gapi_returnCode_t
gapi_dataReader_wait_for_historical_data (
gapi_dataReader _this,
const gapi_duration_t *max_wait)
{
gapi_returnCode_t result = GAPI_RETCODE_OK;
_DataReader datareader;
c_time c_time_max_wait;
u_result uResult;
datareader = gapi_dataReaderClaim(_this, &result);
if (datareader) {
if ( !max_wait || !gapi_validDuration(max_wait)) {
result = GAPI_RETCODE_BAD_PARAMETER;
} else if (!_EntityEnabled(datareader)) {
result = GAPI_RETCODE_NOT_ENABLED;
} else {
kernelCopyInDuration(max_wait, &c_time_max_wait);
uResult = u_dataReaderWaitForHistoricalData(
U_DATAREADER_GET(datareader),
c_time_max_wait);
result = kernelResultToApiResult(uResult);
}
_EntityRelease(datareader);
}
return result;
}
gapi_dataReaderView
gapi_dataReader_create_view (
gapi_dataReader _this,
const gapi_dataReaderViewQos *qos)
{
_DataReader datareader = NULL;
_DataReaderView view = NULL;
gapi_dataReaderViewQos *viewQos;
gapi_context context;
GAPI_CONTEXT_SET(context, _this, GAPI_METHOD_CREATE_VIEW);
datareader = gapi_dataReaderClaim(_this, NULL);
if ( datareader && _EntityEnabled(datareader)) {
if ( qos == GAPI_DATAVIEW_QOS_DEFAULT ) {
viewQos = (gapi_dataReaderViewQos *)&datareader->_defDataReaderViewQos;
} else {
viewQos = (gapi_dataReaderViewQos *)qos;
}
if (gapi_dataReaderViewQosIsConsistent(viewQos,&context) == GAPI_RETCODE_OK) {
view = _DataReaderViewNew (viewQos, datareader);
if ( view ) {
_ENTITY_REGISTER_OBJECT(_Entity(datareader), (_Object)view);
}
}
}
_EntityRelease(datareader);
return (gapi_dataReaderView)_EntityRelease(view);
}
/* ReturnCode_t
* get_matched_subscription_data(
* inout SubscriptionBuiltinTopicData subscription_data,
* in InstanceHandle_t subscription_handle);
*/
gapi_returnCode_t
gapi_dataWriter_get_matched_subscription_data (
gapi_dataWriter _this,
gapi_subscriptionBuiltinTopicData *subscription_data,
const gapi_instanceHandle_t subscription_handle)
{
gapi_returnCode_t result;
_DataWriter datawriter;
datawriter = gapi_dataWriterClaim(_this, &result);
if (datawriter != NULL) {
if (_EntityEnabled(datawriter)) {
result = _DataWriter_get_matched_subscription_data (
datawriter,
subscription_data,
subscription_handle);
} else {
result=GAPI_RETCODE_NOT_ENABLED;
}
}
_EntityRelease(datawriter);
return result;
}
gapi_returnCode_t
gapi_publisher_set_qos (
gapi_publisher _this,
const gapi_publisherQos *qos)
{
gapi_returnCode_t result = GAPI_RETCODE_OK;
u_result uResult;
_Publisher publisher;
v_publisherQos publisherQos;
gapi_context context;
gapi_publisherQos *existing_qos;
GAPI_CONTEXT_SET(context, _this, GAPI_METHOD_SET_QOS);
publisher = gapi_publisherClaim(_this, &result);
if ( publisher && qos ) {
result = gapi_publisherQosIsConsistent(qos, &context);
} else {
result = GAPI_RETCODE_BAD_PARAMETER;
}
if ((result == GAPI_RETCODE_OK ) && (_EntityEnabled(publisher))) {
existing_qos = gapi_publisherQos__alloc();
uResult = _PublisherGetQos(publisher, existing_qos);
result = kernelResultToApiResult(uResult);
if(result == GAPI_RETCODE_OK)
{
result = gapi_publisherQosCheckMutability(
qos,
existing_qos,
&context);
}
gapi_free(existing_qos);
}
if ( result == GAPI_RETCODE_OK ) {
publisherQos = u_publisherQosNew(NULL);
if (publisherQos) {
if ( copyPublisherQosIn(qos, publisherQos) ) {
uResult = u_entitySetQoS(_EntityUEntity(publisher),
(v_qos)(publisherQos) );
result = kernelResultToApiResult(uResult);
u_publisherQosFree(publisherQos);
} else {
result = GAPI_RETCODE_OUT_OF_RESOURCES;
}
} else {
result = GAPI_RETCODE_OUT_OF_RESOURCES;
}
}
