net.sf.jrtps.rtps

Class RTPSReader<T>

java.lang.Object

net.sf.jrtps.rtps.Endpoint

net.sf.jrtps.rtps.RTPSReader<T>

public class RTPSReader<T>
extends Endpoint

RTPSReader implements RTPS Reader endpoint functionality. It will not communicate with unknown writers. It is the responsibility of DDS layer to provide matched readers when necessary. Likewise, DDS layer should remove matched writer, when it detects that it is not available anymore.

When Samples arrive at RTPSReader, they are passed on to DDS layer through ReaderCache. ReaderCache is implemented by DDS layer and is responsible for storing samples.

Author:

mcr70

See Also:

ReaderCache, RTPSParticipant.createReader(EntityId, String, ReaderCache, QualityOfService)

Method Summary

Modifier and Type	Method and Description
WriterProxy	addMatchedWriter(PublicationData writerData) Adds a matched writer for this RTPSReader.
void	addWriterLivelinessListener(WriterLivelinessListener listener) Adds WriterLivelinessListener
int	endpointSetId() Get the BuiltinEndpointSet ID of this RTPSReader. endpointSetId represents a bit in BuiltinEndpointSet_t, found during discovery.
WriterProxy	getMatchedWriter(Guid writerGuid)
Collection<WriterProxy>	getMatchedWriters() Gets all the matched writers of this RTPSReader.
Collection<WriterProxy>	getMatchedWriters(GuidPrefix prefix) Gets the matched writers owned by given remote participant.
boolean	isMatchedWith(Guid writerGuid) Checks, if this RTPSReader is already matched with a RTPSWriter represented by given Guid.
WriterProxy	removeMatchedWriter(PublicationData writerData) Removes a matched writer from this RTPSReader.
void	removeMatchedWriters(GuidPrefix prefix) Removes all the matched writers that have a given GuidPrefix
void	removeWriterLivelinessListener(WriterLivelinessListener listener) Adds WriterLivelinessListener

Methods inherited from class net.sf.jrtps.rtps.Endpoint

getEntityId, getGuid, getParticipant, getQualityOfService, getTopicName, isSecure, sendMessage

Methods inherited from class java.lang.Object

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

Method Detail

endpointSetId

public int endpointSetId()

Get the BuiltinEndpointSet ID of this RTPSReader. endpointSetId represents a bit in BuiltinEndpointSet_t, found during discovery. Each bit represents an existence of a predefined builtin entity.

See 8.5.4.3 Built-in Endpoints required by the Simple Endpoint Discovery Protocol and table 9.4 BuiltinEndpointSet_t.

Returns:

0, if this RTPSReader is not builtin endpoint

addMatchedWriter

public WriterProxy addMatchedWriter(PublicationData writerData)

Adds a matched writer for this RTPSReader.

Parameters:

writerData - PublicationData

Returns:

WriterProxy

removeMatchedWriters

public void removeMatchedWriters(GuidPrefix prefix)

Removes all the matched writers that have a given GuidPrefix

Parameters:

prefix - GuidPrefix

removeMatchedWriter

public WriterProxy removeMatchedWriter(PublicationData writerData)

Removes a matched writer from this RTPSReader.

Parameters:

writerData - writer to remove.

Returns:

WriterProxy or null writer corresponding to PublicationData was not found

getMatchedWriters

public Collection<WriterProxy> getMatchedWriters()

Gets all the matched writers of this RTPSReader.

Returns:

a Collection of matched writers

getMatchedWriters

public Collection<WriterProxy> getMatchedWriters(GuidPrefix prefix)

Gets the matched writers owned by given remote participant.

Parameters:

prefix - GuidPrefix of the remote participant

Returns:

a Collection of matched writers

getMatchedWriter

public WriterProxy getMatchedWriter(Guid writerGuid)

isMatchedWith

public boolean isMatchedWith(Guid writerGuid)

Checks, if this RTPSReader is already matched with a RTPSWriter represented by given Guid.

Parameters:

writerGuid - Guid of the writer

Returns:

true if matched

addWriterLivelinessListener

public void addWriterLivelinessListener(WriterLivelinessListener listener)

Adds WriterLivelinessListener

Parameters:

listener - WriterLivelinessListener

removeWriterLivelinessListener

public void removeWriterLivelinessListener(WriterLivelinessListener listener)

Adds WriterLivelinessListener

Parameters:

listener - WriterLivelinessListener