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/*
* Copyright(c) 2006 to 2021 ZettaScale Technology and others
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License v. 2.0 which is available at
* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
* v. 1.0 which is available at
* http://www.eclipse.org/org/documents/edl-v10.php.
*
* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
*/
#ifndef DDS_H
#define DDS_H
/**
* @file
* @brief Eclipse Cyclone DDS C header
* Main header of the Cyclone DDS C library, containing everything you need
* for your DDS application.
*/
/**
* @defgroup dds (DDS Functionality)
*/
/**
* @defgroup deprecated (Deprecated functionality)
*/
#if defined (__cplusplus)
#define restrict
#endif
#include "dds/export.h"
#include "dds/features.h"
#include "dds/ddsc/dds_basic_types.h"
/* Sub components */
#include "dds/ddsrt/time.h"
#include "dds/ddsrt/retcode.h"
#include "dds/ddsrt/log.h"
#include "dds/ddsc/dds_public_impl.h"
#include "dds/ddsc/dds_public_alloc.h"
#include "dds/ddsc/dds_public_qos.h"
#include "dds/ddsc/dds_public_error.h"
#include "dds/ddsc/dds_public_status.h"
#include "dds/ddsc/dds_public_listener.h"
#if defined (__cplusplus)
extern "C" {
#endif
/**
* @brief DDS Type Identifier (XTypes)
* @ingroup dds
* DOC_TODO
*/
typedef struct ddsi_typeid dds_typeid_t;
/**
* @brief DDS Type Information (XTypes)
* @ingroup dds
* DOC_TODO
*/
typedef struct ddsi_typeinfo dds_typeinfo_t;
/**
* @brief DDS Type Object (XTypes)
* @ingroup dds
* DOC_TODO
*/
typedef struct ddsi_typeobj dds_typeobj_t;
/**
* @brief Reader History Cache
* @ingroup dds
* DOC_TODO
*/
struct dds_rhc;
/**
* @brief DDSI parameter list
* @ingroup dds
* DOC_TODO
*/
struct ddsi_plist;
/**
* @anchor ddsi_sertype
* @brief DDSI sertype
* @ingroup dds
* DOC_TODO
*/
struct ddsi_sertype;
/**
* @anchor ddsi_serdata
* @brief DDSI Serdata
* @ingroup dds
* DOC_TODO
*/
struct ddsi_serdata;
/**
* @ingroup deprecated
* @warning The DDSI sertopic functionality was moved to ddsi_sertype.
* It has been retained as a symbol to ensure binary compatibility.
*/
struct ddsi_sertopic;
/**
* @brief DDSI Config
* @ingroup dds
* DOC_TODO
*/
struct ddsi_config;
/**
* @brief Indicates that the library uses ddsi_sertype instead of ddsi_sertopic
* @ingroup dds
* If sertype is used, the function dds_create_topic_sertype requires a topic name parameter,
* as this field is not included in ddsi_sertype.
*/
#define DDS_HAS_DDSI_SERTYPE 1
/**
* @defgroup builtintopic (Builtin Topic Support)
* @ingroup dds
*/
/**
* @defgroup builtintopic_constants (Constants)
* @ingroup builtintopic
* @brief Convenience constants for referring to builtin topics
* These constants can be used in place of an actual dds_topic_t, when creating
* readers or writers for builtin-topics.
*/
/**
* @def DDS_BUILTIN_TOPIC_DCPSPARTICIPANT
* @ingroup builtintopic_constants
* Pseudo dds_topic_t for the builtin topic DcpsParticipant. Samples from this topic are
* @ref dds_builtintopic_participant structs.
*/
/**
* @def DDS_BUILTIN_TOPIC_DCPSTOPIC
* @ingroup builtintopic_constants
* Pseudo dds_topic_t for the builtin topic DcpsTopic. Samples from this topic are
* @ref dds_builtintopic_topic structs. Note that this only works if you have specified
* ENABLE_TOPIC_DISCOVERY in your cmake build.
*/
/**
* @def DDS_BUILTIN_TOPIC_DCPSPUBLICATION
* @ingroup builtintopic_constants
* Pseudo dds_topic_t for the builtin topic DcpsPublication. Samples from this topic are
* @ref dds_builtintopic_endpoint structs.
*/
/**
* @def DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION
* @ingroup builtintopic_constants
* Pseudo dds_topic_t for the builtin topic DcpsSubscription. Samples from this topic are
* @ref dds_builtintopic_endpoint structs.
*/
#define DDS_BUILTIN_TOPIC_DCPSPARTICIPANT ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 1))
#define DDS_BUILTIN_TOPIC_DCPSTOPIC ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 2))
#define DDS_BUILTIN_TOPIC_DCPSPUBLICATION ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 3))
#define DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 4))
/**
* @ingroup DOC_TODO
* Special handle representing the entity which forces the dds_data_allocator to allocate on heap
*/
#define DDS_DATA_ALLOCATOR_ALLOC_ON_HEAP ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 257))
/**
* @defgroup entity_status (Entity Status)
* @ingroup entity
* All entities have a set of "status conditions"
* (following the DCPS spec), read peeks, take reads & resets (analogously to read &
* take operations on reader). The "mask" allows operating only on a subset of the statuses.
* Enabled status analogously to DCPS spec.
* @{
*/
/**
* @brief These identifiers are used to generate the bitshifted identifiers.
* By using bitflags instead of these IDs the process of building status masks is
* simplified to using simple binary OR operations.
* DOC_TODO fix the refs
*/
typedef enum dds_status_id {
DDS_INCONSISTENT_TOPIC_STATUS_ID, /**< See @ref DDS_INCONSISTENT_TOPIC_STATUS */
DDS_OFFERED_DEADLINE_MISSED_STATUS_ID, /**< See @ref DDS_OFFERED_DEADLINE_MISSED_STATUS */
DDS_REQUESTED_DEADLINE_MISSED_STATUS_ID, /**< See @ref DDS_REQUESTED_DEADLINE_MISSED_STATUS */
DDS_OFFERED_INCOMPATIBLE_QOS_STATUS_ID, /**< See @ref DDS_OFFERED_INCOMPATIBLE_QOS_STATUS */
DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS_ID, /**< See @ref DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS */
DDS_SAMPLE_LOST_STATUS_ID, /**< See @ref DDS_SAMPLE_LOST_STATUS */
DDS_SAMPLE_REJECTED_STATUS_ID, /**< See @ref DDS_SAMPLE_REJECTED_STATUS */
DDS_DATA_ON_READERS_STATUS_ID, /**< See @ref DDS_DATA_ON_READERS_STATUS */
DDS_DATA_AVAILABLE_STATUS_ID, /**< See @ref DDS_DATA_AVAILABLE_STATUS */
DDS_LIVELINESS_LOST_STATUS_ID, /**< See @ref DDS_LIVELINESS_LOST_STATUS */
DDS_LIVELINESS_CHANGED_STATUS_ID, /**< See @ref DDS_LIVELINESS_CHANGED_STATUS */
DDS_PUBLICATION_MATCHED_STATUS_ID, /**< See @ref DDS_PUBLICATION_MATCHED_STATUS */
DDS_SUBSCRIPTION_MATCHED_STATUS_ID /**< See @ref DDS_SUBSCRIPTION_MATCHED_STATUS */
} dds_status_id_t;
/** Helper value to indicate the highest bit that can be set in a status mask. */
#define DDS_STATUS_ID_MAX (DDS_SUBSCRIPTION_MATCHED_STATUS_ID)
/**
* @anchor DDS_INCONSISTENT_TOPIC_STATUS
* Another topic exists with the same name but with different characteristics.
*/
#define DDS_INCONSISTENT_TOPIC_STATUS (1u << DDS_INCONSISTENT_TOPIC_STATUS_ID)
/**
* @anchor DDS_OFFERED_DEADLINE_MISSED_STATUS
* The deadline that the writer has committed through its deadline QoS policy was not respected for a specific instance. */
#define DDS_OFFERED_DEADLINE_MISSED_STATUS (1u << DDS_OFFERED_DEADLINE_MISSED_STATUS_ID)
/**
* @anchor DDS_REQUESTED_DEADLINE_MISSED_STATUS
* The deadline that the reader was expecting through its deadline QoS policy was not respected for a specific instance. */
#define DDS_REQUESTED_DEADLINE_MISSED_STATUS (1u << DDS_REQUESTED_DEADLINE_MISSED_STATUS_ID)
/**
* @anchor DDS_OFFERED_INCOMPATIBLE_QOS_STATUS
* A QoS policy setting was incompatible with what was requested. */
#define DDS_OFFERED_INCOMPATIBLE_QOS_STATUS (1u << DDS_OFFERED_INCOMPATIBLE_QOS_STATUS_ID)
/**
* @anchor DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS
* A QoS policy setting was incompatible with what is offered. */
#define DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS (1u << DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS_ID)
/**
* @anchor DDS_SAMPLE_LOST_STATUS
* A sample has been lost (never received). */
#define DDS_SAMPLE_LOST_STATUS (1u << DDS_SAMPLE_LOST_STATUS_ID)
/**
* @anchor DDS_SAMPLE_REJECTED_STATUS
* A (received) sample has been rejected. */
#define DDS_SAMPLE_REJECTED_STATUS (1u << DDS_SAMPLE_REJECTED_STATUS_ID)
/**
* @anchor DDS_DATA_ON_READERS_STATUS
* New information is available in some of the data readers of a subscriber. */
#define DDS_DATA_ON_READERS_STATUS (1u << DDS_DATA_ON_READERS_STATUS_ID)
/**
* @anchor DDS_DATA_AVAILABLE_STATUS
* New information is available in a data reader. */
#define DDS_DATA_AVAILABLE_STATUS (1u << DDS_DATA_AVAILABLE_STATUS_ID)
/**
* @anchor DDS_LIVELINESS_LOST_STATUS
* The liveliness that the DDS_DataWriter has committed through its liveliness QoS policy was not respected; thus readers will consider the writer as no longer "alive". */
#define DDS_LIVELINESS_LOST_STATUS (1u << DDS_LIVELINESS_LOST_STATUS_ID)
/**
* @anchor DDS_LIVELINESS_CHANGED_STATUS
* The liveliness of one or more writers, that were writing instances read through the readers has changed. Some writers have become "alive" or "not alive". */
#define DDS_LIVELINESS_CHANGED_STATUS (1u << DDS_LIVELINESS_CHANGED_STATUS_ID)
/**
* @anchor DDS_PUBLICATION_MATCHED_STATUS
* The writer has found a reader that matches the topic and has a compatible QoS. */
#define DDS_PUBLICATION_MATCHED_STATUS (1u << DDS_PUBLICATION_MATCHED_STATUS_ID)
/**
* @anchor DDS_SUBSCRIPTION_MATCHED_STATUS
* The reader has found a writer that matches the topic and has a compatible QoS. */
#define DDS_SUBSCRIPTION_MATCHED_STATUS (1u << DDS_SUBSCRIPTION_MATCHED_STATUS_ID)
/** @}*/ // end group entity_status
/**
* @defgroup subscription (Subscription)
* @ingroup dds
* DOC_TODO This contains the definitions regarding subscribing to data.
*/
/**
* @defgroup subdata (Data access)
* @ingroup subscription
* Every sample you read from DDS comes with some metadata, which you can inspect and filter on.
* @{
*/
/** Read state for a data value */
typedef enum dds_sample_state
{
DDS_SST_READ = DDS_READ_SAMPLE_STATE, /**<DataReader has already accessed the sample by read */
DDS_SST_NOT_READ = DDS_NOT_READ_SAMPLE_STATE /**<DataReader has not accessed the sample before */
}
dds_sample_state_t;
/** View state of an instance relative to the samples */
typedef enum dds_view_state
{
/** DataReader is accessing the sample for the first time when the instance is alive */
DDS_VST_NEW = DDS_NEW_VIEW_STATE,
/** DataReader accessed the sample before */
DDS_VST_OLD = DDS_NOT_NEW_VIEW_STATE
}
dds_view_state_t;
/** Defines the state of the instance */
typedef enum dds_instance_state
{
/** Samples received for the instance from the live data writers */
DDS_IST_ALIVE = DDS_ALIVE_INSTANCE_STATE,
/** Instance was explicitly disposed by the data writer */
DDS_IST_NOT_ALIVE_DISPOSED = DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE,
/** Instance has been declared as not alive by data reader as there are no live data writers writing that instance */
DDS_IST_NOT_ALIVE_NO_WRITERS = DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE
}
dds_instance_state_t;
/** Contains information about the associated data value */
typedef struct dds_sample_info
{
/** Sample state */
dds_sample_state_t sample_state;
/** View state */
dds_view_state_t view_state;
/** Instance state */
dds_instance_state_t instance_state;
/** Indicates whether there is a data associated with a sample
* - true, indicates the data is valid
* - false, indicates the data is invalid, no data to read */
bool valid_data;
/** timestamp of a data instance when it is written */
dds_time_t source_timestamp;
/** handle to the data instance */
dds_instance_handle_t instance_handle;
/** handle to the publisher */
dds_instance_handle_t publication_handle;
/** count of instance state change from NOT_ALIVE_DISPOSED to ALIVE */
uint32_t disposed_generation_count;
/** count of instance state change from NOT_ALIVE_NO_WRITERS to ALIVE */
uint32_t no_writers_generation_count;
/** indicates the number of samples of the same instance that follow the current one in the collection */
uint32_t sample_rank;
/** difference in generations between the sample and most recent sample of the same instance that appears in the returned collection */
uint32_t generation_rank;
/** difference in generations between the sample and most recent sample of the same instance when read/take was called */
uint32_t absolute_generation_rank;
}
dds_sample_info_t;
/** @}*/ // end group subdata
/**
* @brief Structure of a GUID in any builtin topic sample.
* @ingroup builtintopic
*/
typedef struct dds_builtintopic_guid
{
uint8_t v[16]; /**< 16-byte unique identifier */
}
dds_builtintopic_guid_t;
/**
* @brief Structure of a GUID in any builtin topic sample.
* @ingroup builtintopic
* @ref dds_builtintopic_guid_t is a bit of a weird name for what everyone just calls a GUID,
* so let us try and switch to using the more logical one.
*/
typedef struct dds_builtintopic_guid dds_guid_t;
/**
* @brief Sample structure of the Builtin topic DcpsParticipant.
* @ingroup builtintopic
*/
typedef struct dds_builtintopic_participant
{
dds_guid_t key; /**< The GUID that uniquely identifies the participant on the network */
dds_qos_t *qos; /**< The QoS of the participant */
}
dds_builtintopic_participant_t;
/**
* @brief Structure of a key in the Builtin topic DcpsTopic.
* @ingroup builtintopic
*/
typedef struct dds_builtintopic_topic_key {
unsigned char d[16]; /**< 16-byte unique identifier */
} dds_builtintopic_topic_key_t;
/**
* @brief Sample structure of the Builtin topic DcpsTopic.
* @ingroup builtintopic
*/
typedef struct dds_builtintopic_topic
{
dds_builtintopic_topic_key_t key; /**< The GUID that uniquely identifies the topic on the network */
char *topic_name; /**< The name of the topic, potentially unicode. */
char *type_name; /**< The name of the type, potentially unicode. */
dds_qos_t *qos; /**< The QoS of the topic */
}
dds_builtintopic_topic_t;
/**
* @brief Sample structure of the Builtin topic DcpsPublication and DcpsSubscription.
* @ingroup builtintopic
*/
typedef struct dds_builtintopic_endpoint
{
dds_guid_t key; /**< The GUID that uniquely identifies the endpoint on the network */
dds_guid_t participant_key; /**< The GUID of the participant this endpoint belongs to. */
dds_instance_handle_t participant_instance_handle; /**< The instance handle the participant assigned to this enpoint. */
char *topic_name; /**< The name of the topic, potentially unicode. */
char *type_name; /**< The name of the type, potentially unicode. */
dds_qos_t *qos; /**< The QoS of the endpoint */
}
dds_builtintopic_endpoint_t;
/**
* @defgroup entity (Entities)
* @ingroup dds
* @brief Every DDS object in the library is an Entity.
