jni_writer
jni_writerNew(
jni_publisher pub,
jni_topic top,
v_writerQos qos)
{
jni_writer wri;
u_writer uw;
u_result ur;
struct jni_writerTypeArg arg;
wri = NULL;
if((pub != NULL) && (top != NULL)){
ur = u_entityAction(u_entity(top->utopic), jni_writerTypeAction, &arg);
if ((ur == U_RESULT_OK) && (arg.type != NULL)){
uw = u_writerNew(pub->upublisher, NULL, top->utopic, jni_writerCopy, qos, TRUE);
if(uw != NULL){
wri = jni_writer(os_malloc((size_t)(C_SIZEOF(jni_writer))));
wri->publisher = pub;
wri->topic = top;
wri->uwriter = uw;
wri->deserializer = sd_serializerXMLNewTyped(arg.type);
}
}
}
return wri;
}
c_char*
cmx_writerNew(
const c_char* publisher,
const c_char* name,
const c_char* topic,
const c_char* qos)
{
u_publisher pub;
u_topic top;
u_writer wri;
c_char* result;
cmx_entityArg arg;
u_result ur;
cmx_entityKernelArg kernelArg;
v_writerQos wQos;
result = NULL;
pub = u_publisher(cmx_entityUserEntity(publisher));
if(pub != NULL){
top = u_topic(cmx_entityUserEntity(topic));
if(top != NULL){
kernelArg = cmx_entityKernelArg(os_malloc(C_SIZEOF(cmx_entityKernelArg)));
u_entityAction(u_entity(pub), cmx_entityKernelAction, (c_voidp)kernelArg);
if(qos != NULL){
wQos = v_writerQos(cmx_qosKernelQosFromKind(qos, K_WRITER, c_getBase(c_object(kernelArg->kernel))));
if(wQos == NULL){
wQos = v_writerQosNew(kernelArg->kernel, NULL);
wQos->reliability.kind = V_RELIABILITY_RELIABLE;
}
} else {
wQos = v_writerQosNew(kernelArg->kernel, NULL);
wQos->reliability.kind = V_RELIABILITY_RELIABLE;
}
wri = u_writerNew(pub, name, top, NULL, wQos, TRUE);
os_free(kernelArg);
c_free(wQos);
if(wri != NULL){
cmx_registerEntity(u_entity(wri));
arg = cmx_entityArg(os_malloc(C_SIZEOF(cmx_entityArg)));
arg->entity = u_entity(wri);
arg->create = FALSE;
arg->participant = NULL;
arg->result = NULL;
ur = u_entityAction(u_entity(wri), cmx_entityNewFromAction, (c_voidp)(arg));
if(ur == U_RESULT_OK){
result = arg->result;
os_free(arg);
}
}
}
}
return result;
}
jni_writer
jni_writerNew(
jni_publisher pub,
jni_topic top,
v_writerQos qos)
{
jni_writer wri;
u_result ur;
struct jni_writerTypeArg arg;
if((pub == NULL) || (top == NULL)){
OS_REPORT_2(OS_ERROR, "jni_writerNew", 0,
"Bad parameter; jni_publisher (%p) and jni_topic (%p) may not be NULL.",
pub,
top);
goto err_badParam;
}
assert(pub->upublisher);
assert(top->utopic);
if((ur = u_entityAction(u_entity(top->utopic), jni_writerTypeAction, &arg)) != U_RESULT_OK){
OS_REPORT_1(OS_ERROR, "jni_writerNew", ur,
"Failed to invoke jni_writerTypeAction(...) on top->utopic; u_entityAction(...) returned %s.",
u_resultImage(ur));
goto err_getWriterType;
}
if(arg.type == NULL){
/* Error reported by jni_writerTypeAction */
goto err_getWriterType;
}
if((wri = os_malloc(sizeof *wri)) == NULL){
OS_REPORT_1(OS_ERROR, "jni_writerNew", 0,
"Memory claim of %" PA_PRIuSIZE " denied.",
sizeof *wri);
goto err_malloc;
}
if((wri->deserializer = sd_serializerXMLNewTyped(arg.type)) == NULL){
/* Error reported by sd_serializerXMLNewTyped */
goto err_sd_serializerXMLNewTyped;
}
if((wri->uwriter = u_writerNew(pub->upublisher, NULL, top->utopic, jni_writerCopy, qos, TRUE)) == NULL){
/* Error reported by u_writerNew */
goto err_uwriterNew;
}
wri->publisher = pub;
wri->topic = top;
return wri;
/* Error handling */
err_uwriterNew:
sd_serializerFree(wri->deserializer);
err_sd_serializerXMLNewTyped:
os_free(wri);
err_malloc:
/* No undo for jni_writerTypeAction */
err_getWriterType:
err_badParam:
return NULL;
}
_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;
}
d_publisher
d_publisherNew(
d_admin admin)
{
d_publisher publisher;
d_durability durability;
d_configuration config;
v_publisherQos publisherQos;
v_writerQos writerQos;
publisher = NULL;
if(admin){
publisher = d_publisher(os_malloc(C_SIZEOF(d_publisher)));
d_objectInit(d_object(publisher), D_PUBLISHER, d_publisherDeinit);
publisher->enabled = TRUE;
publisher->admin = admin;
durability = d_adminGetDurability(admin);
config = d_durabilityGetConfiguration(durability);
publisherQos = d_publisherQosNew(config->partitionName);
publisher->publisher = u_publisherNew(
u_participant(d_durabilityGetService(durability)),
config->publisherName, publisherQos, TRUE);