_EntityRelease(publisher);
return result;
}
gapi_returnCode_t
gapi_dataReader_set_qos (
gapi_dataReader _this,
const gapi_dataReaderQos *qos)
{
gapi_returnCode_t result = GAPI_RETCODE_OK;
u_result uResult;
_DataReader dataReader;
v_readerQos dataReaderQos;
gapi_context context;
GAPI_CONTEXT_SET(context, _this, GAPI_METHOD_SET_QOS);
dataReader = gapi_dataReaderClaim(_this, &result);
if ( dataReader ) {
if ( qos ) {
result = gapi_dataReaderQosIsConsistent(qos, &context);
} else {
result = GAPI_RETCODE_BAD_PARAMETER;
}
}
if (( result == GAPI_RETCODE_OK ) && (_EntityEnabled(dataReader))){
gapi_dataReaderQos * existing_qos = gapi_dataReaderQos__alloc();
result = gapi_dataReaderQosCheckMutability(qos,
_DataReaderGetQos(dataReader,
existing_qos),
&context);
gapi_free(existing_qos);
}
if ( result == GAPI_RETCODE_OK ) {
dataReaderQos = u_readerQosNew(NULL);
if (dataReaderQos) {
if ( gapi_kernelReaderQosCopyIn(qos, dataReaderQos) ) {
uResult = u_entitySetQoS(_EntityUEntity(dataReader),
(v_qos)(dataReaderQos) );
result = kernelResultToApiResult(uResult);
u_readerQosFree(dataReaderQos);
} else {
result = GAPI_RETCODE_OUT_OF_RESOURCES;
}
} else {
result = GAPI_RETCODE_OUT_OF_RESOURCES;
}
}
_EntityRelease(dataReader);
return result;
}
/* ReadCondition
* create_readcondition(
* in SampleStateMask sample_states,
* in ViewStateMask view_states,
* in InstanceStateMask instance_states);
*/
gapi_readCondition
gapi_dataReaderView_create_readcondition (
gapi_dataReaderView _this,
const gapi_sampleStateMask sample_states,
const gapi_viewStateMask view_states,
const gapi_instanceStateMask instance_states)
{
_DataReaderView datareaderview;
_ReadCondition readCondition = NULL;
datareaderview = gapi_dataReaderViewClaim(_this, NULL);
if ( datareaderview && _EntityEnabled(datareaderview) &&
gapi_stateMasksValid(sample_states, view_states, instance_states) ) {
_DataReader datareader;
datareader = _DataReaderViewDataReader(datareaderview);
readCondition = _ReadConditionNew ( sample_states,
view_states,
instance_states,
datareader,
datareaderview);
_EntityRelease(datareader);
if ( readCondition != NULL ) {
gapi_deleteEntityAction deleteAction;
void *actionArg;
if ( _ObjectGetDeleteAction(_Object(readCondition),
&deleteAction, &actionArg) ) {
_ObjectSetDeleteAction(_Object(readCondition),
deleteAction,
actionArg);
}
_ENTITY_REGISTER_OBJECT(_Entity(datareaderview),
(_Object)readCondition);
}
}
_EntityRelease(datareaderview);
return (gapi_readCondition)_EntityRelease(readCondition);
}
gapi_returnCode_t
gapi_dataReader_get_sample_lost_status (
gapi_dataReader _this,
gapi_sampleLostStatus *status)
{
gapi_returnCode_t result;
_DataReader datareader;
datareader = gapi_dataReaderClaim(_this, &result);
if (datareader != NULL) {
if (_EntityEnabled(datareader)) {
result = _DataReader_get_sample_lost_status (
datareader,
status);
} else {
result=GAPI_RETCODE_NOT_ENABLED;
}
_EntityRelease(datareader);
}
return result;
}
gapi_returnCode_t
gapi_publisher_end_coherent_changes (
gapi_publisher _this)
{
_Publisher publisher;
gapi_returnCode_t result = GAPI_RETCODE_BAD_PARAMETER;
u_result uResult;
publisher = gapi_publisherClaim(_this, &result);
if ( publisher != NULL ) {
if ( _EntityEnabled(publisher)) {
uResult = u_publisherCoherentEnd(U_PUBLISHER_GET(publisher));
result = kernelResultToApiResult(uResult);
} else {
result = GAPI_RETCODE_NOT_ENABLED;
}
}
_EntityRelease(publisher);
return result;
}
gapi_returnCode_t
gapi_dataReader_get_requested_deadline_missed_status (