* All entities are represented by a process-private handle, with one
* call to enable an entity when it was created disabled.
* An entity is created enabled by default.
* Note: disabled creation is currently not supported.
*/
/**
* @brief Enable entity.
* @ingroup entity
*
* @note Delayed entity enabling is not supported yet (CHAM-96).
*
* This operation enables the dds_entity_t. Created dds_entity_t objects can start in
* either an enabled or disabled state. This is controlled by the value of the
* entityfactory policy on the corresponding parent entity for the given
* entity. Enabled entities are immediately activated at creation time meaning
* all their immutable QoS settings can no longer be changed. Disabled Entities are not
* yet activated, so it is still possible to change their immutable QoS settings. However,
* once activated the immutable QoS settings can no longer be changed.
* Creating disabled entities can make sense when the creator of the DDS_Entity
* does not yet know which QoS settings to apply, thus allowing another piece of code
* to set the QoS later on.
*
* The default setting of DDS_EntityFactoryQosPolicy is such that, by default,
* entities are created in an enabled state so that it is not necessary to explicitly call
* dds_enable on newly-created entities.
*
* The dds_enable operation produces the same results no matter how
* many times it is performed. Calling dds_enable on an already
* enabled DDS_Entity returns DDS_RETCODE_OK and has no effect.
*
* If an Entity has not yet been enabled, the only operations that can be invoked
* on it are: the ones to set, get or copy the QosPolicy settings, the ones that set
* (or get) the Listener, the ones that get the Status and the dds_get_status_changes
* operation (although the status of a disabled entity never changes). Other operations
* will return the error DDS_RETCODE_NOT_ENABLED.
*
* Entities created with a parent that is disabled, are created disabled regardless of
* the setting of the entityfactory policy.
*
* If the entityfactory policy has autoenable_created_entities
* set to TRUE, the dds_enable operation on the parent will
* automatically enable all child entities created with the parent.
*
* The Listeners associated with an Entity are not called until the
* Entity is enabled. Conditions associated with an Entity that
* is not enabled are "inactive", that is, have a trigger_value which is FALSE.
*
* @param[in] entity The entity to enable.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The listeners of to the entity have been successfully been copied
* into the specified listener parameter.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The parent of the given Entity is not enabled.
*/
DDS_EXPORT dds_return_t
dds_enable(dds_entity_t entity);
/*
All entities are represented by a process-private handle, with one
call to delete an entity and all entities it logically contains.
That is, it is equivalent to combination of
delete_contained_entities and delete_xxx in the DCPS API.
*/
/**
* @brief Delete given entity.
* @ingroup entity
*
* This operation will delete the given entity. It will also automatically
* delete all its children, childrens' children, etc entities.
*
* @param[in] entity Entity to delete.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The entity and its children (recursive are deleted).
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
/* TODO: Link to generic dds entity relations documentation. */
DDS_EXPORT dds_return_t
dds_delete(dds_entity_t entity);
/**
* @brief Get entity publisher.
* @ingroup entity
*
* This operation returns the publisher to which the given entity belongs.
* For instance, it will return the Publisher that was used when
* creating a DataWriter (when that DataWriter was provided here).
*
* @param[in] writer Entity from which to get its publisher.
*
* @returns A valid entity or an error code.
*
* @retval >0
* A valid publisher handle.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_entity_t
dds_get_publisher(dds_entity_t writer);
/**
* @brief Get entity subscriber.
* @ingroup entity
*
* This operation returns the subscriber to which the given entity belongs.
* For instance, it will return the Subscriber that was used when
* creating a DataReader (when that DataReader was provided here).
*
* @param[in] entity Entity from which to get its subscriber.
*
* @returns A valid subscriber handle or an error code.
*
* @retval >0
* A valid subscriber handle.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* DOC_TODO: Link to generic dds entity relations documentation.
*/
DDS_EXPORT dds_entity_t
dds_get_subscriber(dds_entity_t entity);
/**
* @brief Get entity datareader.
* @ingroup entity
*
* This operation returns the datareader to which the given entity belongs.
* For instance, it will return the DataReader that was used when
* creating a ReadCondition (when that ReadCondition was provided here).
*
* @param[in] entity Entity from which to get its datareader.
*
* @returns A valid reader handle or an error code.
*
* @retval >0
* A valid reader handle.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* DOC_TODO: Link to generic dds entity relations documentation.
*/
DDS_EXPORT dds_entity_t
dds_get_datareader(dds_entity_t entity);
/**
* @defgroup condition (Conditions)
* @ingroup dds
* @brief Conditions allow you to express conditional interest in samples,
* to be used in read/take operations or attach to Waitsets.
*/
/**
* @brief Get the mask of a condition.
* @ingroup condition
*
* This operation returns the mask that was used to create the given
* condition.
*
* @param[in] condition Read or Query condition that has a mask.
* @param[out] mask Where to store the mask of the condition.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Success (given mask is set).
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The mask arg is NULL.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_get_mask(dds_entity_t condition, uint32_t *mask);
/**
* @brief Returns the instance handle that represents the entity.
* @ingroup entity
*
* @param[in] entity Entity of which to get the instance handle.
* @param[out] ihdl Pointer to dds_instance_handle_t.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Success.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* DOC_TODO: Check list of return codes is complete.
* */
DDS_EXPORT dds_return_t
dds_get_instance_handle(dds_entity_t entity, dds_instance_handle_t *ihdl);
/**
* @brief Returns the GUID that represents the entity in the network,
* and therefore only supports participants, readers and writers.
* @ingroup entity
*
* @param[in] entity Entity of which to get the instance handle.
* @param[out] guid Where to store the GUID.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Success.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
*
* DOC_TODO: Check list of return codes is complete.
*/
DDS_EXPORT dds_return_t
dds_get_guid (dds_entity_t entity, dds_guid_t *guid);
/**
* @brief Read the status set for the entity
* @ingroup entity_status
*
* This operation reads the status(es) set for the entity based on
* the enabled status and mask set. It does not clear the read status(es).
*
* @param[in] entity Entity on which the status has to be read.
* @param[out] status Returns the status set on the entity, based on the enabled status.
* @param[in] mask Filter the status condition to be read, 0 means all statuses
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Success.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter, status is a null pointer or
* mask has bits set outside the status range.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object or mask has status
* bits set that are undefined for the type of entity.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_read_status(dds_entity_t entity, uint32_t *status, uint32_t mask);
/**
* @brief Read the status set for the entity
* @ingroup entity_status
*
* This operation reads the status(es) set for the entity based on the enabled
* status and mask set. It clears the status set after reading.
*
* @param[in] entity Entity on which the status has to be read.
* @param[out] status Returns the status set on the entity, based on the enabled status.
* @param[in] mask Filter the status condition to be read, 0 means all statuses
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Success.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter, status is a null pointer or
* mask has bits set outside the status range.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object or mask has status
* bits set that are undefined for the type of entity.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_take_status(dds_entity_t entity, uint32_t *status, uint32_t mask);
/**
* @brief Get changed status(es)
* @ingroup entity_status
*
* This operation returns the status changes since they were last read.
*
* @param[in] entity Entity on which the statuses are read.
* @param[out] status Returns the current set of triggered statuses.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Success.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_get_status_changes(dds_entity_t entity, uint32_t *status);
/**
* @anchor dds_get_status_mask
* @brief Get enabled status on entity
* @ingroup entity_status
*
* This operation returns the status enabled on the entity
*
* @param[in] entity Entity to get the status.
* @param[out] mask Mask of enabled statuses set on the entity.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Success.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_get_status_mask(dds_entity_t entity, uint32_t *mask);
/**
* @deprecated Get enabled status on entity. Use \ref dds_get_status_mask instead.
* @ingroup deprecated
*
* @param[in] entity Entity to get the status.
* @param[out] mask Mask of enabled statuses set on the entity.
* @returns A dds_return_t indicating success of failure.
*/
DDS_DEPRECATED_EXPORT dds_return_t
dds_get_enabled_status(dds_entity_t entity, uint32_t *mask);
/**
* @anchor dds_set_status_mask
* @brief Set status enabled on entity
* @ingroup entity_status
*
* This operation enables the status(es) based on the mask set
*
* @param[in] entity Entity to enable the status.
* @param[in] mask Status value that indicates the status to be enabled.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Success.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_set_status_mask(dds_entity_t entity, uint32_t mask);
/**
* @deprecated Set enabled status on entity. Use \ref dds_set_status_mask instead.
* @ingroup deprecated
*
* @param[in] entity Entity to enable the status.
* @param[out] mask Status value that indicates the status to be enabled.
* @returns A dds_return_t indicating success of failure.
*/
DDS_DEPRECATED_EXPORT dds_return_t
dds_set_enabled_status(dds_entity_t entity, uint32_t mask);
/**
* @defgroup entity_qos (Entity QoS)
* @ingroup entity
* @brief Almost all entities have get/set qos operations defined on them,
* again following the DCPS spec. But unlike the DCPS spec, the
* "present" field in qos_t allows one to initialize just the one QoS
* one wants to set & pass it to set_qos.
*/
/**
* @brief Get entity QoS policies.
* @ingroup entity_qos
*
* This operation allows access to the existing set of QoS policies
* for the entity.
*
* @param[in] entity Entity on which to get qos.
* @param[out] qos Pointer to the qos structure that returns the set policies.
*
* @returns A dds_return_t indicating success or failure. The QoS object will have
* at least all QoS relevant for the entity present and the corresponding dds_qget_...
* will return true.
*
* @retval DDS_RETCODE_OK
* The existing set of QoS policy values applied to the entity
* has successfully been copied into the specified qos parameter.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The qos parameter is NULL.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*
* DOC_TODO: Link to generic QoS information documentation.
*/
DDS_EXPORT dds_return_t
dds_get_qos(dds_entity_t entity, dds_qos_t *qos);
/**
* @brief Set entity QoS policies.
* @ingroup entity_qos
*
* This operation replaces the existing set of Qos Policy settings for an
* entity. The parameter qos must contain the struct with the QosPolicy
* settings which is checked for self-consistency.
*
* The set of QosPolicy settings specified by the qos parameter are applied on
* top of the existing QoS, replacing the values of any policies previously set
* (provided, the operation returned DDS_RETCODE_OK).
*
* Not all policies are changeable when the entity is enabled.
*
* @note Currently only Latency Budget and Ownership Strength are changeable QoS
* that can be set.
*
* @param[in] entity Entity from which to get qos.
* @param[in] qos Pointer to the qos structure that provides the policies.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The new QoS policies are set.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The qos parameter is NULL.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_IMMUTABLE_POLICY
* The entity is enabled and one or more of the policies of the QoS
* are immutable.
* @retval DDS_RETCODE_INCONSISTENT_POLICY
* A few policies within the QoS are not consistent with each other.
*
* DOC_TODO: Link to generic QoS information documentation.
*/
DDS_EXPORT dds_return_t
dds_set_qos(dds_entity_t entity, const dds_qos_t * qos);
/**
* @defgroup entity_listener (Entity Listener)
* @ingroup entity
* @brief Get or set listener associated with an entity,
* type of listener provided much match type of entity.
*/
/**
* @brief Get entity listeners.
* @ingroup entity_listener
*
* This operation allows access to the existing listeners attached to
* the entity.
*
* @param[in] entity Entity on which to get the listeners.
* @param[out] listener Pointer to the listener structure that returns the
* set of listener callbacks.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The listeners of to the entity have been successfully been
* copied into the specified listener parameter.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The listener parameter is NULL.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*
* DOC_TODO: Link to (generic) Listener and status information.
*/
DDS_EXPORT dds_return_t
dds_get_listener(dds_entity_t entity, dds_listener_t * listener);
/**
* @brief Set entity listeners.
* @ingroup entity_listener
*
* This operation attaches a dds_listener_t to the dds_entity_t. Only one
* Listener can be attached to each Entity. If a Listener was already
* attached, this operation will replace it with the new one. In other
* words, all related callbacks are replaced (possibly with NULL).
*
* When listener parameter is NULL, all listener callbacks that were possibly
* set on the Entity will be removed.
*
* @note Not all listener callbacks are related to all entities.
*
* ## Communication Status
* For each communication status, the StatusChangedFlag flag is initially set to
* FALSE. It becomes TRUE whenever that plain communication status changes. For
* each plain communication status activated in the mask, the associated
* Listener callback is invoked and the communication status is reset
* to FALSE, as the listener implicitly accesses the status which is passed as a
* parameter to that operation.
* The status is reset prior to calling the listener, so if the application calls
* the get_<status_name> from inside the listener it will see the
* status already reset.
*
* ## Status Propagation
* In case a related callback within the Listener is not set, the Listener of
* the Parent entity is called recursively, until a Listener with the appropriate
* callback set has been found and called. This allows the application to set
* (for instance) a default behaviour in the Listener of the containing Publisher
* and a DataWriter specific behaviour when needed. In case the callback is not
* set in the Publishers' Listener either, the communication status will be
* propagated to the Listener of the DomainParticipant of the containing
* DomainParticipant. In case the callback is not set in the DomainParticipants'
* Listener either, the Communication Status flag will be set, resulting in a
* possible WaitSet trigger.
*
* @param[in] entity Entity on which to get the listeners.
* @param[in] listener Pointer to the listener structure that contains the
* set of listener callbacks (maybe NULL).
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The listeners of to the entity have been successfully been
* copied into the specified listener parameter.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* DOC_TODO: Link to (generic) Listener and status information.
*/
DDS_EXPORT dds_return_t
dds_set_listener(dds_entity_t entity, const dds_listener_t * listener);
/*
Creation functions for various entities. Creating a subscriber or
publisher is optional: if one creates a reader as a descendant of a
participant, it is as if a subscriber is created specially for
that reader.
QoS default values are those of the DDS specification, but the
inheritance rules are different:
* publishers and subscribers inherit from the participant QoS
* readers and writers always inherit from the topic QoS
* the QoS's present in the "qos" parameter override the inherited values
*/
/**
* @defgroup domain (Domain)
* @ingroup DDS
*/
/**
* @defgroup domain_participant (DomainParticipant)
* @ingroup domain
*/
/**
* @brief Creates a new instance of a DDS participant in a domain
* @ingroup domain_participant
*
* If domain is set (not DDS_DOMAIN_DEFAULT) then it must match if the domain has also
* been configured or an error status will be returned.
* Currently only a single domain can be configured by providing configuration file.
* If no configuration file exists, the default domain is configured as 0.
*
*
* @param[in] domain The domain in which to create the participant (can be DDS_DOMAIN_DEFAULT). DDS_DOMAIN_DEFAULT is for using the domain in the configuration.
* @param[in] qos The QoS to set on the new participant (can be NULL).
* @param[in] listener Any listener functions associated with the new participant (can be NULL).
* @returns A valid participant handle or an error code.
*
* @retval >0
* A valid participant handle.
* @retval DDS_RETCODE_NOT_ALLOWED_BY_SECURITY
* An invalid DDS Security configuration was specified (whether
* that be missing or incorrect entries, expired certificates,
* or anything else related to the security settings and
* implementation).
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* Some security properties specified in the QoS, but the Cyclone
* build does not include support for DDS Security.
* @retval DDS_RETCODE_OUT_OF_RESOURCES
* Some resource limit (maximum participants, memory, handles,
* &c.) prevented creation of the participant.
* @retval DDS_RETCODE_ERROR
* The "CYCLONEDDS_URI" environment variable lists non-existent
* or invalid configuration files, or contains invalid embedded
* configuration items; or an unspecified internal error has
* occurred.
