gapi_returnCode_t
_DataWriterFree (
_DataWriter _this)
{
gapi_returnCode_t result = GAPI_RETCODE_OK;
_Status status;
u_writer w;
assert(_this);
status = _EntityStatus(_this);
_TopicDescriptionDecUse(_TopicDescription(_this->topic));
_StatusSetListener(status, NULL, 0);
_EntityClaim(status);
_StatusDeinit(status);
w = U_WRITER_GET(_this);
_EntityDispose (_Entity(_this));
u_writerFree(w);
return result;
}
_DataWriter
_DataWriterNew (
const _Topic topic,
const _TypeSupport typesupport,
const gapi_dataWriterQos *qos,
const struct gapi_dataWriterListener *a_listener,
const gapi_statusMask mask,
const _Publisher publisher)
{
_DataWriter newDataWriter;
v_writerQos writerQos;
u_writer uWriter;
_TypeSupport typeSupport = (_TypeSupport)typesupport;
char dataWriterId[256];
gapi_string topicName;
newDataWriter = _DataWriterAlloc();
if ( newDataWriter != NULL ) {
_EntityInit(_Entity(newDataWriter),
_Entity(publisher));
newDataWriter->topic = topic;
if ( a_listener ) {
newDataWriter->listener = *a_listener;
}
writerQos = u_writerQosNew(NULL);
if ( (writerQos != NULL) ) {
if ( !copyWriterQosIn(qos, writerQos) ) {
u_writerQosFree (writerQos);
_EntityDispose(_Entity(newDataWriter));
newDataWriter = NULL;
}
} else {
_EntityDispose(_Entity(newDataWriter));
newDataWriter = NULL;
}
}
if ( newDataWriter != NULL ) {
u_writerCopy copy_action;
newDataWriter->copy_in = _TypeSupportCopyIn(typeSupport);
newDataWriter->copy_out = _TypeSupportCopyOut(typeSupport);
newDataWriter->copy_cache = _TypeSupportCopyCache(typeSupport);
copy_action = _TypeSupportGetWriterCopy(typeSupport);
if (!copy_action) {
copy_action = _DataWriterCopy;
}
topicName = _TopicDescriptionGetName (_TopicDescription(topic));
if (topicName) {
snprintf (dataWriterId,
sizeof (dataWriterId),
"%sWriter", topicName);
gapi_free (topicName);
} else {
snprintf (dataWriterId,
sizeof (dataWriterId),
"dataWriter");
}
uWriter = u_writerNew(_PublisherUpublisher(publisher),
dataWriterId,
_TopicUtopic(topic),
copy_action,
writerQos,
FALSE);
if ( uWriter != NULL ) {
U_WRITER_SET(newDataWriter, uWriter);
} else {
_EntityDispose(_Entity(newDataWriter));
newDataWriter = NULL;
}
u_writerQosFree(writerQos);
}
if ( newDataWriter != NULL ) {
_Status status;
status = _StatusNew(_Entity(newDataWriter),
STATUS_KIND_DATAWRITER,
(struct gapi_listener *)a_listener, mask);
_EntityStatus(newDataWriter) = status;
if (status) {
_TopicDescriptionIncUse(_TopicDescription(topic));
} else {
u_writerFree(uWriter);
_EntityDispose(_Entity(newDataWriter));
newDataWriter = NULL;
}
}
return newDataWriter;
}
_Subscriber
_BuiltinSubscriberNew (
u_participant uParticipant,
_DomainParticipantFactory factory,
_DomainParticipant participant)
{
u_subscriber s;
_Status status;
_Subscriber newSubscriber = _SubscriberAlloc();
gapi_handle handle;
_TypeSupport typeSupport;
gapi_dataReaderQos rQos;
long i;
s = u_participantGetBuiltinSubscriber(uParticipant);
if (s) {
newSubscriber = _SubscriberAlloc();
if (newSubscriber != NULL) {
_EntityInit(_Entity(newSubscriber), _Entity(participant));
U_SUBSCRIBER_SET(newSubscriber, s);
status = _StatusNew(_Entity(newSubscriber),
STATUS_KIND_SUBSCRIBER,
NULL, 0);
if (status) {
for ( i = 0; i < MAX_BUILTIN_TOPIC; i++ ) {
_DataReader reader = NULL;
_Topic topic = NULL;
typeSupport = _DomainParticipantFindTypeSupport(participant,
_BuiltinTopicTypeName(i));
if (typeSupport) {
c_iter uTopicList;
u_topic uTopic;
uTopicList = u_participantFindTopic(uParticipant,
_BuiltinTopicName(i),
C_TIME_ZERO);
uTopic = c_iterTakeFirst(uTopicList);
if (uTopic) {
topic = _TopicFromKernelTopic(uTopic,
_BuiltinTopicName(i),
_BuiltinTopicTypeName(i),
typeSupport,
participant,
NULL);
while (uTopic) {
uTopic = c_iterTakeFirst(uTopicList);
/* multiple instances should not occure but
* just in case this loop frees all references.
*/
assert(uTopic == NULL);
u_entityFree(u_entity(uTopic));
}
} else {
OS_REPORT_2(OS_WARNING,"_BuiltinSubscriberNew",0,
"failed to resolve User layer Topic "
"'%s' for Participant 0x%x",
_BuiltinTopicName(i), participant);
}
} else {
OS_REPORT_2(OS_WARNING,"_BuiltinSubscriberNew",0,
"Builtin TypeSupport for type '%s' is not "
"yet registered for Participant 0x%x",
_BuiltinTopicTypeName(i), participant);
}
if (topic) {
initBuiltinDataReaderQos(&rQos);
reader = _DataReaderNew(_TopicDescription(topic),
typeSupport,
&rQos,
NULL, 0,
newSubscriber);
_EntityRelease(topic);
} else {
OS_REPORT_2(OS_WARNING,"_BuiltinSubscriberNew",0,
"failed to create Builtin Topic '%s' "
"for Participant 0x%x",
_BuiltinTopicName(i), participant);
}
if ( reader ) {
_ENTITY_REGISTER_OBJECT(_Entity(newSubscriber),
(_Object)reader);
handle = _EntityRelease(reader);
gapi_entity_enable(handle);
}
}
newSubscriber->builtin = TRUE;
_EntityStatus(newSubscriber) = status;
} else {
_EntityDispose(_Entity(newSubscriber));
newSubscriber = NULL;
}
}
}
return newSubscriber;
}
