gapi_returnCode_t
gapi_publisher_set_default_datawriter_qos (
gapi_publisher _this,
const gapi_dataWriterQos *qos)
{
gapi_returnCode_t result = GAPI_RETCODE_OK;
_Publisher publisher;
gapi_context context;
GAPI_CONTEXT_SET(context, _this, GAPI_METHOD_SET_DEFAULT_DATAWRITER_QOS);
publisher = gapi_publisherClaim(_this, &result);
if (result == GAPI_RETCODE_OK) {
if (qos == GAPI_DATAWRITER_QOS_DEFAULT) {
qos = &gapi_dataWriterQosDefault;
}
result = gapi_dataWriterQosIsConsistent(qos, &context);
if (result == GAPI_RETCODE_OK) {
gapi_dataWriterQosCopy (qos, &publisher->_defDataWriterQos);
}
_EntityRelease(publisher);
}
return result;
}
/* ReturnCode_t
* set_qos(
* in DataWriterQos qos);
*
* Function will operate independent of the enable flag
*/
gapi_returnCode_t
gapi_dataWriter_set_qos (
gapi_dataWriter _this,
const gapi_dataWriterQos *qos)
{
gapi_returnCode_t result = GAPI_RETCODE_OK;
u_result uResult;
_DataWriter dataWriter;
v_writerQos dataWriterQos;
gapi_context context;
GAPI_CONTEXT_SET(context, _this, GAPI_METHOD_SET_QOS);
dataWriter = gapi_dataWriterClaim(_this, &result);
if ( dataWriter != NULL ) {
result = gapi_dataWriterQosIsConsistent(qos, &context);
} else {
result = GAPI_RETCODE_BAD_PARAMETER;
}
if (( result == GAPI_RETCODE_OK ) && (_EntityEnabled(dataWriter))) {
gapi_dataWriterQos *existing_qos = gapi_dataWriterQos__alloc();
result = gapi_dataWriterQosCheckMutability(qos,
_DataWriterGetQos(dataWriter,
existing_qos),
&context);
gapi_free(existing_qos);
}
if ( result == GAPI_RETCODE_OK ) {
dataWriterQos = u_writerQosNew(NULL);
if (dataWriterQos) {
if ( copyWriterQosIn(qos, dataWriterQos) ) {
uResult = u_entitySetQoS(_EntityUEntity(dataWriter),
(v_qos)(dataWriterQos) );
result = kernelResultToApiResult(uResult);
u_writerQosFree(dataWriterQos);
} else {
result = GAPI_RETCODE_OUT_OF_RESOURCES;
}
} else {
result = GAPI_RETCODE_OUT_OF_RESOURCES;
}
}
_EntityRelease(dataWriter);
return result;
}
gapi_dataWriter
gapi_publisher_create_datawriter (
gapi_publisher _this,
const gapi_topic a_topic,
const gapi_dataWriterQos *qos,
const struct gapi_dataWriterListener *a_listener,
const gapi_statusMask mask)
{
_Publisher publisher;
_DataWriter datawriter = NULL;
gapi_dataWriter result = NULL;
_Topic topic = NULL;
gapi_dataWriterQos *writerQos;
gapi_context context;
gapi_topicQos* topicQos;
gapi_returnCode_t rc;
GAPI_CONTEXT_SET(context, _this, GAPI_METHOD_CREATE_DATAWRITER);
publisher = gapi_publisherClaim(_this, NULL);
if ( publisher ) {
topic = _TopicFromHandle(a_topic);
}
if ( topic ) {
if ( qos == GAPI_DATAWRITER_QOS_DEFAULT ) {
writerQos = &publisher->_defDataWriterQos;
} else if ( qos == GAPI_DATAWRITER_QOS_USE_TOPIC_QOS ) {
topicQos = gapi_topicQos__alloc();
writerQos = gapi_dataWriterQos__alloc();
gapi_dataWriterQosCopy(&publisher->_defDataWriterQos, writerQos);
_TopicGetQos(topic, topicQos);
gapi_mergeTopicQosWithDataWriterQos(topicQos,writerQos);
gapi_free(topicQos);
} else {
writerQos = (gapi_dataWriterQos *)qos;
}
rc = gapi_dataWriterQosIsConsistent(writerQos, &context);
if ( rc == GAPI_RETCODE_OK ) {
gapi_char *typeName;
gapi_char *topicName;
_DomainParticipant participant;
_TypeSupport typeSupport = NULL;
/* find topic with the participant for consistency */
typeName = _TopicGetTypeName(topic);
topicName = _TopicGetName(topic);
participant = _EntityParticipant(_Entity(publisher));
/* find type support for the data type to find data writer create function */
typeSupport = _DomainParticipantFindType(participant, typeName);
if(typeSupport)
{
/* if create function is NULL, take default from data writer */
datawriter = _DataWriterNew(topic,
typeSupport,
writerQos,
a_listener,
mask,
publisher);
if ( datawriter ) {
_ENTITY_REGISTER_OBJECT(_Entity(publisher),
(_Object)datawriter);
}
}else{
OS_REPORT_1(OS_WARNING,
"gapi_publisher_create_datawriter", 0,
"TypeSupport %s not found !",
typeName);
}
gapi_free(typeName);
gapi_free(topicName);
}
if (qos == GAPI_DATAWRITER_QOS_USE_TOPIC_QOS) {
gapi_free(writerQos);
}
}
_EntityRelease(publisher);
if ( datawriter ) {
gapi_object statusHandle;
statusHandle = _EntityHandle(_Entity(datawriter)->status);
result = (gapi_dataWriter)_EntityRelease(datawriter);
}
return result;
}