*/
DDS_EXPORT dds_entity_t
dds_create_participant(
const dds_domainid_t domain,
const dds_qos_t *qos,
const dds_listener_t *listener);
/**
* @brief Creates a domain with a given configuration
* @ingroup domain
*
* To explicitly create a domain based on a configuration passed as a string.
*
* It will not be created if a domain with the given domain id already exists.
* This could have been created implicitly by a dds_create_participant().
*
* Please be aware that the given domain_id always takes precedence over the
* configuration.
*
* | domain_id | domain id in config | result |
* |:----------|:--------------------|:------------------------------|
* | n | any (or absent) | n, config is used |
* | n | m == n | n, config is used |
* | n | m != n | n, config is ignored: default |
*
* Config models:
* -# @code{xml}
* <CycloneDDS>
* <Domain id="X">...</Domain>
* <!-- <Domain .../> -->
* </CycloneDDS>
* @endcode
* where ... is all that can today be set in children of CycloneDDS
* with the exception of the id
* -# @code{xml}
* <CycloneDDS>
* <Domain><Id>X</Id></Domain>
* <!-- more things here ... -->
* </CycloneDDS>
* @endcode
* Legacy form, domain id must be the first element in the file with
* a value (if nothing has been set previously, it a warning is good
* enough)
*
* Using NULL or "" as config will create a domain with default settings.
*
*
* @param[in] domain The domain to be created. DEFAULT_DOMAIN is not allowed.
* @param[in] config A configuration string containing file names and/or XML fragments representing the configuration.
*
* @returns A valid entity handle or an error code.
*
* @retval DDS_RETCODE_BAD_PARAMETER
* Illegal value for domain id or the configfile parameter is NULL.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The domain already existed and cannot be created again.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
*/
DDS_EXPORT dds_entity_t
dds_create_domain(const dds_domainid_t domain, const char *config);
/**
* @brief Creates a domain with a given configuration, specified as an
* initializer (unstable interface)
* @ingroup domain
*
* To explicitly create a domain based on a configuration passed as a raw
* initializer rather than as an XML string. This allows bypassing the XML
* parsing, but tightly couples the initializing to implementation. See
* dds/ddsi/ddsi_config.h:ddsi_config_init_default for a way to initialize
* the default configuration.
*
* It will not be created if a domain with the given domain id already exists.
* This could have been created implicitly by a dds_create_participant().
*
* Please be aware that the given domain_id always takes precedence over the
* configuration.
*
* @param[in] domain The domain to be created. DEFAULT_DOMAIN is not allowed.
* @param[in] config A configuration initializer. The lifetime of any pointers
* in config must be at least that of the lifetime of the domain.
*
* @returns A valid entity handle or an error code.
*
* @retval DDS_RETCODE_BAD_PARAMETER
* Illegal value for domain id or the config parameter is NULL.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The domain already existed and cannot be created again.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
*/
DDS_EXPORT dds_entity_t
dds_create_domain_with_rawconfig(const dds_domainid_t domain, const struct ddsi_config *config);
/**
* @brief Get entity parent.
* @ingroup entity
*
* This operation returns the parent to which the given entity belongs.
* For instance, it will return the Participant that was used when
* creating a Publisher (when that Publisher was provided here).
*
* When a reader or a writer are created with a participant, then a
* subscriber or publisher are created implicitly.
* This function will return the implicit parent and not the used
* participant.
*
* @param[in] entity Entity from which to get its parent.
*
* @returns A valid entity handle or an error code.
*
* @retval >0
* A valid entity handle.
* @retval DDS_ENTITY_NIL
* Called with a participant.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* DOC_TODO: Link to generic dds entity relations documentation.
*/
DDS_EXPORT dds_entity_t
dds_get_parent(dds_entity_t entity);
/**
* @brief Get entity participant.
* @ingroup entity
*
* This operation returns the participant to which the given entity belongs.
* For instance, it will return the Participant that was used when
* creating a Publisher that was used to create a DataWriter (when that
* DataWriter was provided here).
*
* DOC_TODO: Link to generic dds entity relations documentation.
*
* @param[in] entity Entity from which to get its participant.
*
* @returns A valid entity or an error code.
*
* @retval >0
* A valid participant handle.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_entity_t
dds_get_participant(dds_entity_t entity);
/**
* @brief Get entity children.
* @ingroup entity
*
* This operation returns the children that the entity contains.
* For instance, it will return all the Topics, Publishers and Subscribers
* of the Participant that was used to create those entities (when that
* Participant is provided here).
*
* This functions takes a pre-allocated list to put the children in and
* will return the number of found children. It is possible that the given
* size of the list is not the same as the number of found children. If
* less children are found, then the last few entries in the list are
* untouched. When more children are found, then only 'size' number of
* entries are inserted into the list, but still complete count of the
* found children is returned. Which children are returned in the latter
* case is undefined.
*
* When supplying NULL as list and 0 as size, you can use this to acquire
* the number of children without having to pre-allocate a list.
*
* When a reader or a writer are created with a participant, then a
* subscriber or publisher are created implicitly.
* When used on the participant, this function will return the implicit
* subscriber and/or publisher and not the related reader/writer.
*
* @param[in] entity Entity from which to get its children.
* @param[out] children Pre-allocated array to contain the found children.
* @param[in] size Size of the pre-allocated children's list.
*
* @returns Number of children or an error code.
*
* @retval >=0
* Number of found children (can be larger than 'size').
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The children parameter is NULL, while a size is provided.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
/* TODO: Link to generic dds entity relations documentation. */
DDS_EXPORT dds_return_t
dds_get_children(dds_entity_t entity, dds_entity_t *children, size_t size);
/**
* @brief Get the domain id to which this entity is attached.
* @ingroup entity
*
* When creating a participant entity, it is attached to a certain domain.
* All the children (like Publishers) and childrens' children (like
* DataReaders), etc are also attached to that domain.
*
* This function will return the original domain ID when called on
* any of the entities within that hierarchy. For entities not associated
* with a domain, the id is set to DDS_DOMAIN_DEFAULT.
*
* @param[in] entity Entity from which to get its children.
* @param[out] id Pointer to put the domain ID in.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Domain ID was returned.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The id parameter is NULL.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_get_domainid(dds_entity_t entity, dds_domainid_t *id);
/**
* @brief Get participants of a domain.
* @ingroup domain
*
* This operation acquires the participants created on a domain and returns
* the number of found participants.
*
* This function takes a domain id with the size of pre-allocated participant's
* list in and will return the number of found participants. It is possible that
* the given size of the list is not the same as the number of found participants.
* If less participants are found, then the last few entries in an array stay
* untouched. If more participants are found and the array is too small, then the
* participants returned are undefined.
*
* @param[in] domain_id The domain id.
* @param[out] participants The participant for domain.
* @param[in] size Size of the pre-allocated participant's list.
*
* @returns Number of participants found or and error code.
*
* @retval >0
* Number of participants found.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The participant parameter is NULL, while a size is provided.
*/
DDS_EXPORT dds_return_t
dds_lookup_participant(
dds_domainid_t domain_id,
dds_entity_t *participants,
size_t size);
/**
* @defgroup topic (Topic)
* @ingroup dds
*/
/**
* @brief Creates a new topic with default type handling.
* @ingroup topic
*
* The type name for the topic is taken from the generated descriptor. Topic
* matching is done on a combination of topic name and type name. Each successful
* call to dds_create_topic creates a new topic entity sharing the same QoS
* settings with all other topics of the same name.
*
* @param[in] participant Participant on which to create the topic.
* @param[in] descriptor An IDL generated topic descriptor.
* @param[in] name Name of the topic.
* @param[in] qos QoS to set on the new topic (can be NULL).
* @param[in] listener Any listener functions associated with the new topic (can be NULL).
*
* @returns A valid, unique topic handle or an error code.
*
* @retval >=0
* A valid unique topic handle.
* @retval DDS_RETCODE_BAD_PARAMETER
* Either participant, descriptor, name or qos is invalid.
* @retval DDS_RETCODE_INCONSISTENT_POLICY
* QoS mismatch between qos and an existing topic's QoS.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* Mismatch between type name in descriptor and pre-existing
* topic's type name.
*/
DDS_EXPORT dds_entity_t
dds_create_topic(
dds_entity_t participant,
const dds_topic_descriptor_t *descriptor,
const char *name,
const dds_qos_t *qos,
const dds_listener_t *listener);
/**
* @brief Indicates that the library defines the dds_create_topic_sertype function
* @ingroup topic
* Introduced to help with the change from sertopic to sertype. If you are using
* a modern CycloneDDS version you will not need this.
*/
#define DDS_HAS_CREATE_TOPIC_SERTYPE 1
/**
* @brief Creates a new topic with provided type handling.
* @ingroup topic
*
* The name for the type is taken from the provided "sertype" object. Type
* matching is done on a combination of topic name and type name. Each successful
* call to dds_create_topic creates a new topic entity sharing the same QoS
* settings with all other topics of the same name.
*
* In case this function returns a valid handle, the ownership of the provided
* sertype is handed over to Cyclone. On return, the caller gets in the sertype parameter a
* pointer to the sertype that is actually used by the topic. This can be the provided sertype
* (if this sertype was not yet known in the domain), or a sertype thas was
* already known in the domain.
*
* @param[in] participant Participant on which to create the topic.
* @param[in] name Topic name
* @param[in,out] sertype Internal description of the type . On return, the sertype parameter is set to the actual sertype that is used by the topic.
* @param[in] qos QoS to set on the new topic (can be NULL).
* @param[in] listener Any listener functions associated with the new topic (can be NULL).
* @param[in] sedp_plist Topic description to be published as part of discovery (if NULL, not published).
*
* @returns A valid, unique topic handle or an error code. Iff a valid handle, the domain takes ownership of provided serdata.
*
* @retval >=0
* A valid unique topic handle.
* @retval DDS_RETCODE_BAD_PARAMETER
* Either participant, descriptor, name or qos is invalid.
* @retval DDS_RETCODE_INCONSISTENT_POLICY
* QoS mismatch between qos and an existing topic's QoS.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* Mismatch between type name in sertype and pre-existing
* topic's type name.
*/
DDS_EXPORT dds_entity_t
dds_create_topic_sertype (
dds_entity_t participant,
const char *name,
struct ddsi_sertype **sertype,
const dds_qos_t *qos,
const dds_listener_t *listener,
const struct ddsi_plist *sedp_plist);
/**
* @brief Indicates that the library defines the dds_create_topic_generic function
* @ingroup topic
* Introduced to help with the change from sertopic to sertype. You should probably
* move to using sertype instead of sertopic and ignore this.
*/
#define DDS_HAS_CREATE_TOPIC_GENERIC 1
/**
* @anchor dds_create_topic_generic
* @brief Creates a new topic with provided type handling.
* @ingroup topic
*
* DOC_TODO: this description does not make any sense, this is for the legacy sertopic?
* deprecate?
*
* The name for the type is taken from the provided "sertype" object. Type
* matching is done on a combination of topic name and type name. Each successful
* call to dds_create_topic creates a new topic entity sharing the same QoS
* settings with all other topics of the same name.
*
* In case this function returns a valid handle, the ownership of the provided
* sertype is handed over to Cyclone. On return, the caller gets in the sertype parameter a
* pointer to the sertype that is actually used by the topic. This can be the provided sertype
* (if this sertype was not yet known in the domain), or a sertype thas was
* already known in the domain.
*
* @param[in] participant Participant on which to create the topic.
* @param[in,out] sertopic Legacy internal description of the type. On return, the sertype parameter is set to the actual sertype that is used by the topic.
* @param[in] qos QoS to set on the new topic (can be NULL).
* @param[in] listener Any listener functions associated with the new topic (can be NULL).
* @param[in] sedp_plist Topic description to be published as part of discovery (if NULL, not published).
*
* @returns A valid, unique topic handle or an error code. Iff a valid handle, the domain takes ownership of provided serdata.
*
* @retval >=0
* A valid unique topic handle.
* @retval DDS_RETCODE_BAD_PARAMETER
* Either participant, descriptor, name or qos is invalid.
* @retval DDS_RETCODE_INCONSISTENT_POLICY
* QoS mismatch between qos and an existing topic's QoS.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* Mismatch between type name in sertype and pre-existing
* topic's type name.
*/
DDS_EXPORT dds_entity_t
dds_create_topic_generic (
dds_entity_t participant,
struct ddsi_sertopic **sertopic,
const dds_qos_t *qos,
const dds_listener_t *listener,
const struct ddsi_plist *sedp_plist);
/**
* @deprecated Creates a new topic with provided type handling.
* @ingroup deprecated
* Use @ref dds_create_topic_sertype instead.
*
* @param[in] participant Participant on which to create the topic.
* @param[in,out] sertopic Legacy internal description of the type. On return, the sertype parameter is set to the actual sertype that is used by the topic.
* @param[in] qos QoS to set on the new topic (can be NULL).
* @param[in] listener Any listener functions associated with the new topic (can be NULL).
* @param[in] sedp_plist Topic description to be published as part of discovery (if NULL, not published).
*
* @returns A valid, unique topic handle or an error code.
*/
DDS_DEPRECATED_EXPORT dds_entity_t
dds_create_topic_arbitrary (
dds_entity_t participant,
struct ddsi_sertopic *sertopic,
const dds_qos_t *qos,
const dds_listener_t *listener,
const struct ddsi_plist *sedp_plist);
/**
* @brief Finds a locally created or discovered remote topic by topic name and type information
* @ingroup topic
*
* Finds a locally created topic or a discovered remote topic based on the topic
* name and type. In case the topic is not found, this function will wait for
* the topic to become available until the provided time out.
*
* When using the scope DDS_FIND_SCOPE_LOCAL_DOMAIN, there will be no requests sent
* over the network for resolving the type in case it is unresolved. This also applies
* to dependent types: in case a dependency of the provided type is unresolved, no
* requests will be sent for resolving the type when using LOCAL_DOMAIN scope.
*
* In case the scope is DDS_FIND_SCOPE_GLOBAL, for unresolved types (or dependencies)
* a type lookup request will be sent.
*
* In case no type information is provided and multiple (discovered) topics exist
* with the provided name, an arbitrary topic with that name will be returned.
* In this scenario, it would be better to read DCPSTopic data and use that to
* get the required topic meta-data.
*
* The returned topic should be released with dds_delete.
*
* @param[in] scope The scope used to find the topic. In case topic discovery is not enabled in the build, SCOPE_GLOBAL cannot be used.
* @param[in] participant The handle of the participant the found topic will be created in
* @param[in] name The name of the topic to find.
* @param[in] type_info The type information of the topic to find. Optional, and should not be provided in case topic discovery is not enabled in the build.
* @param[in] timeout The timeout for waiting for the topic to become available
*
* @returns A valid topic handle or an error code.
*
* @retval >0
* A valid topic handle.
* @retval 0
* No topic of this name exists
* @retval DDS_RETCODE_BAD_PARAMETER
* Participant or type information was invalid.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The provided type could not be found.
*/
DDS_EXPORT dds_entity_t
dds_find_topic (dds_find_scope_t scope, dds_entity_t participant, const char *name, const dds_typeinfo_t *type_info, dds_duration_t timeout);
/**
* @deprecated Finds a locally created or discovered remote topic by topic name
* @ingroup deprecated
* Use @ref dds_find_topic instead.
*
* Finds a locally created topic or a discovered remote topic based on the topic
* name. In case the topic is not found, this function will wait for the topic
* to become available until the provided time out.
*
* In case multiple (discovered) topics exist with the provided name, this function
* will return randomly one of these topic. The caller can decide to read DCPSTopic
* data and select one of the topic definitions to create the topic.
*
* The returned topic should be released with dds_delete.
*
* @param[in] scope The scope used to find the topic
* @param[in] participant The handle of the participant the found topic will be created in
* @param[in] name The name of the topic to find.
