DDS_ReturnCode_t DDS_DataWriter_write (
DDS_DataWriter wp,
const void *data,
const DDS_InstanceHandle_t handle)
{
FTime_t time;
ctrc_begind (DCPS_ID, DCPS_DW_WRITE, &wp, sizeof (wp));
ctrc_contd (&data, sizeof (data));
ctrc_contd (&handle, sizeof (handle));
ctrc_endd ();
sys_getftime (&time);
return (dcps_write (wp, data, 0, handle, &time, NULL));
}
DDS_ReturnCode_t DDS_DataWriter_write_w_timestamp (
DDS_DataWriter wp,
const void *data,
const DDS_InstanceHandle_t handle,
const DDS_Time_t *time)
{
FTime_t ftime;
ctrc_begind (DCPS_ID, DCPS_DW_WRITE_TS, &wp, sizeof (wp));
ctrc_contd (&data, sizeof (data));
ctrc_contd (&handle, sizeof (handle));
ctrc_contd (time, sizeof (*time));
ctrc_endd ();
FTIME_SET (ftime, time->sec, time->nanosec);
return (dcps_write (wp, data, 0, handle, &ftime, NULL));
}
DDS_ReturnCode_t DDS_DataWriter_write_w_timestamp_directed (
DDS_DataWriter wp,
const void *data,
const DDS_InstanceHandle_t handle,
const DDS_Time_t *time,
DDS_InstanceHandleSeq *dests)
{
FTime_t ftime;
ctrc_begind (DCPS_ID, DCPS_DW_WRITE_TS_D, &wp, sizeof (wp));
ctrc_contd (&data, sizeof (data));
ctrc_contd (&handle, sizeof (handle));
ctrc_contd (time, sizeof (*time));
ctrc_contd (dests, sizeof (dests));
ctrc_endd ();
time2ftime ((const Time_t *) time, &ftime);
return (dcps_write (wp, data, 0, handle, &ftime, dests));
}