gapi_dataReader _this,
gapi_requestedDeadlineMissedStatus *status)
{
gapi_returnCode_t result;
_DataReader datareader;
datareader = gapi_dataReaderClaim(_this, &result);
if (datareader != NULL) {
if (_EntityEnabled(datareader)) {
result = _DataReader_get_requested_deadline_missed_status(
datareader,
status);
} else {
result=GAPI_RETCODE_NOT_ENABLED;
}
_EntityRelease(datareader);
}
return result;
}
/* QueryCondition
* create_querycondition(
* in SampleStateMask sample_states,
* in ViewStateMask view_states,
* in InstanceStateMask instance_states,
* in string query_expression,
* in StringSeq query_parameters);
*/
gapi_queryCondition
gapi_dataReaderView_create_querycondition (
gapi_dataReaderView _this,
const gapi_sampleStateMask sample_states,
const gapi_viewStateMask view_states,
const gapi_instanceStateMask instance_states,
const gapi_char *query_expression,
const gapi_stringSeq *query_parameters)
{
_DataReaderView datareaderview;
_QueryCondition queryCondition = NULL;
datareaderview = gapi_dataReaderViewClaim(_this, NULL);
if ( datareaderview && _EntityEnabled(datareaderview) &&
query_expression && gapi_sequence_is_valid(query_parameters) &&
gapi_stateMasksValid(sample_states, view_states, instance_states) ) {
_DataReader datareader;
datareader = _DataReaderViewDataReader(datareaderview);
queryCondition = _QueryConditionNew(sample_states,
view_states,
instance_states,
query_expression,
query_parameters,
datareader,
datareaderview);
_EntityRelease(datareader);
if ( queryCondition != NULL ) {
_ENTITY_REGISTER_OBJECT(_Entity(datareaderview),
(_Object)queryCondition);
}
}
_EntityRelease(datareaderview);
return (gapi_queryCondition)_EntityRelease(queryCondition);
}
/* ReturnCode_t
* assert_liveliness();
*/
gapi_returnCode_t
gapi_dataWriter_assert_liveliness (
gapi_dataWriter _this)
{
gapi_returnCode_t result;
u_result uResult;
_DataWriter datawriter;
datawriter = gapi_dataWriterClaim(_this, &result);
if (datawriter != NULL) {
if (_EntityEnabled(datawriter)) {
uResult = u_writerAssertLiveliness(U_WRITER_GET(datawriter));
result = kernelResultToApiResult(uResult);
} else {
result=GAPI_RETCODE_NOT_ENABLED;
}
}
_EntityRelease(datawriter);
return result;
}
gapi_returnCode_t
gapi_dataWriter_get_publication_matched_status (
gapi_dataWriter _this,
gapi_publicationMatchedStatus *status)
{
gapi_returnCode_t result;
_DataWriter datawriter;
datawriter = gapi_dataWriterClaim(_this, &result);
if (datawriter != NULL) {
if (_EntityEnabled(datawriter)) {
result = _DataWriter_get_publication_matched_status (
datawriter,
status);
} else {
result=GAPI_RETCODE_NOT_ENABLED;
}
}
_EntityRelease(datawriter);
return result;
}
gapi_returnCode_t
gapi_dataWriter_get_offered_incompatible_qos_status (
gapi_dataWriter _this,
gapi_offeredIncompatibleQosStatus *status)
{
gapi_returnCode_t result;
_DataWriter datawriter;
datawriter = gapi_dataWriterClaim(_this, &result);
if (datawriter != NULL) {
if (_EntityEnabled(datawriter)) {
result = _DataWriter_get_offered_incompatible_qos_status (
datawriter,
status);
} else {
result=GAPI_RETCODE_NOT_ENABLED;
}
}
_EntityRelease(datawriter);
return result;
}
gapi_returnCode_t
gapi_dataReader_get_matched_publications (
gapi_dataReader _this,
gapi_instanceHandleSeq *publication_handles)
{
gapi_returnCode_t result;
_DataReader datareader;
datareader = gapi_dataReaderClaim(_this, &result);
if (datareader != NULL) {
if (_EntityEnabled(datareader)) {
result = _DataReader_get_matched_publications (
datareader,
publication_handles);
} else {
