DataReader.hpp

// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef FASTDDS_DDS_SUBSCRIBER__DATAREADER_HPP
#define FASTDDS_DDS_SUBSCRIBER__DATAREADER_HPP
 
#include <cstdint>
#include <memory>
#include <vector>
 
#include <fastdds/dds/builtin/topic/PublicationBuiltinTopicData.hpp>
#include <fastdds/dds/builtin/topic/SubscriptionBuiltinTopicData.hpp>
#include <fastdds/dds/core/Entity.hpp>
#include <fastdds/dds/core/LoanableCollection.hpp>
#include <fastdds/dds/core/LoanableSequence.hpp>
#include <fastdds/dds/core/ReturnCode.hpp>
#include <fastdds/dds/core/status/BaseStatus.hpp>
#include <fastdds/dds/core/status/DeadlineMissedStatus.hpp>
#include <fastdds/dds/core/status/IncompatibleQosStatus.hpp>
#include <fastdds/dds/core/status/SampleRejectedStatus.hpp>
#include <fastdds/dds/core/status/StatusMask.hpp>
#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
#include <fastdds/dds/subscriber/ReadCondition.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/topic/TopicDataType.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
 
#include <fastdds/fastdds_dll.hpp>
 
#include <fastdds/rtps/common/LocatorList.hpp>
#include <fastdds/rtps/common/Time_t.hpp>
 
namespace dds {
namespace sub {
 
class DataReader;
 
} // namespace sub
} // namespace dds
 
namespace eprosima {
namespace fastdds {
namespace rtps {
struct GUID_t;
} // namespace rtps
 
namespace dds {
 
class Subscriber;
class SubscriberImpl;
class DataReaderImpl;
class DataReaderListener;
class DataReaderQos;
class DataWriter;
class TopicDescription;
struct LivelinessChangedStatus;
 
// Not yet implemented
class QueryCondition;
 
using SampleInfoSeq = LoanableSequence<SampleInfo>;
 
class DataReader : public DomainEntity
{
protected:
 
    friend class DataReaderImpl;
    friend class SubscriberImpl;
 
    DataReader(
            DataReaderImpl* impl,
            const StatusMask& mask = StatusMask::all());
 
    DataReader(
            Subscriber* s,
            TopicDescription* topic,
            const DataReaderQos& qos,
            DataReaderListener* listener = nullptr,
            const StatusMask& mask = StatusMask::all());
 
public:
 
    virtual ~DataReader();
 
    FASTDDS_EXPORTED_API ReturnCode_t enable() override;
 
    FASTDDS_EXPORTED_API bool wait_for_unread_message(
            const fastdds::dds::Duration_t& timeout);
 
    FASTDDS_EXPORTED_API ReturnCode_t wait_for_historical_data(
            const fastdds::dds::Duration_t& max_wait) const;
 
 
 
    FASTDDS_EXPORTED_API ReturnCode_t read(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples = LENGTH_UNLIMITED,
            SampleStateMask sample_states = ANY_SAMPLE_STATE,
            ViewStateMask view_states = ANY_VIEW_STATE,
            InstanceStateMask instance_states = ANY_INSTANCE_STATE);
 
    FASTDDS_EXPORTED_API ReturnCode_t read_w_condition(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples,
            ReadCondition* a_condition);
 
    FASTDDS_EXPORTED_API ReturnCode_t read_instance(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples = LENGTH_UNLIMITED,
            const InstanceHandle_t& a_handle = HANDLE_NIL,
            SampleStateMask sample_states = ANY_SAMPLE_STATE,
            ViewStateMask view_states = ANY_VIEW_STATE,
            InstanceStateMask instance_states = ANY_INSTANCE_STATE);
 
    FASTDDS_EXPORTED_API ReturnCode_t read_next_instance(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples = LENGTH_UNLIMITED,
            const InstanceHandle_t& previous_handle = HANDLE_NIL,
            SampleStateMask sample_states = ANY_SAMPLE_STATE,
            ViewStateMask view_states = ANY_VIEW_STATE,
            InstanceStateMask instance_states = ANY_INSTANCE_STATE);
 
    FASTDDS_EXPORTED_API ReturnCode_t read_next_instance_w_condition(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples,
            const InstanceHandle_t& previous_handle,
            ReadCondition* a_condition);
 
