net.sf.jrtps.message

Class Heartbeat

java.lang.Object

net.sf.jrtps.message.SubMessage

net.sf.jrtps.message.Heartbeat

public class Heartbeat
extends SubMessage

This message is sent from an RTPS Writer to an RTPS Reader to communicate the sequence numbers of changes that the Writer has available. see 8.3.7.5

Author:

mcr70

Nested Class Summary

Nested classes/interfaces inherited from class net.sf.jrtps.message.SubMessage

SubMessage.Kind

Field Summary

Fields

Modifier and Type	Field and Description
static int	KIND

Fields inherited from class net.sf.jrtps.message.SubMessage

header

Constructor Summary

Constructors

Constructor and Description
Heartbeat(EntityId readerId, EntityId writerId, long firstSeqNum, long lastSeqNum, int count)

Method Summary

Modifier and Type	Method and Description
boolean	finalFlag() Appears in the Submessage header flags.
void	finalFlag(boolean flag) Sets the finalFlag to given value.
int	getCount() A counter that is incremented each time a new Heartbeat message is sent.
long	getFirstSequenceNumber() Identifies the first (lowest) sequence number that is available in the Writer.
long	getLastSequenceNumber() Identifies the last (highest) sequence number that is available in the Writer.
EntityId	getReaderId() Identifies the Reader Entity that is being informed of the availability of a set of sequence numbers.
EntityId	getWriterId() Identifies the Writer Entity to which the range of sequence numbers applies.
boolean	livelinessFlag() Appears in the Submessage header flags.
void	livelinessFlag(boolean livelinessFlag) Sets the livelinessFlag to given value
String	toString()
void	writeTo(RTPSByteBuffer bb) Writes this SubMessage into given RTPSByteBuffer.

Methods inherited from class net.sf.jrtps.message.SubMessage

getHeader, getKind

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

KIND

public static final int KIND

See Also:

Constant Field Values

Constructor Detail

Heartbeat

public Heartbeat(EntityId readerId,
                 EntityId writerId,
                 long firstSeqNum,
                 long lastSeqNum,
                 int count)

Method Detail

finalFlag

public boolean finalFlag()

Appears in the Submessage header flags. Indicates whether the Reader is required to respond to the Heartbeat or if it is just an advisory heartbeat. If finalFlag is set, Reader is not required to respond with AckNack.

Returns:

true if final flag is set and reader is not required to respond

finalFlag

public void finalFlag(boolean flag)

Sets the finalFlag to given value.

Parameters:

flag - finalFlag

livelinessFlag

public boolean livelinessFlag()

Appears in the Submessage header flags. Indicates that the DDS DataWriter associated with the RTPS Writer of the message has manually asserted its LIVELINESS.

Returns:

true, if liveliness flag is set

livelinessFlag

public void livelinessFlag(boolean livelinessFlag)

Sets the livelinessFlag to given value

Parameters:

livelinessFlag - livelinessFlag

getReaderId

public EntityId getReaderId()

Identifies the Reader Entity that is being informed of the availability of a set of sequence numbers. Can be set to ENTITYID_UNKNOWN to indicate all readers for the writer that sent the message.

Returns:

EntityId of the reader

getWriterId

public EntityId getWriterId()

Identifies the Writer Entity to which the range of sequence numbers applies.

Returns:

EntityId of the writer

getFirstSequenceNumber

public long getFirstSequenceNumber()

Identifies the first (lowest) sequence number that is available in the Writer.

Returns:

First available sequence number

getLastSequenceNumber

public long getLastSequenceNumber()

Identifies the last (highest) sequence number that is available in the Writer.

Returns:

Last available sequence number

getCount

public int getCount()

A counter that is incremented each time a new Heartbeat message is sent. Provides the means for a Reader to detect duplicate Heartbeat messages that can result from the presence of redundant communication paths.

Returns:

a count

writeTo

public void writeTo(RTPSByteBuffer bb)

Description copied from class: SubMessage

Writes this SubMessage into given RTPSByteBuffer.

Specified by:

writeTo in class SubMessage

Parameters:

bb - RTPSByteBuffer

toString

public String toString()

Overrides:

toString in class SubMessage