net.sf.jrtps.rtps

Class RTPSWriter<T>

java.lang.Object

net.sf.jrtps.rtps.Endpoint

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

public class RTPSWriter<T>
extends Endpoint

RTPSWriter implements RTPS writer endpoint. RTPSWriter will not communicate with unknown readers. It is expected that DDS implementation explicitly call addMatchedReader(SubscriptionData) and removeMatchedReader(SubscriptionData). Samples are written through an implementation of WriterCache, which will be given when creating RTPSWriter with RTPSParticipant. When RTPSWriter needs to write samples to RTPSReader, it will query WriterCache for the Samples.

Author:

mcr70

See Also:

WriterCache, RTPSParticipant.createWriter(EntityId, String, WriterCache, QualityOfService)

Method Summary

Modifier and Type	Method and Description
ReaderProxy	addMatchedReader(SubscriptionData readerData) Add a matched reader.
void	assertLiveliness() Assert liveliness of this writer.
void	close() Close this writer.
int	endpointSetId() Get the BuiltinEndpointSet ID of this RTPSWriter.
Collection<ReaderProxy>	getMatchedReaders() Gets all the matched readers of this RTPSWriter
Collection<ReaderProxy>	getMatchedReaders(GuidPrefix prefix) Gets the matched readers owned by given remote participant.
boolean	isAcknowledgedByAll(long sequenceNumber) Checks, if a given change number has been acknowledged by every known matched reader.
boolean	isMatchedWith(Guid readerGuid) Checks, if this RTPSWriter is already matched with a RTPSReader represented by given Guid.
void	notifyReader(Guid guid) Notifies a remote reader with given Guid of the changes available in this writer.
void	notifyReaders() Notify every matched RTPSReader.
void	registerContentFilter(ContentFilter<T> cf) Registers a ContentFilter
void	removeMatchedReader(SubscriptionData readerData) Remove a matched reader.
void	removeMatchedReaders(GuidPrefix prefix) Removes all the matched writers that have a given GuidPrefix

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 RTPSWriter.

Returns:

0, if this RTPSWriter is not builtin endpoint

notifyReaders

public void notifyReaders()

Notify every matched RTPSReader. For reliable readers, a Heartbeat is sent. For best effort readers Data is sent. This provides means to create multiple changes, before announcing the state to readers.

notifyReader

public void notifyReader(Guid guid)

Notifies a remote reader with given Guid of the changes available in this writer.

Parameters:

guid - Guid of the reader to notify

assertLiveliness

public void assertLiveliness()

Assert liveliness of this writer. Matched readers are notified via Heartbeat message of the liveliness of this writer.

close

public void close()

Close this writer.

addMatchedReader

public ReaderProxy addMatchedReader(SubscriptionData readerData)

Add a matched reader.

Parameters:

readerData - SubscriptionData of the reader

Returns:

ReaderProxy

removeMatchedReaders

public void removeMatchedReaders(GuidPrefix prefix)

Removes all the matched writers that have a given GuidPrefix

Parameters:

prefix - GuidPrefix

removeMatchedReader

public void removeMatchedReader(SubscriptionData readerData)

Remove a matched reader.

Parameters:

readerData - SubscriptionData of the reader to be removed

getMatchedReaders

public Collection<ReaderProxy> getMatchedReaders()

Gets all the matched readers of this RTPSWriter

Returns:

a Collection of matched readers

getMatchedReaders

public Collection<ReaderProxy> getMatchedReaders(GuidPrefix prefix)

Gets the matched readers owned by given remote participant.

Parameters:

prefix - GuidPrefix of the remote participant

Returns:

a Collection of matched readers

registerContentFilter

public void registerContentFilter(ContentFilter<T> cf)

Registers a ContentFilter

Parameters:

cf - ContentFilter

Throws:

NullPointerException - if cf.getContentFilterProperty() returns null

isAcknowledgedByAll

public boolean isAcknowledgedByAll(long sequenceNumber)

Checks, if a given change number has been acknowledged by every known matched reader.

Parameters:

sequenceNumber - sequenceNumber of a change to check

Returns:

true, if every matched reader has acknowledged given change number

isMatchedWith

public boolean isMatchedWith(Guid readerGuid)

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

Parameters:

readerGuid - Guid of the reader

Returns:

true if matched