* @param[in] timeout The timeout for waiting for the topic to become available
*
* @returns A valid topic handle or an error code.
*
* @retval >0
* A valid topic handle.
* @retval 0
* No topic of this name existed yet
* @retval DDS_RETCODE_BAD_PARAMETER
* Participant handle or scope invalid
*/
DDS_DEPRECATED_EXPORT dds_entity_t
dds_find_topic_scoped (dds_find_scope_t scope, dds_entity_t participant, const char *name, dds_duration_t timeout);
/**
* @ingroup topic
* @brief Creates topic descriptor for the provided type_info
*
* @param[in] scope The scope used to find the type: DDS_FIND_SCOPE_LOCAL_DOMAIN or DDS_FIND_SCOPE_GLOBAL. In case DDS_FIND_SCOPE_GLOBAL is used, a type lookup request will be sent to other nodes.
* @param[in] participant The handle of the participant.
* @param[in] type_info The type (dds_typeinfo_t) of the topic to find.
* @param[in] timeout The timeout for waiting for the type to become available
* @param[out] descriptor - Pointer to a dds_topic_descriptor_t pointer that will be allocated and populated. To free allocated memory for this descriptor, use dds_delete_topic_descriptor.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The topic descriptor has been succesfully created.
* @retval DDS_RETCODE_BAD_PARAMETER
* Type_info or descriptor parameter not provided, invalid entity (not a participant) or scope invalid.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The participant or the type_id was not found.
* @retval DDS_RETCODE_TIMEOUT
* Type was not resolved within the provided timeout
* @retval DDS_RETCODE_UNSUPPORTED
* Cyclone DDS built without type discovery
* (cf. DDS_HAS_TYPE_DISCOVERY)
*/
DDS_EXPORT dds_return_t
dds_create_topic_descriptor (dds_find_scope_t scope, dds_entity_t participant, const dds_typeinfo_t *type_info, dds_duration_t timeout, dds_topic_descriptor_t **descriptor);
/**
* @ingroup topic
* @brief Delete memory allocated to the provided topic descriptor
*
* @param[in] descriptor - Pointer to a dds_topic_descriptor_t
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The topic descriptor has been succesfully deleted.
* @retval DDS_RETCODE_BAD_PARAMETER
* No descriptor provided
* @retval DDS_RETCODE_UNSUPPORTED
* Cyclone DDS built without type discovery
* (cf. DDS_HAS_TYPE_DISCOVERY)
*/
DDS_EXPORT dds_return_t
dds_delete_topic_descriptor (dds_topic_descriptor_t *descriptor);
/**
* @brief Returns the name of a given topic.
* @ingroup topic
*
* @param[in] topic The topic.
* @param[out] name Buffer to write the topic name to.
* @param[in] size Number of bytes available in the buffer.
*
* @returns A dds_return_t indicating success or failure.
*
* @return Actual length of topic name (name is truncated if return value >= size) or error
*/
DDS_EXPORT dds_return_t
dds_get_name(dds_entity_t topic, char *name, size_t size);
/**
* @brief Returns the type name of a given topic.
* @ingroup topic
*
* @param[in] topic The topic.
* @param[out] name Buffer to write the topic type name to.
* @param[in] size Number of bytes available in the buffer.
*
* @returns A dds_return_t indicating success or failure.
*
* @return Actual length of type name (name is truncated if return value >= size) or error
*/
DDS_EXPORT dds_return_t
dds_get_type_name(dds_entity_t topic, char *name, size_t size);
/**
* @defgroup topic_filter (Topic filters)
* @ingroup topic
* Topic filter functions.
* @warning part of the Unstable API: no guarantee that any
* of this will be maintained for backwards compatibility.
*
* Sampleinfo is all zero when filtering in a write call (i.e., writer created
* using a filtered topic, which one perhaps shouldn't be doing), otherwise it
* has as much filled in correctly as is possible given the context and the rest
* fixed:
* - sample_state DDS_SST_NOT_READ;
* - publication_handle set to writer's instance handle
* - source_timestamp set to source timestamp of sample
* - ranks 0
* - valid_data true
* - instance_handle set to instance handle of existing instance if the
* sample matches an existing instance, otherwise to what
* the instance handle will be if it passes the filter
* - view_state set to instance view state if sample being filtered
* matches an existing instance, NEW if not
* - instance_state set to instance state if sample being filtered
* matches an existing instance, NEW if not
* - generation counts set to instance's generation counts if the sample
* matches an existing instance instance, 0 if not
*/
/**
* @anchor dds_topic_filter_sample_fn
* @brief Topic filter function that only needs to look at the sample.
* @ingroup topic_filter
* @warning Unstable API
*/
typedef bool (*dds_topic_filter_sample_fn) (const void * sample);
/**
* @anchor dds_topic_filter_sample_arg_fn
* @brief Topic filter function that only needs to look at the sample and a custom argument.
* @ingroup topic_filter
* @warning Unstable API
*/
typedef bool (*dds_topic_filter_sample_arg_fn) (const void * sample, void * arg);
/**
* @anchor dds_topic_filter_sampleinfo_arg_fn
* @brief Topic filter function that only needs to look at the sampleinfo and a custom argument.
* @ingroup topic_filter
* @warning Unstable API
*/
typedef bool (*dds_topic_filter_sampleinfo_arg_fn) (const dds_sample_info_t * sampleinfo, void * arg);
/**
* @anchor dds_topic_filter_sample_sampleinfo_arg_fn
* @brief Topic filter function that needs to look at the sample, the sampleinfo and a custom argument.
* @ingroup topic_filter
* @warning Unstable API
*/
typedef bool (*dds_topic_filter_sample_sampleinfo_arg_fn) (const void * sample, const dds_sample_info_t * sampleinfo, void * arg);
/**
* @anchor dds_topic_filter_fn
* @brief See \ref dds_topic_filter_sample_fn
* @ingroup topic_filter
* @warning Unstable API
*/
typedef dds_topic_filter_sample_fn dds_topic_filter_fn;
/**
* @anchor dds_topic_filter_arg_fn
* @brief See \ref dds_topic_filter_sample_arg_fn
* @ingroup topic_filter
* @warning Unstable API
*/
typedef dds_topic_filter_sample_arg_fn dds_topic_filter_arg_fn;
/**
* @brief Topic filter mode;
* @ingroup topic_filter
* @warning Unstable API
*/
enum dds_topic_filter_mode {
DDS_TOPIC_FILTER_NONE, /**< Can be used to reset topic filter */
DDS_TOPIC_FILTER_SAMPLE, /**< Use with \ref dds_topic_filter_sample_fn */
DDS_TOPIC_FILTER_SAMPLE_ARG, /**< Use with \ref dds_topic_filter_sample_arg_fn */
DDS_TOPIC_FILTER_SAMPLEINFO_ARG, /**< Use with \ref dds_topic_filter_sampleinfo_arg_fn */
DDS_TOPIC_FILTER_SAMPLE_SAMPLEINFO_ARG, /**< Use with \ref dds_topic_filter_sample_sampleinfo_arg_fn */
};
/**
* @brief Union of all filter function types;
* @ingroup topic_filter
* @warning Unstable API
*/
union dds_topic_filter_function_union {
dds_topic_filter_sample_fn sample; /**< Use with mode dds_topic_filter_mode::DDS_TOPIC_FILTER_SAMPLE */
dds_topic_filter_sample_arg_fn sample_arg; /**< Use with mode dds_topic_filter_mode::DDS_TOPIC_FILTER_SAMPLE_ARG */
dds_topic_filter_sampleinfo_arg_fn sampleinfo_arg; /**< Use with mode dds_topic_filter_mode::DDS_TOPIC_FILTER_SAMPLEINFO_ARG */
dds_topic_filter_sample_sampleinfo_arg_fn sample_sampleinfo_arg; /**< Use with mode dds_topic_filter_mode::DDS_TOPIC_FILTER_SAMPLE_SAMPLEINFO_ARG */
};
/**
* @brief Full topic filter container;
* @ingroup topic_filter
* @warning Unstable API
*/
struct dds_topic_filter {
enum dds_topic_filter_mode mode; /**< Provide a mode */
union dds_topic_filter_function_union f; /**< Provide a filter function */
void *arg; /**< Provide an argument, can be NULL */
};
/**
* @brief Sets a filter on a topic. To be replaced by proper filtering on readers,
* @ingroup topic_filter
* @warning Unstable API
* @deprecated use @ref dds_set_topic_filter_and_arg or @ref dds_set_topic_filter_extended instead
*
* Not thread-safe with respect to data being read/written using readers/writers
* using this topic. Be sure to create a topic entity specific to the reader you
* want to filter, then set the filter function, and only then create the reader.
* And don't change it unless you know there are no concurrent writes.
*
* @param[in] topic The topic on which the content filter is set.
* @param[in] filter The filter function used to filter topic samples.
*/
DDS_DEPRECATED_EXPORT void
dds_set_topic_filter(dds_entity_t topic, dds_topic_filter_fn filter);
/**
* @brief Sets a filter on a topic. To be replaced by proper filtering on readers,
* @ingroup topic_filter
* @warning Unstable API
* @deprecated use @ref dds_set_topic_filter_and_arg or @ref dds_set_topic_filter_extended instead
*
* Not thread-safe with respect to data being read/written using readers/writers
* using this topic. Be sure to create a topic entity specific to the reader you
* want to filter, then set the filter function, and only then create the reader.
* And don't change it unless you know there are no concurrent writes.
*
* @param[in] topic The topic on which the content filter is set.
* @param[in] filter The filter function used to filter topic samples.
*/
DDS_DEPRECATED_EXPORT void
dds_topic_set_filter(dds_entity_t topic, dds_topic_filter_fn filter);
/**
* @anchor dds_set_topic_filter_and_arg
* @brief Sets a filter and filter argument on a topic.
* @ingroup topic_filter
* @warning Unstable API
* To be replaced by proper filtering on readers.
*
* Not thread-safe with respect to data being read/written using readers/writers
* using this topic. Be sure to create a topic entity specific to the reader you
* want to filter, then set the filter function, and only then create the reader.
* And don't change it unless you know there are no concurrent writes.
*
* @param[in] topic The topic on which the content filter is set.
* @param[in] filter The filter function used to filter topic samples.
* @param[in] arg Argument for the filter function.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK Filter set successfully
* @retval DDS_RETCODE_BAD_PARAMETER The topic handle is invalid
*/
DDS_EXPORT dds_return_t
dds_set_topic_filter_and_arg(
dds_entity_t topic,
dds_topic_filter_arg_fn filter,
void *arg);
/**
* @anchor dds_set_topic_filter_extended
* @brief Sets a filter and filter argument on a topic.
* @ingroup topic_filter
* @warning Unstable API
* To be replaced by proper filtering on readers.
*
* Not thread-safe with respect to data being read/written using readers/writers
* using this topic. Be sure to create a topic entity specific to the reader you
* want to filter, then set the filter function, and only then create the reader.
* And don't change it unless you know there are no concurrent writes.
*
* @param[in] topic The topic on which the content filter is set.
* @param[in] filter The filter specification.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK Filter set successfully
* @retval DDS_RETCODE_BAD_PARAMETER The topic handle is invalid
*/
DDS_EXPORT dds_return_t
dds_set_topic_filter_extended(
dds_entity_t topic,
const struct dds_topic_filter *filter);
/**
* @brief Gets the filter for a topic.
* @ingroup topic_filter
* @deprecated Use dds_get_topic_filter_and_arg() or dds_get_topic_filter_extended() instead.
* @warning Unstable API
*
* To be replaced by proper filtering on readers.
*
* @param[in] topic The topic from which to get the filter.
*
* @returns The topic filter, or 0 when of type other than "sample".
*/
DDS_DEPRECATED_EXPORT dds_topic_filter_fn
dds_get_topic_filter(dds_entity_t topic);
/**
* @brief Gets the filter for a topic.
* @ingroup topic_filter
* @deprecated Use dds_get_topic_filter_and_arg() or dds_get_topic_filter_extended() instead.
* @warning Unstable API
*
* To be replaced by proper filtering on readers.
*
* @param[in] topic The topic from which to get the filter.
*
* @returns The topic filter, or 0 when of type other than "sample".
*/
DDS_DEPRECATED_EXPORT dds_topic_filter_fn
dds_topic_get_filter(dds_entity_t topic);
/**
* @brief Gets the filter for a topic.
* @ingroup topic_filter
* @warning Unstable API
*
* To be replaced by proper filtering on readers
*
* @param[in] topic The topic from which to get the filter.
* @param[out] fn The topic filter function (fn may be NULL).
* @param[out] arg Filter function argument (arg may be NULL).
*
* @retval DDS_RETCODE_OK Filter set successfully
* @retval DDS_RETCODE_PRECONDITION_NOT_MET Filter is not of "none" or "sample_arg"
* @retval DDS_RETCODE_BAD_PARAMETER The topic handle is invalid
*/
DDS_EXPORT dds_return_t
dds_get_topic_filter_and_arg (
dds_entity_t topic,
dds_topic_filter_arg_fn *fn,
void **arg);
/**
* @brief Gets the filter for a topic.
* @ingroup topic_filter
* @warning Unstable API
*
* To be replaced by proper filtering on readers
*
* @param[in] topic The topic from which to get the filter.
* @param[out] filter The topic filter specification.
*
* @retval DDS_RETCODE_OK Filter set successfully
* @retval DDS_RETCODE_BAD_PARAMETER The topic handle is invalid
*/
DDS_EXPORT dds_return_t
dds_get_topic_filter_extended (
dds_entity_t topic,
struct dds_topic_filter *filter);
/**
* @defgroup subscriber (Subscriber)
* @ingroup subscription
* DOC_TODO The Subscriber is a DDS Entity
*/
/**
* @brief Creates a new instance of a DDS subscriber
* @ingroup subscriber
*
* @param[in] participant The participant on which the subscriber is being created.
* @param[in] qos The QoS to set on the new subscriber (can be NULL).
* @param[in] listener Any listener functions associated with the new subscriber (can be NULL).
*
* @returns A valid subscriber handle or an error code.
*
* @retval >0
* A valid subscriber handle.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the parameters is invalid.
*/
DDS_EXPORT dds_entity_t
dds_create_subscriber(
dds_entity_t participant,
const dds_qos_t *qos,
const dds_listener_t *listener);
/**
* @defgroup publication (Publication)
* @ingroup dds
* DOC_TODO This contains the definitions regarding publication of data.
*/
/**
* @defgroup publisher (Publisher)
* @ingroup publication
* DOC_TODO The Publisher is a DDS Entity
*/
/**
* @brief Creates a new instance of a DDS publisher
* @ingroup publisher
*
* @param[in] participant The participant to create a publisher for.
* @param[in] qos The QoS to set on the new publisher (can be NULL).
* @param[in] listener Any listener functions associated with the new publisher (can be NULL).
*
* @returns A valid publisher handle or an error code.
*
* @retval >0
* A valid publisher handle.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
*/
/* TODO: Check list of error codes is complete. */
DDS_EXPORT dds_entity_t
dds_create_publisher(
dds_entity_t participant,
const dds_qos_t *qos,
const dds_listener_t *listener);
/**
* @brief Suspends the publications of the Publisher
* @ingroup publisher
*
* This operation is a hint to the Service so it can optimize its performance by e.g., collecting
* modifications to DDS writers and then batching them. The Service is not required to use the hint.
*
* Every invocation of this operation must be matched by a corresponding call to @see dds_resume
* indicating that the set of modifications has completed.
*
* @param[in] publisher The publisher for which all publications will be suspended.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Publications suspended successfully.
* @retval DDS_RETCODE_BAD_PARAMETER
* The pub parameter is not a valid publisher.
* @retval DDS_RETCODE_UNSUPPORTED
* Operation is not supported.