result=GAPI_RETCODE_NOT_ENABLED;
}
}
_EntityRelease(datareader);
return result;
}
gapi_queryCondition
gapi_dataReader_create_querycondition (
gapi_dataReader _this,
const gapi_sampleStateMask sample_states,
const gapi_viewStateMask view_states,
const gapi_instanceStateMask instance_states,
const gapi_char *query_expression,
const gapi_stringSeq *query_parameters)
{
_DataReader datareader;
gapi_boolean licensed;
_QueryCondition queryCondition = NULL;
licensed = _DomainParticipantFactoryIsContentSubscriptionAvailable();
if(licensed == TRUE){
datareader = gapi_dataReaderClaim(_this, NULL);
if ( datareader && _EntityEnabled(datareader) &&
query_expression && gapi_sequence_is_valid(query_parameters) &&
gapi_stateMasksValid(sample_states, view_states, instance_states) ) {
queryCondition = _QueryConditionNew(sample_states,
view_states,
instance_states,
query_expression,
query_parameters,
datareader, NULL);
if ( queryCondition != NULL ) {
_ENTITY_REGISTER_OBJECT(_Entity(datareader),
(_Object)queryCondition);
}
}
_EntityRelease(datareader);
}
return (gapi_queryCondition)_EntityRelease(queryCondition);
}
gapi_returnCode_t
gapi_dataWriter_get_liveliness_lost_status (
gapi_dataWriter _this,
gapi_livelinessLostStatus *status)
{
gapi_returnCode_t result;
_DataWriter datawriter;
datawriter = gapi_dataWriterClaim(_this, &result);
if (datawriter != NULL) {
if (_EntityEnabled(datawriter) ) {
result = _DataWriter_get_liveliness_lost_status(
datawriter,
status);
} else {
result = GAPI_RETCODE_NOT_ENABLED;
}
}
_EntityRelease(datawriter);
return result;
}
gapi_returnCode_t
gapi_dataReader_wait_for_historical_data_w_condition (
gapi_dataReader _this,
const gapi_char *filter_expression,
const gapi_stringSeq *filter_parameters,
const gapi_time_t *min_source_timestamp,
const gapi_time_t *max_source_timestamp,
const gapi_resourceLimitsQosPolicy *resource_limits,
const gapi_duration_t *max_wait)
{
gapi_returnCode_t result;
_DataReader datareader;
c_time c_time_max_wait,
c_time_min_source_timestamp,
c_time_max_source_timestamp;
u_result uResult;
c_ulong length, i;
c_char** params;
struct v_resourcePolicy resource;
datareader = gapi_dataReaderClaim(_this, &result);
if (datareader) {
if ( !max_wait || !gapi_validDuration(max_wait)) {
result = GAPI_RETCODE_BAD_PARAMETER;
} else if (!_EntityEnabled(datareader)) {
result = GAPI_RETCODE_NOT_ENABLED;
} else if(filter_parameters && !gapi_stringSeqValid(filter_parameters)){
result = GAPI_RETCODE_BAD_PARAMETER;
} else {
if(filter_parameters){
length = filter_parameters->_length;
params = (c_char**)(os_malloc(length*sizeof(c_char*)));
for(i=0; i<length; i++){
params[i] = filter_parameters->_buffer[i];
}
} else {
params = NULL;
length = 0;
}
kernelCopyInDuration(max_wait, &c_time_max_wait);
if ( (kernelCopyInTime(min_source_timestamp, &c_time_min_source_timestamp) != GAPI_RETCODE_OK) ||
(kernelCopyInTime(max_source_timestamp, &c_time_max_source_timestamp) != GAPI_RETCODE_OK) ) {
result = GAPI_RETCODE_BAD_PARAMETER;
} else {
resource.max_samples = resource_limits->max_samples;
resource.max_instances = resource_limits->max_instances;
resource.max_samples_per_instance = resource_limits->max_samples_per_instance;
uResult= u_dataReaderWaitForHistoricalDataWithCondition(
U_DATAREADER_GET(datareader),
(c_char*)filter_expression,
params,
length,
c_time_min_source_timestamp,
c_time_max_source_timestamp,
&resource,
c_time_max_wait);
result = kernelResultToApiResult(uResult);
}
}
_EntityRelease(datareader);
}
return result;
}
