/* DomainParticipant
* get_participant();
*/
gapi_domainParticipant
gapi_topicDescription_get_participant (
gapi_topicDescription _this)
{
_TopicDescription topicDescription;
_Topic topic;
_DomainParticipant participant = NULL;
topicDescription = gapi_topicDescriptionClaim(_this, NULL);
if ( topicDescription != NULL ) {
/* all entities except for content filtered topics have a reference
* to a user layer entity. So except for content filtered topics
* entities get their participant from the user layer entity.
* Content filters instead do this via the related topic.
*/
if (_ObjectGetKind(_Object(topicDescription)) == OBJECT_KIND_CONTENTFILTEREDTOPIC) {
topic = _ContentFilteredTopicGetRelatedTopic(_ContentFilteredTopic(topicDescription));
participant = _EntityParticipant(_Entity(topic));
} else {
participant = _EntityParticipant(_Entity(topicDescription));
}
}
_EntityRelease(topicDescription);
return (gapi_domainParticipant)_EntityHandle(participant);
}
const char *
_BuiltinFindTopicName (
_Entity entity)
{
const char *name = NULL;
switch (_ObjectGetKind(_Object(entity))) {
case OBJECT_KIND_DOMAINPARTICIPANT:
name = builtinTopicTypeInfo[_BUILTIN_PARTICIPANT_INFO].topicName;
break;
case OBJECT_KIND_TOPIC:
name = builtinTopicTypeInfo[_BUILTIN_TOPIC_INFO].topicName;
break;
case OBJECT_KIND_DATAWRITER:
name = builtinTopicTypeInfo[_BUILTIN_PUBLICATION_INFO].topicName;
break;
case OBJECT_KIND_DATAREADER:
name = builtinTopicTypeInfo[_BUILTIN_SUBSCRIPTION_INFO].topicName;
break;
default:
break;
}
return name;
}
gapi_returnCode_t
_ReadConditionFree(
_ReadCondition readcondition)
{
gapi_returnCode_t result = GAPI_RETCODE_OK;
if (_ObjectGetKind(_Object(readcondition)) == OBJECT_KIND_QUERYCONDITION ) {
_QueryConditionFree((_QueryCondition)readcondition);
} else {
_ReadConditionDispose(readcondition);
}
return result;
}
void
_ConditionDispose(
_Condition _this)
{
gapi_waitSet waitset;
waitset = c_iterTakeFirst(_this->waitsets);
while (waitset) {
gapi_condition handle = _EntityRelease(_this);
gapi_waitSet_detach_condition(waitset, handle);
_this = gapi_conditionClaim(handle, NULL);
waitset = c_iterTakeFirst(_this->waitsets);
}
c_iterFree(_this->waitsets);
if (_ObjectGetKind(_Object(_this)) != OBJECT_KIND_GUARDCONDITION) {
_EntityDelete(_this);
}
}
void
_ConditionFree(
_Condition _this)
{
switch (_ObjectGetKind(_Object(_this))) {
case OBJECT_KIND_QUERYCONDITION:
_QueryConditionFree((_QueryCondition)_this);
break;
case OBJECT_KIND_READCONDITION:
_ReadConditionFree((_ReadCondition)_this);
break;
case OBJECT_KIND_STATUSCONDITION:
_StatusConditionFree((_StatusCondition)_this);
break;
case OBJECT_KIND_GUARDCONDITION:
_GuardConditionFree(_this);
break;
default:
assert(0);
break;
}
}
_DataReader
_DataReaderNew (
const _TopicDescription topicDescription,
const _TypeSupport typesupport,
const gapi_dataReaderQos *qos,
const struct gapi_dataReaderListener *a_listener,
const gapi_statusMask mask,
const _Subscriber subscriber)
{
_DataReader _this;
v_readerQos readerQos;
u_dataReader uReader;
gapi_string topicName;
char dataReaderId[256];
c_bool noError = TRUE;
readerQos = u_readerQosNew(NULL);
if ( readerQos != NULL ) {
if ( gapi_kernelReaderQosCopyIn(qos, readerQos) ) {
q_expr expr;
c_value *params;
topicName = _TopicDescriptionGetName (topicDescription);
if (topicName) {
snprintf (dataReaderId,
sizeof(dataReaderId),
"%sReader", topicName);
gapi_free (topicName);
} else {
snprintf (dataReaderId,
sizeof(dataReaderId),
"dataReader");
}
expr = _TopicDescriptionGetExpr(topicDescription);