*/
DDS_EXPORT dds_return_t
dds_suspend(dds_entity_t publisher);
/**
* @brief Resumes the publications of the Publisher
* @ingroup publisher
*
* This operation is a hint to the Service to indicate that the application has
* completed changes initiated by a previous dds_suspend(). The Service is not
* required to use the hint.
*
* The call to resume_publications must match a previous call to @see suspend_publications.
*
* @param[in] publisher The publisher for which all publications will be resumed.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Publications resumed successfully.
* @retval DDS_RETCODE_BAD_PARAMETER
* The pub parameter is not a valid publisher.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* No previous matching dds_suspend().
* @retval DDS_RETCODE_UNSUPPORTED
* Operation is not supported.
*/
DDS_EXPORT dds_return_t
dds_resume(dds_entity_t publisher);
/**
* @brief Waits at most for the duration timeout for acks for data in the publisher or writer.
* @ingroup publication
*
* This operation blocks the calling thread until either all data written by the publisher
* or writer is acknowledged by all matched reliable reader entities, or else the duration
* specified by the timeout parameter elapses, whichever happens first.
*
* @param[in] publisher_or_writer Publisher or writer whose acknowledgments must be waited for
* @param[in] timeout How long to wait for acknowledgments before time out
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* All acknowledgments successfully received with the timeout.
* @retval DDS_RETCODE_BAD_PARAMETER
* The publisher_or_writer is not a valid publisher or writer.
* @retval DDS_RETCODE_TIMEOUT
* Timeout expired before all acknowledgments from reliable reader entities were received.
* @retval DDS_RETCODE_UNSUPPORTED
* Operation is not supported.
*/
DDS_EXPORT dds_return_t
dds_wait_for_acks(dds_entity_t publisher_or_writer, dds_duration_t timeout);
/**
* @defgroup reader (Reader)
* @ingroup subscription
* DOC_TODO The reader is a DDS Entity
*/
/**
* @brief Creates a new instance of a DDS reader.
* @ingroup reader
*
* When a participant is used to create a reader, an implicit subscriber is created.
* This implicit subscriber will be deleted automatically when the created reader
* is deleted.
*
* @param[in] participant_or_subscriber The participant or subscriber on which the reader is being created.
* @param[in] topic The topic to read.
* @param[in] qos The QoS to set on the new reader (can be NULL).
* @param[in] listener Any listener functions associated with the new reader (can be NULL).
*
* @returns A valid reader handle or an error code.
*
* @retval >0
* A valid reader handle.
* @retval DDS_RETCODE_ERROR
* An internal error occurred.
*
* DOC_TODO: Complete list of error codes
*/
DDS_EXPORT dds_entity_t
dds_create_reader(
dds_entity_t participant_or_subscriber,
dds_entity_t topic,
const dds_qos_t *qos,
const dds_listener_t *listener);
/**
* @brief Creates a new instance of a DDS reader with a custom history cache.
* @ingroup reader
*
* When a participant is used to create a reader, an implicit subscriber is created.
* This implicit subscriber will be deleted automatically when the created reader
* is deleted.
*
* @param[in] participant_or_subscriber The participant or subscriber on which the reader is being created.
* @param[in] topic The topic to read.
* @param[in] qos The QoS to set on the new reader (can be NULL).
* @param[in] listener Any listener functions associated with the new reader (can be NULL).
* @param[in] rhc Reader history cache to use, reader becomes the owner
*
* @returns A valid reader handle or an error code.
*
* @retval >0
* A valid reader handle.
* @retval DDS_RETCODE_ERROR
* An internal error occurred.
*
* DOC_TODO: Complete list of error codes
*/
DDS_EXPORT dds_entity_t
dds_create_reader_rhc(
dds_entity_t participant_or_subscriber,
dds_entity_t topic,
const dds_qos_t *qos,
const dds_listener_t *listener,
struct dds_rhc *rhc);
/**
* @brief Wait until reader receives all historic data
* @ingroup reader
*
* The operation blocks the calling thread until either all "historical" data is
* received, or else the duration specified by the max_wait parameter elapses, whichever happens
* first. A return value of 0 indicates that all the "historical" data was received; a return
* value of TIMEOUT indicates that max_wait elapsed before all the data was received.
*
* @param[in] reader The reader on which to wait for historical data.
* @param[in] max_wait How long to wait for historical data before time out.
*
* @returns a status, 0 on success, TIMEOUT on timeout or a negative value to indicate error.
*
* DOC_TODO: Complete list of error codes
*/
DDS_EXPORT dds_return_t
dds_reader_wait_for_historical_data(
dds_entity_t reader,
dds_duration_t max_wait);
/**
* @defgroup writer (Writer)
* @ingroup publication
* DOC_TODO The writer is a DDS Entity
*/
/**
* @brief Creates a new instance of a DDS writer.
* @ingroup writer
*
* When a participant is used to create a writer, an implicit publisher is created.
* This implicit publisher will be deleted automatically when the created writer
* is deleted.
*
* @param[in] participant_or_publisher The participant or publisher on which the writer is being created.
* @param[in] topic The topic to write.
* @param[in] qos The QoS to set on the new writer (can be NULL).
* @param[in] listener Any listener functions associated with the new writer (can be NULL).
*
* @returns A valid writer handle or an error code.
*
* @returns >0
* A valid writer handle.
* @returns DDS_RETCODE_ERROR
* An internal error occurred.
*
* DOC_TODO: Complete list of error codes
*/
DDS_EXPORT dds_entity_t
dds_create_writer(
dds_entity_t participant_or_publisher,
dds_entity_t topic,
const dds_qos_t *qos,
const dds_listener_t *listener);
/**
* @defgroup writing (Writing data)
* @ingroup writer
* Writing data (and variants of it) is straightforward. The first set
* is equivalent to the second set with -1 passed for "timestamp",
* meaning, substitute the result of a call to time(). The dispose
* and unregister operations take an object of the topic's type, but
* only touch the key fields; the remained may be undefined.
*/
/**
* @brief Registers an instance
* @ingroup writing
*
* This operation registers an instance with a key value to the data writer and
* returns an instance handle that could be used for successive write & dispose
* operations. When the handle is not allocated, the function will return an
* error and the handle will be un-touched.
*
* @param[in] writer The writer to which instance has be associated.
* @param[out] handle The instance handle.
* @param[in] data The instance with the key value.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_register_instance(
dds_entity_t writer,
dds_instance_handle_t *handle,
const void *data);
/**
* @brief Unregisters an instance by instance
* @ingroup writing
*
* This operation reverses the action of register instance, removes all information regarding
* the instance and unregisters an instance with a key value from the data writer.
*
* @param[in] writer The writer to which instance is associated.
* @param[in] data The instance with the key value.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_unregister_instance(dds_entity_t writer, const void *data);
/**
* @brief Unregisters an instance by instance handle
* @ingroup writing
*
* This operation unregisters the instance which is identified by the key fields of the given
* typed instance handle.
*
* @param[in] writer The writer to which instance is associated.
* @param[in] handle The instance handle.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_unregister_instance_ih(dds_entity_t writer, dds_instance_handle_t handle);
/**
* @brief Unregisters an instance by instance with timestamp
* @ingroup writing
*
* This operation reverses the action of register instance, removes all information regarding
* the instance and unregisters an instance with a key value from the data writer. It also
* provides a value for the timestamp explicitly.
*
* @param[in] writer The writer to which instance is associated.
* @param[in] data The instance with the key value.
* @param[in] timestamp The timestamp used at registration.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_unregister_instance_ts(
dds_entity_t writer,
const void *data,
dds_time_t timestamp);
/**
* @brief Unregisters an instance by instance handle with timestamp
* @ingroup writing
*
* This operation unregisters an instance with a key value from the handle. Instance can be identified
* from instance handle. If an unregistered key ID is passed as an instance data, an error is logged and
* not flagged as return value.
*
* @param[in] writer The writer to which instance is associated.
* @param[in] handle The instance handle.
* @param[in] timestamp The timestamp used at registration.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object
*/
DDS_EXPORT dds_return_t
dds_unregister_instance_ih_ts(
dds_entity_t writer,
dds_instance_handle_t handle,
dds_time_t timestamp);
/**
* @brief This operation modifies and disposes a data instance.
* @ingroup writing
*
* This operation requests the Data Distribution Service to modify the instance and
* mark it for deletion. Copies of the instance and its corresponding samples, which are
* stored in every connected reader and, dependent on the QoS policy settings (also in
* the Transient and Persistent stores) will be modified and marked for deletion by
* setting their dds_instance_state_t to DDS_IST_NOT_ALIVE_DISPOSED.
*
* @par Blocking
* If the history QoS policy is set to DDS_HISTORY_KEEP_ALL, the
* dds_writedispose operation on the writer may block if the modification
* would cause data to be lost because one of the limits, specified in the
* resource_limits QoS policy, to be exceeded. In case the synchronous
* attribute value of the reliability Qos policy is set to true for
* communicating writers and readers then the writer will wait until
* all synchronous readers have acknowledged the data. Under these
* circumstances, the max_blocking_time attribute of the reliability
* QoS policy configures the maximum time the dds_writedispose operation
* may block.
* If max_blocking_time elapses before the writer is able to store the
* modification without exceeding the limits and all expected acknowledgements
* are received, the dds_writedispose operation will fail and returns
* DDS_RETCODE_TIMEOUT.
*
* @param[in] writer The writer to dispose the data instance from.
* @param[in] data The data to be written and disposed.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The sample is written and the instance is marked for deletion.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* At least one of the arguments is invalid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_TIMEOUT
* Either the current action overflowed the available resources as
* specified by the combination of the reliability QoS policy,
* history QoS policy and resource_limits QoS policy, or the
* current action was waiting for data delivery acknowledgement
* by synchronous readers. This caused blocking of this operation,
* which could not be resolved before max_blocking_time of the
* reliability QoS policy elapsed.
*/
DDS_EXPORT dds_return_t
dds_writedispose(dds_entity_t writer, const void *data);
/**
* @brief This operation modifies and disposes a data instance with a specific
* timestamp.
* @ingroup writing
*
* This operation performs the same functions as dds_writedispose() except that
* the application provides the value for the source_timestamp that is made
* available to connected reader objects. This timestamp is important for the
* interpretation of the destination_order QoS policy.
*
* @param[in] writer The writer to dispose the data instance from.
* @param[in] data The data to be written and disposed.
* @param[in] timestamp The timestamp used as source timestamp.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The sample is written and the instance is marked for deletion.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* At least one of the arguments is invalid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_TIMEOUT
* Either the current action overflowed the available resources as
* specified by the combination of the reliability QoS policy,
* history QoS policy and resource_limits QoS policy, or the
* current action was waiting for data delivery acknowledgement
* by synchronous readers. This caused blocking of this operation,
* which could not be resolved before max_blocking_time of the
* reliability QoS policy elapsed.
*/
DDS_EXPORT dds_return_t
dds_writedispose_ts(
dds_entity_t writer,
const void *data,
dds_time_t timestamp);
/**
* @brief This operation disposes an instance, identified by the data sample.
* @ingroup writing
*
* This operation requests the Data Distribution Service to modify the instance and
* mark it for deletion. Copies of the instance and its corresponding samples, which are
* stored in every connected reader and, dependent on the QoS policy settings (also in
* the Transient and Persistent stores) will be modified and marked for deletion by
* setting their dds_instance_state_t to DDS_IST_NOT_ALIVE_DISPOSED.
*
* @par Blocking
* If the history QoS policy is set to DDS_HISTORY_KEEP_ALL, the
* dds_writedispose operation on the writer may block if the modification
* would cause data to be lost because one of the limits, specified in the
* resource_limits QoS policy, to be exceeded. In case the synchronous
* attribute value of the reliability Qos policy is set to true for
* communicating writers and readers then the writer will wait until
* all synchronous readers have acknowledged the data. Under these
* circumstances, the max_blocking_time attribute of the reliability
* QoS policy configures the maximum time the dds_writedispose operation
* may block.
* If max_blocking_time elapses before the writer is able to store the
* modification without exceeding the limits and all expected acknowledgements
* are received, the dds_writedispose operation will fail and returns
* DDS_RETCODE_TIMEOUT.
*
* @param[in] writer The writer to dispose the data instance from.
* @param[in] data The data sample that identifies the instance
* to be disposed.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The sample is written and the instance is marked for deletion.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* At least one of the arguments is invalid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_TIMEOUT
* Either the current action overflowed the available resources as
* specified by the combination of the reliability QoS policy,
* history QoS policy and resource_limits QoS policy, or the
* current action was waiting for data delivery acknowledgement
* by synchronous readers. This caused blocking of this operation,
* which could not be resolved before max_blocking_time of the
* reliability QoS policy elapsed.
*/
DDS_EXPORT dds_return_t
dds_dispose(dds_entity_t writer, const void *data);
/**
* @brief This operation disposes an instance with a specific timestamp, identified by the data sample.
* @ingroup writing
*
* This operation performs the same functions as dds_dispose() except that
* the application provides the value for the source_timestamp that is made
* available to connected reader objects. This timestamp is important for the
* interpretation of the destination_order QoS policy.
*
* @param[in] writer The writer to dispose the data instance from.
* @param[in] data The data sample that identifies the instance
* to be disposed.
* @param[in] timestamp The timestamp used as source timestamp.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The sample is written and the instance is marked for deletion
* @retval DDS_RETCODE_ERROR
* An internal error has occurred
* @retval DDS_RETCODE_BAD_PARAMETER
* At least one of the arguments is invalid
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted
* @retval DDS_RETCODE_TIMEOUT
* Either the current action overflowed the available resources as
* specified by the combination of the reliability QoS policy,
* history QoS policy and resource_limits QoS policy, or the
* current action was waiting for data delivery acknowledgment
* by synchronous readers. This caused blocking of this operation,
* which could not be resolved before max_blocking_time of the
* reliability QoS policy elapsed.
*/
DDS_EXPORT dds_return_t
dds_dispose_ts(
dds_entity_t writer,
const void *data,
dds_time_t timestamp);
/**
* @brief This operation disposes an instance, identified by the instance handle.
* @ingroup writing
*
* This operation requests the Data Distribution Service to modify the instance and
* mark it for deletion. Copies of the instance and its corresponding samples, which are
* stored in every connected reader and, dependent on the QoS policy settings (also in
* the Transient and Persistent stores) will be modified and marked for deletion by
* setting their dds_instance_state_t to DDS_IST_NOT_ALIVE_DISPOSED.
*
* @par Instance Handle
* The given instance handle must correspond to the value that was returned by either
* the dds_register_instance operation, dds_register_instance_ts or dds_lookup_instance.
* If there is no correspondence, then the result of the operation is unspecified.
*
* @param[in] writer The writer to dispose the data instance from.
* @param[in] handle The handle to identify an instance.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The sample is written and the instance is marked for deletion.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* At least one of the arguments is invalid
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this writer
*/
DDS_EXPORT dds_return_t
dds_dispose_ih(dds_entity_t writer, dds_instance_handle_t handle);
/**
* @brief This operation disposes an instance with a specific timestamp, identified by the instance handle.
* @ingroup writing
*
* This operation performs the same functions as dds_dispose_ih() except that
* the application provides the value for the source_timestamp that is made
* available to connected reader objects. This timestamp is important for the
* interpretation of the destination_order QoS policy.
*
* @param[in] writer The writer to dispose the data instance from.
* @param[in] handle The handle to identify an instance.
* @param[in] timestamp The timestamp used as source timestamp.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The sample is written and the instance is marked for deletion.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* At least one of the arguments is invalid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this writer.
*/
DDS_EXPORT dds_return_t
dds_dispose_ih_ts(
dds_entity_t writer,
dds_instance_handle_t handle,
dds_time_t timestamp);
/**
* @brief Write the value of a data instance
* @ingroup writing
*
* With this API, the value of the source timestamp is automatically made
* available to the data reader by the service.
*
* @param[in] writer The writer entity.
