);
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// --- Back-Inserting Iterators: --- //
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template<typename SamplesBIIterator>
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uint32_t read(SamplesBIIterator sbit);
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template<typename SamplesBIIterator>
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uint32_t take(SamplesBIIterator sbit);
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SelectMode get_mode() const;
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private:
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friend class DataReader;
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SelectMode mode;
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typename DataReader<T>::ref_type reader;
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dds::sub::status::DataState state_filter_;
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bool state_filter_is_set_;
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dds::core::InstanceHandle handle;
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uint32_t max_samples_;
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dds::sub::Query query_;
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};
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class ManipulatorSelector: public Selector
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{
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public:
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//ManipulatorSelector(DataReader<T>* dr);
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ManipulatorSelector(typename DataReader<T>::ref_type dr);
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bool read_mode();
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void read_mode(bool b);
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ManipulatorSelector&
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operator >>(dds::sub::LoanedSamples<T>& samples);
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private:
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bool read_mode_;
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};
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private:
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// ==============================================================
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// == Selector Read/Take API
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dds::sub::LoanedSamples<T> read(const Selector& selector);
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dds::sub::LoanedSamples<T> take(const Selector& selector);
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// --- Forward Iterators: --- //
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template<typename SamplesFWIterator>
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uint32_t read(SamplesFWIterator samples,
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uint32_t max_samples, const Selector& selector);
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template<typename SamplesFWIterator>
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uint32_t take(SamplesFWIterator samples,
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uint32_t max_samples, const Selector& selector);
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// --- Back-Inserting Iterators: --- //
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template<typename SamplesBIIterator>
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uint32_t read(SamplesBIIterator samples, const Selector& selector);
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template<typename SamplesBIIterator>
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uint32_t take(SamplesBIIterator samples, const Selector& selector);
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private:
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T typed_sample_;
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};
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#endif /* OMG_TDDS_SUB_DETAIL_DATA_READER_HPP_ */
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