d_publisherQosFree(publisherQos);
if(publisher->publisher){
publisher->statusWriter = NULL;
publisher->newGroupWriter = NULL;
publisher->groupsRequestWriter = NULL;
publisher->statusRequestWriter = NULL;
publisher->sampleRequestWriter = NULL;
publisher->sampleChainWriter = NULL;
publisher->nameSpacesWriter = NULL;
publisher->nameSpacesRequestWriter = NULL;
publisher->deleteDataWriter = NULL;
writerQos = d_writerQosNew(
V_DURABILITY_VOLATILE,
V_RELIABILITY_RELIABLE,
config->heartbeatLatencyBudget,
config->heartbeatTransportPriority);
publisher->statusNumber = 0;
publisher->statusWriter = u_writerNew (publisher->publisher,
"statusWriter",
d_adminGetStatusTopic(admin),
d_publisherStatusWriterCopy,
writerQos,
TRUE);
assert(publisher->statusWriter);
d_writerQosFree(writerQos);
writerQos = d_writerQosNew (V_DURABILITY_VOLATILE,
V_RELIABILITY_RELIABLE,
config->latencyBudget,
config->transportPriority);
u_entityAction(u_entity(publisher->statusWriter), d_publisherEnsureServicesAttached, durability);
publisher->newGroupNumber = 0;
publisher->newGroupWriter = u_writerNew (publisher->publisher,
"newGroupWriter",
d_adminGetNewGroupTopic(admin),
d_publisherNewGroupWriterCopy,
writerQos,
TRUE);
assert(publisher->newGroupWriter);
u_entityAction(u_entity(publisher->newGroupWriter), d_publisherEnsureServicesAttached, durability);
publisher->groupsRequestNumber = 0;
publisher->groupsRequestWriter = u_writerNew (publisher->publisher,
"groupsRequestWriter",
d_adminGetGroupsRequestTopic(admin),
d_publisherGroupsRequestWriterCopy,
writerQos,
TRUE);
assert(publisher->groupsRequestWriter);
u_entityAction(u_entity(publisher->groupsRequestWriter), d_publisherEnsureServicesAttached, durability);
publisher->statusRequestNumber = 0;
publisher->statusRequestWriter = u_writerNew (publisher->publisher,
"statusRequestWriter",
d_adminGetStatusRequestTopic(admin),
d_publisherStatusRequestWriterCopy,
writerQos,
TRUE);
assert(publisher->statusRequestWriter);
u_entityAction(u_entity(publisher->statusRequestWriter), d_publisherEnsureServicesAttached, durability);
publisher->sampleRequestNumber = 0;
publisher->sampleRequestWriter = u_writerNew (publisher->publisher,
"sampleRequestWriter",
d_adminGetSampleRequestTopic(admin),
d_publisherSampleRequestWriterCopy,
writerQos,
TRUE);
assert(publisher->sampleRequestWriter);
u_entityAction(u_entity(publisher->sampleRequestWriter), d_publisherEnsureServicesAttached, durability);
publisher->nameSpacesNumber = 0;
publisher->nameSpacesWriter = u_writerNew (publisher->publisher,
"nameSpacesWriter",
d_adminGetNameSpacesTopic(admin),
d_publisherNameSpacesWriterCopy,
writerQos,
TRUE);
assert(publisher->nameSpacesWriter);
u_entityAction(u_entity(publisher->nameSpacesWriter), d_publisherEnsureServicesAttached, durability);
publisher->nameSpacesRequestNumber = 0;
publisher->nameSpacesRequestWriter = u_writerNew (publisher->publisher,
"nameSpacesRequestWriter",
d_adminGetNameSpacesRequestTopic(admin),
d_publisherNameSpacesRequestWriterCopy,
writerQos,
TRUE);
assert(publisher->nameSpacesRequestWriter);
u_entityAction(u_entity(publisher->nameSpacesRequestWriter), d_publisherEnsureServicesAttached, durability);
publisher->deleteDataNumber = 0;
publisher->deleteDataWriter = u_writerNew (publisher->publisher,
"deleteDataWriter",
d_adminGetDeleteDataTopic(admin),
d_publisherDeleteDataWriterCopy,
writerQos,
TRUE);
assert(publisher->deleteDataWriter);
u_entityAction(u_entity(publisher->deleteDataWriter), d_publisherEnsureServicesAttached, durability);
d_writerQosFree(writerQos);
writerQos = d_writerQosNew (V_DURABILITY_VOLATILE,
V_RELIABILITY_RELIABLE,
config->alignerLatencyBudget,
config->alignerTransportPriority);
publisher->sampleChainNumber = 0;
publisher->sampleChainWriter = u_writerNew (publisher->publisher,
"sampleChainWriter",
d_adminGetSampleChainTopic(admin),
d_publisherSampleChainWriterCopy,
writerQos,
TRUE);
assert(publisher->sampleChainWriter);
u_entityAction(u_entity(publisher->sampleChainWriter), d_publisherEnsureServicesAttached, durability);
d_writerQosFree(writerQos);
} else {
d_publisherFree(publisher);
publisher = NULL;
}
}
return publisher;
}