* @param[in] data Value to be written.
*
* @returns dds_return_t indicating success or failure.
*/
DDS_EXPORT dds_return_t
dds_write(dds_entity_t writer, const void *data);
/**
* @brief Flush a writers batched writes
* @ingroup writing
*
* When using the WriteBatch mode you can manually batch small writes into larger
* datapackets for network efficiency. The normal dds_write() calls will no longer
* automatically decide when to send data, you will do that manually using this function.
*
* DOC_TODO check if my assumptions about how this function works are correct
*
* @param[in] writer The writer entity.
*/
DDS_EXPORT void
dds_write_flush(dds_entity_t writer);
/**
* @brief Write a serialized value of a data instance
* @ingroup writing
*
* This call causes the writer to write the serialized value that is provided
* in the serdata argument. Timestamp and statusinfo fields are set to the
* current time and 0 (indicating a regular write), respectively.
*
* @param[in] writer The writer entity.
* @param[in] serdata Serialized value to be written.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The writer successfully wrote the serialized value.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_TIMEOUT
* The writer failed to write the serialized value reliably within the specified max_blocking_time.
*/
DDS_EXPORT dds_return_t
dds_writecdr(dds_entity_t writer, struct ddsi_serdata *serdata);
/**
* @brief Write a serialized value of a data instance
* @ingroup writing
*
* This call causes the writer to write the serialized value that is provided
* in the serdata argument. Timestamp and statusinfo are used as is.
*
* @param[in] writer The writer entity.
* @param[in] serdata Serialized value to be written.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The writer successfully wrote the serialized value.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_TIMEOUT
* The writer failed to write the serialized value reliably within the specified max_blocking_time.
*/
DDS_EXPORT dds_return_t
dds_forwardcdr(dds_entity_t writer, struct ddsi_serdata *serdata);
/**
* @brief Write the value of a data instance along with the source timestamp passed.
* @ingroup writing
*
* @param[in] writer The writer entity.
* @param[in] data Value to be written.
* @param[in] timestamp Source timestamp.
*
* @returns A dds_return_t indicating success or failure.
*/
DDS_EXPORT dds_return_t
dds_write_ts(
dds_entity_t writer,
const void *data,
dds_time_t timestamp);
/**
* @defgroup readcondition (ReadCondition)
* @ingroup condition
*/
/**
* @defgroup querycondition (QueryCondition)
* @ingroup condition
*/
/**
* @defgroup guardcondition (GuardCondition)
* @ingroup condition
*/
/**
* @brief Creates a readcondition associated to the given reader.
* @ingroup readcondition
*
* The readcondition allows specifying which samples are of interest in
* a data reader's history, by means of a mask. The mask is or'd with
* the flags that are dds_sample_state_t, dds_view_state_t and
* dds_instance_state_t.
*
* Based on the mask value set, the readcondition gets triggered when
* data is available on the reader.
*
* Waitsets allow waiting for an event on some of any set of entities.
* This means that the readcondition can be used to wake up a waitset when
* data is in the reader history with states that matches the given mask.
*
* @note The parent reader and every of its associated conditions (whether
* they are readconditions or queryconditions) share the same resources.
* This means that one of these entities reads or takes data, the states
* of the data will change for other entities automatically. For instance,
* if one reads a sample, then the sample state will become 'read' for all
* associated reader/conditions. Or if one takes a sample, then it's not
* available to any other associated reader/condition.
*
* @param[in] reader Reader to associate the condition to.
* @param[in] mask Interest (dds_sample_state_t|dds_view_state_t|dds_instance_state_t).
*
* @returns A valid condition handle or an error code.
*
* @retval >0
* A valid condition handle
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_entity_t
dds_create_readcondition(dds_entity_t reader, uint32_t mask);
/**
* @brief Function signature for a querycondition filter
* @ingroup querycondition
*/
typedef bool (*dds_querycondition_filter_fn) (const void * sample);
/**
* @brief Creates a queryondition associated to the given reader.
* @ingroup querycondition
*
* The queryondition allows specifying which samples are of interest in
* a data reader's history, by means of a mask and a filter. The mask is
* or'd with the flags that are dds_sample_state_t, dds_view_state_t and
* dds_instance_state_t.
*
* Based on the mask value set and data that matches the filter, the
* querycondition gets triggered when data is available on the reader.
*
* Waitsets allow waiting for an event on some of any set of entities.
* This means that the querycondition can be used to wake up a waitset when
* data is in the reader history with states that matches the given mask
* and filter.
*
* @note The parent reader and every of its associated conditions (whether
* they are readconditions or queryconditions) share the same resources.
* This means that one of these entities reads or takes data, the states
* of the data will change for other entities automatically. For instance,
* if one reads a sample, then the sample state will become 'read' for all
* associated reader/conditions. Or if one takes a sample, then it's not
* available to any other associated reader/condition.
*
* @param[in] reader Reader to associate the condition to.
* @param[in] mask Interest (dds_sample_state_t|dds_view_state_t|dds_instance_state_t).
* @param[in] filter Callback that the application can use to filter specific samples.
*
* @returns A valid condition handle or an error code
*
* @retval >=0
* A valid condition handle.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_entity_t
dds_create_querycondition(
dds_entity_t reader,
uint32_t mask,
dds_querycondition_filter_fn filter);
/**
* @brief Creates a guardcondition.
* @ingroup guardcondition
*
* Waitsets allow waiting for an event on some of any set of entities.
* This means that the guardcondition can be used to wake up a waitset when
* data is in the reader history with states that matches the given mask.
*
* @param[in] participant Participant on which to create the guardcondition.
*
* @returns A valid condition handle or an error code.
*
* @retval >0
* A valid condition handle
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_entity_t
dds_create_guardcondition(dds_entity_t participant);
/**
* @brief Sets the trigger status of a guardcondition.
* @ingroup guardcondition
*
* @param[in] guardcond Guard condition to set the trigger status of.
* @param[in] triggered The triggered status to set.
*
* @retval DDS_RETCODE_OK
* Operation successful
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_set_guardcondition(dds_entity_t guardcond, bool triggered);
/**
* @brief Reads the trigger status of a guardcondition.
* @ingroup guardcondition
*
* @param[in] guardcond Guard condition to read the trigger status of.
* @param[out] triggered The triggered status read from the guard condition.
*
* @retval DDS_RETCODE_OK
* Operation successful
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_read_guardcondition(dds_entity_t guardcond, bool *triggered);
/**
* @brief Reads and resets the trigger status of a guardcondition.
* @ingroup guardcondition
*
* @param[in] guardcond Guard condition to read and reset the trigger status of.
* @param[out] triggered The triggered status read from the guard condition.
*
* @retval DDS_RETCODE_OK
* Operation successful
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_take_guardcondition(dds_entity_t guardcond, bool *triggered);
/**
* @defgroup waitset (WaitSet)
* @ingroup dds
*/
/**
* @brief Waitset attachment argument.
* @ingroup waitset
*
* Every entity that is attached to the waitset can be accompanied by such
* an attachment argument. When the waitset wait is unblocked because of an
* entity that triggered, then the returning array will be populated with
* these attachment arguments that are related to the triggered entity.
*/
typedef intptr_t dds_attach_t;
/**
* @brief Create a waitset and allocate the resources required
* @ingroup waitset
*
* A WaitSet object allows an application to wait until one or more of the
* conditions of the attached entities evaluates to TRUE or until the timeout
* expires.
*
* @param[in] participant Domain participant which the WaitSet contains.
*
* @returns A valid waitset handle or an error code.
*
* @retval >=0
* A valid waitset handle.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_entity_t
dds_create_waitset(dds_entity_t participant);
/**
* @brief Acquire previously attached entities.
* @ingroup waitset
*
* This functions takes a pre-allocated list to put the entities in and
* will return the number of found entities. It is possible that the given
* size of the list is not the same as the number of found entities. If
* less entities are found, then the last few entries in the list are
* untouched. When more entities are found, then only 'size' number of
* entries are inserted into the list, but still the complete count of the
* found entities is returned. Which entities are returned in the latter
* case is undefined.
*
* @param[in] waitset Waitset from which to get its attached entities.
* @param[out] entities Pre-allocated array to contain the found entities.
* @param[in] size Size of the pre-allocated entities' list.
*
* @returns A dds_return_t with the number of children or an error code.
*
* @retval >=0
* Number of children found (can be larger than 'size').
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entities parameter is NULL, while a size is provided.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The waitset has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_waitset_get_entities(
dds_entity_t waitset,
dds_entity_t *entities,
size_t size);
/**
* @brief This operation attaches an Entity to the WaitSet.
* @ingroup waitset
*
* This operation attaches an Entity to the WaitSet. The dds_waitset_wait()
* will block when none of the attached entities are triggered. 'Triggered'
* (dds_triggered()) doesn't mean the same for every entity:
* - Reader/Writer/Publisher/Subscriber/Topic/Participant
* - These are triggered when their status changed.
* - WaitSet
* - Triggered when trigger value was set to true by the application.
* It stays triggered until application sets the trigger value to
* false (dds_waitset_set_trigger()). This can be used to wake up an
* waitset for different reasons (f.i. termination) than the 'normal'
* status change (like new data).
* - ReadCondition/QueryCondition
* - Triggered when data is available on the related Reader that matches
* the Condition.
*
* Multiple entities can be attached to a single waitset. A particular entity
* can be attached to multiple waitsets. However, a particular entity can not
* be attached to a particular waitset multiple times.
*
* @param[in] waitset The waitset to attach the given entity to.
* @param[in] entity The entity to attach.
* @param[in] x Blob that will be supplied when the waitset wait is
* triggered by the given entity.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Entity attached.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The given waitset or entity are not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The waitset has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The entity was already attached.
*/
DDS_EXPORT dds_return_t
dds_waitset_attach(
dds_entity_t waitset,
dds_entity_t entity,
dds_attach_t x);
/**
* @brief This operation detaches an Entity from the WaitSet.
* @ingroup waitset
*
* @param[in] waitset The waitset to detach the given entity from.
* @param[in] entity The entity to detach.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Entity detached.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The given waitset or entity are not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The waitset has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The entity is not attached.
*/
DDS_EXPORT dds_return_t
dds_waitset_detach(
dds_entity_t waitset,
dds_entity_t entity);
/**
* @brief Sets the trigger_value associated with a waitset.
* @ingroup waitset
*
* When the waitset is attached to itself and the trigger value is
* set to 'true', then the waitset will wake up just like with an
* other status change of the attached entities.
*
* This can be used to forcefully wake up a waitset, for instance
* when the application wants to shut down. So, when the trigger
* value is true, the waitset will wake up or not wait at all.
*
* The trigger value will remain true until the application sets it
* false again deliberately.
*
* @param[in] waitset The waitset to set the trigger value on.
* @param[in] trigger The trigger value to set.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* Trigger value set.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The given waitset is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The waitset has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_waitset_set_trigger(
dds_entity_t waitset,
bool trigger);
/**
* @brief This operation allows an application thread to wait for the a status
* change or other trigger on (one of) the entities that are attached to
* the WaitSet.
* @ingroup waitset
*
* The dds_waitset_wait() operation blocks until the some of the attached
* entities have triggered or "reltimeout" has elapsed.
* 'Triggered' (dds_triggered()) doesn't mean the same for every entity:
* - Reader/Writer/Publisher/Subscriber/Topic/Participant
* - These are triggered when their status changed.
* - WaitSet
* - Triggered when trigger value was set to true by the application.
* It stays triggered until application sets the trigger value to
* false (dds_waitset_set_trigger()). This can be used to wake up an
* waitset for different reasons (f.i. termination) than the 'normal'
* status change (like new data).
* - ReadCondition/QueryCondition
* - Triggered when data is available on the related Reader that matches
* the Condition.
*
* This functions takes a pre-allocated list to put the "xs" blobs in (that
* were provided during the attach of the related entities) and will return
* the number of triggered entities. It is possible that the given size
* of the list is not the same as the number of triggered entities. If less
* entities were triggered, then the last few entries in the list are
* untouched. When more entities are triggered, then only 'size' number of
* entries are inserted into the list, but still the complete count of the
* triggered entities is returned. Which "xs" blobs are returned in the
* latter case is undefined.
*
* In case of a time out, the return value is 0.
*
* Deleting the waitset while the application is blocked results in an
* error code (i.e. < 0) returned by "wait".
*
* Multiple threads may block on a single waitset at the same time;
* the calls are entirely independent.
*
* An empty waitset never triggers (i.e., dds_waitset_wait on an empty
* waitset is essentially equivalent to a sleep).
*
* The "dds_waitset_wait_until" operation is the same as the
* "dds_waitset_wait" except that it takes an absolute timeout.
*
* @param[in] waitset The waitset to set the trigger value on.
* @param[out] xs Pre-allocated list to store the 'blobs' that were
* provided during the attach of the triggered entities.
* @param[in] nxs The size of the pre-allocated blobs list.
* @param[in] reltimeout Relative timeout
*
* @returns A dds_return_t with the number of entities triggered or an error code
*
* @retval >0
* Number of entities triggered.
* @retval 0
* Time out (no entities were triggered).
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The given waitset is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The waitset has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_waitset_wait(
dds_entity_t waitset,
dds_attach_t *xs,
size_t nxs,
dds_duration_t reltimeout);
/**
* @brief This operation allows an application thread to wait for the a status
* change or other trigger on (one of) the entities that are attached to
* the WaitSet.
* @ingroup waitset
*
* The dds_waitset_wait() operation blocks until the some of the attached
* entities have triggered or "abstimeout" has been reached.
* 'Triggered' (dds_triggered()) doesn't mean the same for every entity:
* - Reader/Writer/Publisher/Subscriber/Topic/Participant
* - These are triggered when their status changed.
* - WaitSet
* - Triggered when trigger value was set to true by the application.
* It stays triggered until application sets the trigger value to
* false (dds_waitset_set_trigger()). This can be used to wake up an
* waitset for different reasons (f.i. termination) than the 'normal'
* status change (like new data).
* - ReadCondition/QueryCondition
* - Triggered when data is available on the related Reader that matches
* the Condition.
*
* This functions takes a pre-allocated list to put the "xs" blobs in (that
* were provided during the attach of the related entities) and will return
* the number of triggered entities. It is possible that the given size
* of the list is not the same as the number of triggered entities. If less
* entities were triggered, then the last few entries in the list are
* untouched. When more entities are triggered, then only 'size' number of
* entries are inserted into the list, but still the complete count of the
* triggered entities is returned. Which "xs" blobs are returned in the
* latter case is undefined.
*
* In case of a time out, the return value is 0.
*
* Deleting the waitset while the application is blocked results in an
* error code (i.e. < 0) returned by "wait".
*
* Multiple threads may block on a single waitset at the same time;
* the calls are entirely independent.
*
* An empty waitset never triggers (i.e., dds_waitset_wait on an empty
* waitset is essentially equivalent to a sleep).
*
* The "dds_waitset_wait" operation is the same as the
* "dds_waitset_wait_until" except that it takes an relative timeout.
*
* The "dds_waitset_wait" operation is the same as the "dds_wait"
* except that it takes an absolute timeout.
*
* @param[in] waitset The waitset to set the trigger value on.
* @param[out] xs Pre-allocated list to store the 'blobs' that were
* provided during the attach of the triggered entities.
* @param[in] nxs The size of the pre-allocated blobs list.
* @param[in] abstimeout Absolute timeout
*
* @returns A dds_return_t with the number of entities triggered or an error code.
*
* @retval >0
* Number of entities triggered.
* @retval 0
* Time out (no entities were triggered).
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The given waitset is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The waitset has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_waitset_wait_until(
dds_entity_t waitset,
dds_attach_t *xs,
size_t nxs,
dds_time_t abstimeout);
/**
* @defgroup reading (Reading Data)
* @ingroup reader
* There are a number of ways to aquire data, divided into variations of "read" and "take".