if (_ObjectGetKind(_Object(topicDescription)) ==
OBJECT_KIND_CONTENTFILTEREDTOPIC) {
params = _ContentFilteredTopicParameters(
(_ContentFilteredTopic)topicDescription);
} else {
params = NULL;
}
uReader = u_dataReaderNew(_SubscriberUsubscriber(subscriber),
dataReaderId,
expr,
params,
readerQos,
FALSE);
q_dispose(expr);
os_free(params);
noError = (uReader != NULL);
if (noError) {
_this = _DataReaderAlloc();
if ( _this != NULL ) {
noError = _DataReaderInit(_this,
subscriber,
topicDescription,
typesupport,
a_listener,
mask,
uReader);
if (!noError) {
_EntityDispose(_Entity(_this));
}
}
if (!noError) {
u_dataReaderFree(uReader);
}
}
} else {
noError = FALSE;
}
u_readerQosFree(readerQos);
} else {
noError = FALSE;
}
if (!noError) {
_this = NULL;
}
return _this;
}
gapi_dataReader
gapi_subscriber_create_datareader (
gapi_subscriber _this,
const gapi_topicDescription a_topic,
const gapi_dataReaderQos *qos,
const struct gapi_dataReaderListener *a_listener,
const gapi_statusMask mask)
{
_Subscriber subscriber;
_DataReader datareader = NULL;
gapi_dataReader result = NULL;
_TopicDescription topicDescription = NULL;
gapi_dataReaderQos *readerQos;
gapi_context context;
gapi_topicQos* topicQos;
GAPI_CONTEXT_SET(context, _this, GAPI_METHOD_CREATE_DATAREADER);
subscriber = gapi_subscriberClaim(_this, NULL);
if ( subscriber ) {
if ( !subscriber->builtin ) {
topicDescription = _TopicDescriptionFromHandle(a_topic);
}
}
if ( topicDescription ) {
if ( qos == GAPI_DATAREADER_QOS_DEFAULT ) {
readerQos = &subscriber->_defDataReaderQos;
} else if ( qos == GAPI_DATAREADER_QOS_USE_TOPIC_QOS ) {
_Topic topic = NULL;
switch(_ObjectGetKind(_Object(topicDescription))) {
case OBJECT_KIND_TOPIC:
topic = _Topic(topicDescription);
break;
case OBJECT_KIND_CONTENTFILTEREDTOPIC:
topic = _ContentFilteredTopicGetRelatedTopic(_ContentFilteredTopic(topicDescription));
break;
default:
topic = NULL;
break;
}
if ( topic ) {
topicQos = gapi_topicQos__alloc();
readerQos = gapi_dataReaderQos__alloc();
gapi_dataReaderQosCopy(&subscriber->_defDataReaderQos, readerQos);
_TopicGetQos(topic, topicQos);
gapi_mergeTopicQosWithDataReaderQos(topicQos,readerQos);
gapi_free(topicQos);
} else {
readerQos = (gapi_dataReaderQos *)qos;
}
} else {
readerQos = (gapi_dataReaderQos *)qos;
}
if ( gapi_dataReaderQosIsConsistent(readerQos, &context) == GAPI_RETCODE_OK ) {
gapi_char *typeName;
gapi_char *topicName;
_DomainParticipant participant;
_TypeSupport typeSupport;
/* find topic with the participant for consistency */
typeName = _TopicDescriptionGetTypeName(topicDescription);
topicName = _TopicDescriptionGetName(topicDescription);
participant = _EntityParticipant(_Entity(subscriber));
/* find type support for the data type to find
* data reader create function.
*/
typeSupport = _DomainParticipantFindType(participant, typeName);
if(typeSupport)
{
/* if create function is NULL, take default from data reader */
datareader = _DataReaderNew(topicDescription,
typeSupport,
readerQos,
a_listener,
mask,
subscriber);
if ( datareader ) {
_ENTITY_REGISTER_OBJECT(_Entity(subscriber),
(_Object)datareader);
}
}else{
OS_REPORT_1(OS_WARNING,
"gapi_subscriber_create_datareader", 0,
"TypeSupport %s not found !",
typeName);
}
gapi_free(typeName);
gapi_free(topicName);
}
if (qos == GAPI_DATAREADER_QOS_USE_TOPIC_QOS) {
gapi_free(readerQos);
}
}
_EntityRelease(subscriber);
if ( datareader ) {
gapi_object statusHandle;
statusHandle = _EntityHandle(_Entity(datareader)->status);
result = (gapi_dataReader)_EntityRelease(datareader);
}
return result;
}
