_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;
}
_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;
}
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;
}