* The return value of a read/take operation is the number of elements returned. "max_samples"
* should have the same type, as one can't return more than MAX_INT
* this way, anyway. X, Y, CX, CY return to the various filtering
* options, see the DCPS spec.
*
* O ::= read | take
*
* X => CX
* (empty) (empty)
* _next_instance instance_handle_t prev
*
* Y => CY
* (empty) uint32_t mask
* _cond cond_t cond -- refers to a read condition (or query if implemented)
*/
/**
* @brief Access and read the collection of data values (of same type) and sample info from the
* data reader, readcondition or querycondition.
* @ingroup reading
*
* Return value provides information about number of samples read, which will
* be <= maxs. Based on the count, the buffer will contain data to be read only
* when valid_data bit in sample info structure is set.
* The buffer required for data values, could be allocated explicitly or can
* use the memory from data reader to prevent copy. In the latter case, buffer and
* sample_info should be returned back, once it is no longer using the Data.
* Data values once read will remain in the buffer with the sample_state set to READ
* and view_state set to NOT_NEW.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] bufsz The size of buffer provided.
* @param[in] maxs Maximum number of samples to read.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_read(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
size_t bufsz,
uint32_t maxs);
/**
* @brief Access and read loaned samples of data reader, readcondition or querycondition.
* @ingroup reading
*
* After dds_read_wl function is being called and the data has been handled, dds_return_loan() function must be called to possibly free memory.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL)
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value
* @param[in] maxs Maximum number of samples to read
*
* @returns A dds_return_t with the number of samples read or an error code
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_read_wl(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
uint32_t maxs);
/**
* @brief Read the collection of data values and sample info from the data reader, readcondition
* or querycondition based on mask.
* @ingroup reading
*
* When using a readcondition or querycondition, their masks are or'd with the given mask.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] bufsz The size of buffer provided.
* @param[in] maxs Maximum number of samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_read_mask(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
size_t bufsz,
uint32_t maxs,
uint32_t mask);
/**
* @brief Access and read loaned samples of data reader, readcondition
* or querycondition based on mask
* @ingroup reading
*
* When using a readcondition or querycondition, their masks are or'd with the given mask.
*
* After dds_read_mask_wl function is being called and the data has been handled, dds_return_loan() function must be called to possibly free memory
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] maxs Maximum number of samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_read_mask_wl(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
uint32_t maxs,
uint32_t mask);
/**
* @brief Access and read the collection of data values (of same type) and sample info from the
* data reader, readcondition or querycondition, coped by the provided instance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_read, except that only data scoped to
* the provided instance handle is read.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] bufsz The size of buffer provided.
* @param[in] maxs Maximum number of samples to read.
* @param[in] handle Instance handle related to the samples to read.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_read_instance(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
size_t bufsz,
uint32_t maxs,
dds_instance_handle_t handle);
/**
* @brief Access and read loaned samples of data reader, readcondition or querycondition,
* scoped by the provided instance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_read_wl, except that only data
* scoped to the provided instance handle is read.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] maxs Maximum number of samples to read.
* @param[in] handle Instance handle related to the samples to read.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_read_instance_wl(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
uint32_t maxs,
dds_instance_handle_t handle);
/**
* @brief Read the collection of data values and sample info from the data reader, readcondition
* or querycondition based on mask and scoped by the provided instance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_read_mask, except that only data
* scoped to the provided instance handle is read.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] bufsz The size of buffer provided.
* @param[in] maxs Maximum number of samples to read.
* @param[in] handle Instance handle related to the samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_read_instance_mask(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
size_t bufsz,
uint32_t maxs,
dds_instance_handle_t handle,
uint32_t mask);
/**
* @brief Access and read loaned samples of data reader, readcondition or
* querycondition based on mask, scoped by the provided instance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_read_mask_wl, except that
* only data scoped to the provided instance handle is read.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] maxs Maximum number of samples to read.
* @param[in] handle Instance handle related to the samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_read_instance_mask_wl(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
uint32_t maxs,
dds_instance_handle_t handle,
uint32_t mask);
/**
* @brief Access the collection of data values (of same type) and sample info from the
* data reader, readcondition or querycondition.
* @ingroup reading
*
* Data value once read is removed from the Data Reader cannot to
* 'read' or 'taken' again.
* Return value provides information about number of samples read, which will
* be <= maxs. Based on the count, the buffer will contain data to be read only
* when valid_data bit in sample info structure is set.
* The buffer required for data values, could be allocated explicitly or can
* use the memory from data reader to prevent copy. In the latter case, buffer and
* sample_info should be returned back, once it is no longer using the Data.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] bufsz The size of buffer provided.
* @param[in] maxs Maximum number of samples to read.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_take(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
size_t bufsz,
uint32_t maxs);
/**
* @brief Access loaned samples of data reader, readcondition or querycondition.
* @ingroup reading
*
* After dds_take_wl function is being called and the data has been handled, dds_return_loan() function must be called to possibly free memory
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] maxs Maximum number of samples to read.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_take_wl(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
uint32_t maxs);
/**
* @brief Take the collection of data values (of same type) and sample info from the
* data reader, readcondition or querycondition based on mask
* @ingroup reading
*
* When using a readcondition or querycondition, their masks are or'd with the given mask.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] bufsz The size of buffer provided.
* @param[in] maxs Maximum number of samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_take_mask(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
size_t bufsz,
uint32_t maxs,
uint32_t mask);
/**
* @brief Access loaned samples of data reader, readcondition or querycondition based on mask.
* @ingroup reading
*
* When using a readcondition or querycondition, their masks are or'd with the given mask.
*
* After dds_take_mask_wl function is being called and the data has been handled, dds_return_loan() function must be called to possibly free memory
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] maxs Maximum number of samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_take_mask_wl(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
uint32_t maxs,
uint32_t mask);
/**
* @anchor DDS_HAS_READCDR
* @ingroup reading
* @brief Set when function dds_has_readcdr is defined.
*/
#define DDS_HAS_READCDR 1
/**
* @brief Access the collection of serialized data values (of same type) and
* sample info from the data reader, readcondition or querycondition.
* @ingroup reading
*
* This call accesses the serialized data from the data reader, readcondition or
* querycondition and makes it available to the application. The serialized data
* is made available through @ref ddsi_serdata structures. Returned samples are
* marked as READ.
*
* Return value provides information about the number of samples read, which will
* be <= maxs. Based on the count, the buffer will contain serialized data to be
* read only when valid_data bit in sample info structure is set.
* The buffer required for data values, could be allocated explicitly or can
* use the memory from data reader to prevent copy. In the latter case, buffer and
* sample_info should be returned back, once it is no longer using the data.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to @ref ddsi_serdata structures that contain
* the serialized data. The pointers can be NULL.
* @param[in] maxs Maximum number of samples to read.
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The precondition for this operation is not met.
*/
DDS_EXPORT dds_return_t
dds_readcdr(
dds_entity_t reader_or_condition,
struct ddsi_serdata **buf,
uint32_t maxs,
dds_sample_info_t *si,
uint32_t mask);
/**
* @brief Access the collection of serialized data values (of same type) and
* sample info from the data reader, readcondition or querycondition
* scoped by the provided instance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_read_instance_wl, except that
* samples are now in their serialized form. The serialized data is made available through
* @ref ddsi_serdata structures. Returned samples are marked as READ.
*
* Return value provides information about the number of samples read, which will
* be <= maxs. Based on the count, the buffer will contain serialized data to be
* read only when valid_data bit in sample info structure is set.
* The buffer required for data values, could be allocated explicitly or can
* use the memory from data reader to prevent copy. In the latter case, buffer and
* sample_info should be returned back, once it is no longer using the data.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to @ref ddsi_serdata structures that contain
* the serialized data. The pointers can be NULL.
* @param[in] maxs Maximum number of samples to read.
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] handle Instance handle related to the samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_readcdr_instance (
dds_entity_t reader_or_condition,
struct ddsi_serdata **buf,
uint32_t maxs,
dds_sample_info_t *si,
dds_instance_handle_t handle,
uint32_t mask);
/**
* @brief Access the collection of serialized data values (of same type) and
* sample info from the data reader, readcondition or querycondition.
* @ingroup reading
*
* This call accesses the serialized data from the data reader, readcondition or
* querycondition and makes it available to the application. The serialized data
* is made available through @ref ddsi_serdata structures. Once read the data is
* removed from the reader and cannot be 'read' or 'taken' again.
*
* Return value provides information about the number of samples read, which will
* be <= maxs. Based on the count, the buffer will contain serialized data to be
* read only when valid_data bit in sample info structure is set.
* The buffer required for data values, could be allocated explicitly or can
* use the memory from data reader to prevent copy. In the latter case, buffer and
* sample_info should be returned back, once it is no longer using the data.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to @ref ddsi_serdata structures that contain
* the serialized data. The pointers can be NULL.
* @param[in] maxs Maximum number of samples to read.
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The precondition for this operation is not met.
*/
DDS_EXPORT dds_return_t
dds_takecdr(
dds_entity_t reader_or_condition,
struct ddsi_serdata **buf,
uint32_t maxs,
dds_sample_info_t *si,
uint32_t mask);
/**
* @brief Access the collection of serialized data values (of same type) and
* sample info from the data reader, readcondition or querycondition
* scoped by the provided instance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_take_instance_wl, except that
* samples are now in their serialized form. The serialized data is made available through
* @ref ddsi_serdata structures. Returned samples are marked as READ.
*
* Return value provides information about the number of samples read, which will
* be <= maxs. Based on the count, the buffer will contain serialized data to be
* read only when valid_data bit in sample info structure is set.
* The buffer required for data values, could be allocated explicitly or can
* use the memory from data reader to prevent copy. In the latter case, buffer and
* sample_info should be returned back, once it is no longer using the data.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to @ref ddsi_serdata structures that contain
* the serialized data. The pointers can be NULL.
* @param[in] maxs Maximum number of samples to read.
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] handle Instance handle related to the samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_takecdr_instance (
dds_entity_t reader_or_condition,
struct ddsi_serdata **buf,
uint32_t maxs,
dds_sample_info_t *si,
dds_instance_handle_t handle,
uint32_t mask);
/**
* @brief Access the collection of data values (of same type) and sample info from the
* data reader, readcondition or querycondition but scoped by the given
* instance handle.
* @ingroup reading
*
* This operation mplements the same functionality as dds_take, except that only data
* scoped to the provided instance handle is taken.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] bufsz The size of buffer provided.
* @param[in] maxs Maximum number of samples to read.
* @param[in] handle Instance handle related to the samples to read.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_take_instance(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
size_t bufsz,
uint32_t maxs,
dds_instance_handle_t handle);
/**
* @brief Access loaned samples of data reader, readcondition or querycondition,
* scoped by the given instance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_take_wl, except that
* only data scoped to the provided instance handle is read.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] maxs Maximum number of samples to read.
* @param[in] handle Instance handle related to the samples to read.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_take_instance_wl(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
uint32_t maxs,
dds_instance_handle_t handle);
/**
* @brief Take the collection of data values (of same type) and sample info from the
* data reader, readcondition or querycondition based on mask and scoped
* by the given instance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_take_mask, except that only
* data scoped to the provided instance handle is read.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] bufsz The size of buffer provided.
* @param[in] maxs Maximum number of samples to read.
* @param[in] handle Instance handle related to the samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples read or an error code.
*
* @retval >=0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_take_instance_mask(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
size_t bufsz,
uint32_t maxs,
dds_instance_handle_t handle,
uint32_t mask);
/**
* @brief Access loaned samples of data reader, readcondition or querycondition based
* on mask and scoped by the given intance handle.
* @ingroup reading
*
* This operation implements the same functionality as dds_take_mask_wl, except that
* only data scoped to the provided instance handle is read.
*
* @param[in] reader_or_condition Reader, readcondition or querycondition entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si Pointer to an array of @ref dds_sample_info_t returned for each data value.
* @param[in] maxs Maximum number of samples to read.
* @param[in] handle Instance handle related to the samples to read.
* @param[in] mask Filter the data based on dds_sample_state_t|dds_view_state_t|dds_instance_state_t.
*
* @returns A dds_return_t with the number of samples or an error code.
*
* @retval >= 0
* Number of samples read.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the given arguments is not valid.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* The instance handle has not been registered with this reader.
*/
DDS_EXPORT dds_return_t
dds_take_instance_mask_wl(
dds_entity_t reader_or_condition,
void **buf,
dds_sample_info_t *si,
uint32_t maxs,
dds_instance_handle_t handle,
uint32_t mask);
/**
* @brief Read, copy and remove the status set for the entity
* @ingroup reading
*
* This operation copies the next, non-previously accessed
* data value and corresponding sample info and removes from
* the data reader. As an entity, only reader is accepted.
*
* The read/take next functions return a single sample. The returned sample
* has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an
* instance state of ANY_INSTANCE_STATE.
*
* @param[in] reader The reader entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si The pointer to @ref dds_sample_info_t returned for a data value.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_take_next(
dds_entity_t reader,
void **buf,
dds_sample_info_t *si);
/**
* @brief Read, copy and remove the status set for the entity
* @ingroup reading
*
* This operation copies the next, non-previously accessed
* data value and corresponding sample info and removes from
* the data reader. As an entity, only reader is accepted.
*
* The read/take next functions return a single sample. The returned sample
* has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an
* instance state of ANY_INSTANCE_STATE.
*
* After dds_take_next_wl function is being called and the data has been handled,
* dds_return_loan() function must be called to possibly free memory.
*
* @param[in] reader The reader entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si The pointer to @ref dds_sample_info_t returned for a data value.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_take_next_wl(
dds_entity_t reader,
void **buf,
dds_sample_info_t *si);
/**
* @brief Read and copy the status set for the entity
* @ingroup reading
*
* This operation copies the next, non-previously accessed
* data value and corresponding sample info. As an entity,
* only reader is accepted.
*
* The read/take next functions return a single sample. The returned sample
* has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an
* instance state of ANY_INSTANCE_STATE.
*
* @param[in] reader The reader entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si The pointer to @ref dds_sample_info_t returned for a data value.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_read_next(
dds_entity_t reader,
void **buf,
dds_sample_info_t *si);
/**
* @brief Read and copy the status set for the loaned sample
* @ingroup reading
*
* This operation copies the next, non-previously accessed
* data value and corresponding loaned sample info. As an entity,
* only reader is accepted.
*
* The read/take next functions return a single sample. The returned sample
* has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an
* instance state of ANY_INSTANCE_STATE.
*
* After dds_read_next_wl function is being called and the data has been handled,
* dds_return_loan() function must be called to possibly free memory.
*
* @param[in] reader The reader entity.
* @param[out] buf An array of pointers to samples into which data is read (pointers can be NULL).
* @param[out] si The pointer to @ref dds_sample_info_t returned for a data value.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_read_next_wl(
dds_entity_t reader,
void **buf,
dds_sample_info_t *si);
/**
* @defgroup loan (Loans API)
* @ingroup dds
*/
/**
* @brief Return loaned samples to a reader or writer
* @ingroup loan
*
* Used to release sample buffers returned by a read/take operation (a reader-loan)
* or, in case shared memory is enabled, of the loan_sample operation (a writer-loan).
*
* When the application provides an empty buffer to a reader-loan, memory is allocated and
* managed by DDS. By calling dds_return_loan(), the reader-loan is released so that the buffer
* can be reused during a successive read/take operation. When a condition is provided, the
* reader to which the condition belongs is looked up.
*
* Writer-loans are normally released implicitly when writing a loaned sample, but you can
* cancel a writer-loan prematurely by invoking the return_loan() operation. For writer loans, buf is
* overwritten with null pointers for all successfully returned entries. Any failure causes it to abort,
* possibly midway through buf.
*
* @param[in] entity The entity that the loan belongs to.
