net.sf.jrtps.udds

Class DataWriter<T>

java.lang.Object

net.sf.jrtps.udds.Entity<T,SubscriptionData>

net.sf.jrtps.udds.DataWriter<T>

Type Parameters:

T - Type of the DataWriter. Type may be obtained from an external tool like IDL compiler, or it may be more dynamically constructed Object that is used with uDDS.

public class DataWriter<T>
extends Entity<T,SubscriptionData>

This class represents a strongly typed DataWriter in spirit of DDS specification.

DataWriter sets COM_LISTENER_TYPE of super class Entity to SubscriptionData.

Author:

mcr70

Field Summary

Fields

Modifier and Type	Field and Description
protected HistoryCache<T>	hCache HistoryCache associated with this DataWriter
protected RTPSWriter<T>	rtps_writer RTPSWriter associated with this DataWriter

Fields inherited from class net.sf.jrtps.udds.Entity

communicationListeners

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	DataWriter(Participant p, Class<T> type, RTPSWriter<T> writer, HistoryCache<T> hCache) Constructor with null typeName.
protected	DataWriter(Participant p, Class<T> type, String typeName, RTPSWriter<T> writer, HistoryCache<T> hCache) Constructor for DataWriter.

Method Summary

Modifier and Type	Method and Description
void	assertLiveliness() Asserts liveliness of this DataWriter.
void	close() Closes this DataWriter.
void	dispose(List<T> instances) Dispose a List of instances.
void	dispose(T instance) Dispose a given instance.
Set<Instance<T>>	getInstances() Gets a Set of instances this DataWriter knows.
protected void	notifyReaders() Notifies readers of the changes available.
void	registerContentFilter(ContentFilter<T> cf) Registers a ContentFilter
String	toString()
void	write(List<T> samples) Writes a List of samples to subscribed data readers.
void	write(T sample) Writes a sample to subscribed data readers.

Methods inherited from class net.sf.jrtps.udds.Entity

addCommunicationListener, getGuid, getParticipant, getTopicName, getType, getTypeName, removeCommunicationListener

Methods inherited from class java.lang.Object

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

Field Detail

rtps_writer

protected final RTPSWriter<T> rtps_writer

RTPSWriter associated with this DataWriter

hCache

protected final HistoryCache<T> hCache

HistoryCache associated with this DataWriter

Constructor Detail

DataWriter

protected DataWriter(Participant p,
                     Class<T> type,
                     RTPSWriter<T> writer,
                     HistoryCache<T> hCache)

Constructor with null typeName.

Parameters:

p - Participant

type - Class of the type this DataWriter manages

writer - RTPSWriter used

hCache - History cache used

DataWriter

protected DataWriter(Participant p,
                     Class<T> type,
                     String typeName,
                     RTPSWriter<T> writer,
                     HistoryCache<T> hCache)

Constructor for DataWriter.

Parameters:

p - Participant that created this DataWriter

type - Type of this DataWriter

typeName - typeName

writer - associated RTPSWriter

hCache - HistoryCache for DataWriter

Method Detail

assertLiveliness

public void assertLiveliness()

Asserts liveliness of this DataWriter. Liveliness of writers must be asserted by a call to this method, if QosLiveliness.Kind is set to MANUAL_BY_TOPIC.

See Also:

QosLiveliness

write

public void write(T sample)

Writes a sample to subscribed data readers. By writing a Sample, an Instance is first created if one did not exists before for a given Sample.

Parameters:

sample - a Sample to write

write

public void write(List<T> samples)

Writes a List of samples to subscribed data readers.

Parameters:

samples - a List of samples

dispose

public void dispose(T instance)

Dispose a given instance. Disposing an instance removes it from the Set of know instances of this DataWriter. In addition, a Sample with ChangeKind.DISPOSE is added to List of changes that will be transmitted to readers. After disposing an Instance, it can be recreated by writing a Sample with same ID. In this case, an Instance will be reborn, but its history consist only of the new Sample just written. Following diagram illustrates this behavior:

     App             Instance history    changes to readers
  1. write(S1)       S1                  S1
  2. write(S2)       S1,S2               S1,S2
  3. dispose(S3)     --                  S1,S2,S3
  4. write(S4)       S4                  S1,S2,S3,S4
 

Parameters:

instance - a Sample of type T representing an Instance to dispose

dispose

public void dispose(List<T> instances)

Dispose a List of instances.

Parameters:

instances - a List of Instances to dispose

getInstances

public Set<Instance<T>> getInstances()

Gets a Set of instances this DataWriter knows.

Returns:

a Set of instances

close

public void close()

Closes this DataWriter. Removes all the data related to this DataWriter.

notifyReaders

protected void notifyReaders()

Notifies readers of the changes available.

registerContentFilter

public void registerContentFilter(ContentFilter<T> cf)

Registers a ContentFilter

Parameters:

cf - ContentFilter to register

toString

public String toString()

Overrides:

toString in class Object