* @param[in,out] buf An array of (pointers to) samples, some or all of which will be set to null pointers.
* @param[in] bufsz The number of (pointers to) samples stored in buf.
*
* @returns A dds_return_t indicating success or failure
* @retval DDS_RETCODE_OK
* - the operation was successful; for a writer loan, all entries in buf are set to null
* - this specifically includes cases where bufsz <= 0 while entity is valid
* @retval DDS_RETCODE_BAD_PARAMETER
* - the entity parameter is not a valid parameter
* - buf is null, or bufsz > 0 and buf[0] = null
* - (for writer loans) buf[0 <= i < bufsz] is null; operation is aborted, all buf[j < i] = null on return
* @retval DDS_RETCODE_PRECONDITION_NOT_MET
* - (for reader loans) buf was already returned (not guaranteed to be detected)
* - (for writer loans) buf[0 <= i < bufsz] does not correspond to an outstanding loan, all buf[j < i] = null on return
* @retval DDS_RETCODE_UNSUPPORTED
* - (for writer loans) invoked on a writer not supporting loans.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* - the operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_return_loan(
dds_entity_t entity,
void **buf,
int32_t bufsz);
/**
* @defgroup instance_handle (Instance Handles)
* @ingroup dds
* Instance handle <=> key value mapping.
* Functions exactly as read w.r.t. treatment of data
* parameter. On output, only key values set.
* @code{c}
* T x = { ... };
* T y;
* dds_instance_handle_t ih;
* ih = dds_lookup_instance (e, &x);
* dds_instance_get_key (e, ih, &y);
* @endcode
*/
/**
* @brief This operation takes a sample and returns an instance handle to be used for subsequent operations.
* @ingroup instance_handle
*
* @param[in] entity Reader or Writer entity.
* @param[in] data Sample with a key fields set.
*
* @returns instance handle or DDS_HANDLE_NIL if instance could not be found from key.
*/
DDS_EXPORT dds_instance_handle_t
dds_lookup_instance(dds_entity_t entity, const void *data);
/**
* @deprecated Get enabled status on entity. Use \ref dds_lookup_instance instead.
* @ingroup instance_handle
*
* @param[in] entity Reader or Writer entity.
* @param[in] data Sample with a key fields set.
*
* @returns instance handle or DDS_HANDLE_NIL if instance could not be found from key.
*/
DDS_DEPRECATED_EXPORT dds_instance_handle_t
dds_instance_lookup(dds_entity_t entity, const void *data);
/**
* @brief This operation takes an instance handle and return a key-value corresponding to it.
* @ingroup instance_handle
*
* @param[in] entity Reader, writer, readcondition or querycondition entity.
* @param[in] inst Instance handle.
* @param[out] data pointer to an instance, to which the key ID corresponding to the instance handle will be
* returned, the sample in the instance should be ignored.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* One of the parameters was invalid or the topic does not exist.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
*
* DOC_TODO: Check return codes for completeness
*/
DDS_EXPORT dds_return_t
dds_instance_get_key(
dds_entity_t entity,
dds_instance_handle_t inst,
void *data);
/**
* @brief Begin coherent publishing or begin accessing a coherent set in a subscriber
* @ingroup publication
*
* Invoking on a Writer or Reader behaves as if dds_begin_coherent was invoked on its parent
* Publisher or Subscriber respectively.
*
* @param[in] entity The entity that is prepared for coherent access.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_ERROR
* An internal error has occurred.
* @retval DDS_RETCODE_BAD_PARAMETER
* The provided entity is invalid or not supported.
*/
DDS_EXPORT dds_return_t
dds_begin_coherent(dds_entity_t entity);
/**
* @brief End coherent publishing or end accessing a coherent set in a subscriber
* @ingroup publication
*
* Invoking on a Writer or Reader behaves as if dds_end_coherent was invoked on its parent
* Publisher or Subscriber respectively.
*
* @param[in] entity The entity on which coherent access is finished.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The provided entity is invalid or not supported.
*/
DDS_EXPORT dds_return_t
dds_end_coherent(dds_entity_t entity);
/**
* @brief Trigger DATA_AVAILABLE event on contained readers
* @ingroup subscriber
*
* The DATA_AVAILABLE event is broadcast to all readers owned by this subscriber that currently
* have new data available. Any on_data_available listener callbacks attached to respective
* readers are invoked.
*
* @param[in] subscriber A valid subscriber handle.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The provided subscriber is invalid.
*/
DDS_EXPORT dds_return_t
dds_notify_readers(dds_entity_t subscriber);
/**
* @brief Checks whether the entity has one of its enabled statuses triggered.
* @ingroup entity
*
* @param[in] entity Entity for which to check for triggered status.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_return_t
dds_triggered(dds_entity_t entity);
/**
* @brief Get the topic
* @ingroup entity
*
* This operation returns a topic (handle) when the function call is done
* with reader, writer, read condition or query condition. For instance, it
* will return the topic when it is used for creating the reader or writer.
* For the conditions, it returns the topic that is used for creating the reader
* which was used to create the condition.
*
* @param[in] entity The entity.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_ALREADY_DELETED
* The entity has already been deleted.
*/
DDS_EXPORT dds_entity_t
dds_get_topic(dds_entity_t entity);
/**
* @brief Get instance handles of the data readers matching a writer
* @ingroup builtintopic
*
* This operation fills the provided array with the instance handles
* of the data readers that match the writer. On successful output,
* the number of entries of "rds" set is the minimum of the return
* value and the value of "nrds".
*
* @param[in] writer The writer.
* @param[in] rds The array to be filled.
* @param[in] nrds The size of the rds array, at most the first
* nrds entries will be filled. rds = NULL and nrds = 0
* is a valid way of determining the number of matched
* readers, but inefficient compared to relying on the
* matched publication status.
*
* @returns A dds_return_t indicating the number of matched readers
* or failure. The return value may be larger than nrds
* if there are more matching readers than the array can
* hold.
*
* @retval >=0
* The number of matching readers.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not valid or rds = NULL and
* nrds > 0.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_get_matched_subscriptions (
dds_entity_t writer,
dds_instance_handle_t *rds,
size_t nrds);
/**
* @brief Get a description of a reader matched with the provided writer
* @ingroup builtintopic
*
* This operation looks up the reader instance handle in the set of
* readers matched with the specified writer, returning a freshly
* allocated sample of the DCPSSubscription built-in topic if found,
* and NULL if not. The caller is responsible for freeing the
* memory allocated, e.g. using dds_builtintopic_free_endpoint.
*
* This operation is similar to performing a read of the given
* instance handle on a reader of the DCPSSubscription built-in
* topic, but this operation additionally filters on whether the
* reader is matched by the provided writer.
*
* @param[in] writer The writer.
* @param[in] ih The instance handle of a reader.
*
* @returns A newly allocated sample containing the information on the
* reader, or a NULL pointer for any kind of failure.
*
* @retval != NULL
* The requested data
* @retval NULL
* The writer is not valid or ih is not an instance handle
* of a matched reader.
*/
DDS_EXPORT dds_builtintopic_endpoint_t *
dds_get_matched_subscription_data (
dds_entity_t writer,
dds_instance_handle_t ih);
/**
* @brief Get instance handles of the data writers matching a reader
* @ingroup builtintopic
*
* This operation fills the provided array with the instance handles
* of the data writers that match the reader. On successful output,
* the number of entries of "wrs" set is the minimum of the return
* value and the value of "nwrs".
*
* @param[in] reader The reader.
* @param[in] wrs The array to be filled.
* @param[in] nwrs The size of the wrs array, at most the first
* nwrs entries will be filled. wrs = NULL and wrds = 0
* is a valid way of determining the number of matched
* readers, but inefficient compared to relying on the
* matched publication status.
*
* @returns A dds_return_t indicating the number of matched writers
* or failure. The return value may be larger than nwrs
* if there are more matching writers than the array can
* hold.
*
* @retval >=0
* The number of matching writers.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not valid or wrs = NULL and
* nwrs > 0.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_get_matched_publications (
dds_entity_t reader,
dds_instance_handle_t *wrs,
size_t nwrs);
/**
* @brief Get a description of a writer matched with the provided reader
* @ingroup builtintopic
*
* This operation looks up the writer instance handle in the set of
* writers matched with the specified reader, returning a freshly
* allocated sample of the DCPSPublication built-in topic if found,
* and NULL if not. The caller is responsible for freeing the
* memory allocated, e.g. using dds_builtintopic_free_endpoint.
*
* This operation is similar to performing a read of the given
* instance handle on a reader of the DCPSPublication built-in
* topic, but this operation additionally filters on whether the
* writer is matched by the provided reader.
*
* @param[in] reader The reader.
* @param[in] ih The instance handle of a writer.
*
* @returns A newly allocated sample containing the information on the
* writer, or a NULL pointer for any kind of failure.
*
* @retval != NULL
* The requested data
* @retval NULL
* The reader is not valid or ih is not an instance handle
* of a matched writer.
*/
DDS_EXPORT dds_builtintopic_endpoint_t *
dds_get_matched_publication_data (
dds_entity_t reader,
dds_instance_handle_t ih);
#ifdef DDS_HAS_TYPE_DISCOVERY
/**
* @brief Gets the type information from endpoint information that was
* retrieved by dds_get_matched_subscription_data or
* dds_get_matched_publication_data
* @ingroup builtintopic
*
* @param[in] builtintopic_endpoint The builtintopic endpoint struct
* @param[out] type_info Type information that will be allocated by this function in case of success.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* One or more parameters are invalid
*/
DDS_EXPORT dds_return_t
dds_builtintopic_get_endpoint_type_info (
dds_builtintopic_endpoint_t * builtintopic_endpoint,
const dds_typeinfo_t ** type_info);
#endif
/**
* @brief Free the endpoint information that was retrieved by
* dds_get_matched_subscription_data or dds_get_matched_publication_data
* @ingroup builtintopic
*
* This operation deallocates the memory of the fields in a
* dds_builtintopic_endpoint_t struct and deallocates the
* struct itself.
*
* @param[in] builtintopic_endpoint The builtintopic endpoint struct
*/
DDS_EXPORT void
dds_builtintopic_free_endpoint (
dds_builtintopic_endpoint_t * builtintopic_endpoint);
/**
* @brief Free the provided topic information
* @ingroup builtintopic
*
* This operation deallocates the memory of the fields in a
* dds_builtintopic_topic_t struct and deallocates the
* struct itself.
*
* @param[in] builtintopic_topic The builtintopic topic struct
*/
DDS_EXPORT void
dds_builtintopic_free_topic (
dds_builtintopic_topic_t * builtintopic_topic);
/**
* @brief Free the provided participant information
* @ingroup builtintopic
*
* This operation deallocates the memory of the fields in a
* dds_builtintopic_participant_t struct and deallocates the
* struct itself.
*
* @param[in] builtintopic_participant The builtintopic participant struct
*/
DDS_EXPORT void
dds_builtintopic_free_participant (
dds_builtintopic_participant_t * builtintopic_participant);
/**
* @brief This operation manually asserts the liveliness of a writer
* or domain participant.
* @ingroup entity
*
* This operation manually asserts the liveliness of a writer
* or domain participant. This is used in combination with the Liveliness
* QoS policy to indicate that the entity remains active. This operation need
* only be used if the liveliness kind in the QoS is either
* DDS_LIVELINESS_MANUAL_BY_PARTICIPANT or DDS_LIVELINESS_MANUAL_BY_TOPIC.
*
* @param[in] entity A domain participant or writer
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_assert_liveliness (
dds_entity_t entity);
/**
* @defgroup internal (Internal)
* @ingroup dds
*/
/**
* @defgroup testing (Testing tools)
* @ingroup internal
*/
/**
*
* @brief This operation allows making the domain's network stack temporarily deaf and/or mute.
* @ingroup testing
* @warning Unstable API, for testing
*
* This is a support function for testing and, other special uses and is subject to change.
*
* @param[in] entity A domain entity or an entity bound to a domain, such
* as a participant, reader or writer.
* @param[in] deaf Whether to network stack should pretend to be deaf and
* ignore any incoming packets.
* @param[in] mute Whether to network stack should pretend to be mute and
* discard any outgoing packets where it normally would.
* pass them to the operating system kernel for transmission.
* @param[in] reset_after Any value less than INFINITY will cause it to
* set deaf = mute = false after reset_after ns have passed.
* This is done by an event scheduled for the appropriate
* time and otherwise forgotten. These events are not
* affected by subsequent calls to this function.
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter.
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
*/
DDS_EXPORT dds_return_t
dds_domain_set_deafmute (
dds_entity_t entity,
bool deaf,
bool mute,
dds_duration_t reset_after);
/**
* @defgroup xtypes (XTypes)
* @ingroup dds
*
* CycloneDDS supports XTypes, but most of that functionality outside the new IDL constructs
* happens behind the scenes. However, some API functionality is added that allows inspecting
* types at runtime. Using it in C is not very ergonomic, but dynamic languages like Python can
* make good use of it.
*/
/**
* @brief This function resolves the type for the provided type identifier,
* which can e.g. be retrieved from endpoint or topic discovery data.
* @ingroup xtypes
*
* @param[in] entity A domain entity or an entity bound to a domain, such
* as a participant, reader or writer.
* @param[in] type_id Type identifier
* @param[in] timeout Timeout for waiting for requested type information to be available
* @param[out] type_obj The type information, untouched if type is not resolved
*
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The entity parameter is not a valid parameter, type_id or type name
* is not provided, or the sertype out parameter is NULL
* @retval DDS_RETCODE_NOT_FOUND
* A type with the provided type_id and type_name was not found
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_UNSUPPORTED
* Cyclone DDS built without type discovery
* (cf. DDS_HAS_TYPE_DISCOVERY)
*/
DDS_EXPORT dds_return_t
dds_get_typeobj (
dds_entity_t entity,
const dds_typeid_t *type_id,
dds_duration_t timeout,
dds_typeobj_t **type_obj);
/**
* @brief Free the type object that was retrieved using dds_get_typeobj
* @ingroup xtypes
*
* @param[in] type_obj The type object
*
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The type_obj parameter is NULL
* @retval DDS_RETCODE_UNSUPPORTED
* Cyclone DDS built without type discovery
* (cf. DDS_HAS_TYPE_DISCOVERY)
*/
DDS_EXPORT dds_return_t
dds_free_typeobj (
dds_typeobj_t *type_obj);
/**
* @brief This function gets the type information from the
* provided topic, reader or writer
* @ingroup xtypes
*
* @param[in] entity A topic/reader/writer entity
* @param[out] type_info The type information, untouched if returncode indicates failure
*
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The type_info parameter is null
* @retval DDS_RETCODE_NOT_FOUND
* The entity does not have type information set
* @retval DDS_RETCODE_ILLEGAL_OPERATION
* The operation is invoked on an inappropriate object.
* @retval DDS_RETCODE_UNSUPPORTED
* Cyclone DDS built without type discovery
* (cf. DDS_HAS_TYPE_DISCOVERY)
*/
DDS_EXPORT dds_return_t
dds_get_typeinfo (
dds_entity_t entity,
dds_typeinfo_t **type_info);
/**
* @brief Free the type information that was retrieved using dds_get_typeinfo
* @ingroup xtypes
*
* @param[in] type_info The type information
*
*
* @returns A dds_return_t indicating success or failure.
*
* @retval DDS_RETCODE_OK
* The operation was successful.
* @retval DDS_RETCODE_BAD_PARAMETER
* The type_info parameter is NULL
* @retval DDS_RETCODE_UNSUPPORTED
* Cyclone DDS built without type discovery
* (cf. DDS_HAS_TYPE_DISCOVERY)
*/
DDS_EXPORT dds_return_t
dds_free_typeinfo (
dds_typeinfo_t *type_info);
#if defined (__cplusplus)
}
#endif
#endif /* DDS_H */
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