    FASTDDS_EXPORTED_API ReturnCode_t read_next_sample(
            void* data,
            SampleInfo* info);
 
    FASTDDS_EXPORTED_API ReturnCode_t take(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples = LENGTH_UNLIMITED,
            SampleStateMask sample_states = ANY_SAMPLE_STATE,
            ViewStateMask view_states = ANY_VIEW_STATE,
            InstanceStateMask instance_states = ANY_INSTANCE_STATE);
 
    FASTDDS_EXPORTED_API ReturnCode_t take_w_condition(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples,
            ReadCondition* a_condition);
 
    FASTDDS_EXPORTED_API ReturnCode_t take_instance(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples = LENGTH_UNLIMITED,
            const InstanceHandle_t& a_handle = HANDLE_NIL,
            SampleStateMask sample_states = ANY_SAMPLE_STATE,
            ViewStateMask view_states = ANY_VIEW_STATE,
            InstanceStateMask instance_states = ANY_INSTANCE_STATE);
 
    FASTDDS_EXPORTED_API ReturnCode_t take_next_instance(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples = LENGTH_UNLIMITED,
            const InstanceHandle_t& previous_handle = HANDLE_NIL,
            SampleStateMask sample_states = ANY_SAMPLE_STATE,
            ViewStateMask view_states = ANY_VIEW_STATE,
            InstanceStateMask instance_states = ANY_INSTANCE_STATE);
 
    FASTDDS_EXPORTED_API ReturnCode_t take_next_instance_w_condition(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos,
            int32_t max_samples,
            const InstanceHandle_t& previous_handle,
            ReadCondition* a_condition);
 
    FASTDDS_EXPORTED_API ReturnCode_t take_next_sample(
            void* data,
            SampleInfo* info);
 
 
    FASTDDS_EXPORTED_API ReturnCode_t return_loan(
            LoanableCollection& data_values,
            SampleInfoSeq& sample_infos);
 
    FASTDDS_EXPORTED_API ReturnCode_t get_key_value(
            void* key_holder,
            const InstanceHandle_t& handle);
 
    FASTDDS_EXPORTED_API InstanceHandle_t lookup_instance(
            const void* instance) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_first_untaken_info(
            SampleInfo* info);
 
    FASTDDS_EXPORTED_API uint64_t get_unread_count() const;
 
    FASTDDS_EXPORTED_API uint64_t get_unread_count(
            bool mark_as_read) const;
 
    FASTDDS_EXPORTED_API const fastdds::rtps::GUID_t& guid();
 
    FASTDDS_EXPORTED_API const fastdds::rtps::GUID_t& guid() const;
 
    FASTDDS_EXPORTED_API InstanceHandle_t get_instance_handle() const;
 
    FASTDDS_EXPORTED_API TypeSupport type() const;
 
    FASTDDS_EXPORTED_API const TopicDescription* get_topicdescription() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_requested_deadline_missed_status(
            RequestedDeadlineMissedStatus& status);
 
    FASTDDS_EXPORTED_API ReturnCode_t get_requested_incompatible_qos_status(
            RequestedIncompatibleQosStatus& status);
 
    FASTDDS_EXPORTED_API ReturnCode_t set_qos(
            const DataReaderQos& qos);
 
    FASTDDS_EXPORTED_API const DataReaderQos& get_qos() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_qos(
            DataReaderQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t set_listener(
            DataReaderListener* listener);
 
    FASTDDS_EXPORTED_API ReturnCode_t set_listener(
            DataReaderListener* listener,
            const StatusMask& mask);
    FASTDDS_EXPORTED_API const DataReaderListener* get_listener() const;
 
    /* TODO
       FASTDDS_EXPORTED_API bool get_key_value(
            void* data,
            const InstanceHandle_t& handle);
     */
 
    FASTDDS_EXPORTED_API ReturnCode_t get_liveliness_changed_status(
            LivelinessChangedStatus& status) const;
 
 
    FASTDDS_EXPORTED_API ReturnCode_t get_sample_lost_status(
            SampleLostStatus& status) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_sample_rejected_status(
            SampleRejectedStatus& status) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_subscription_matched_status(
            SubscriptionMatchedStatus& status) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_matched_publication_data(
            PublicationBuiltinTopicData& publication_data,
            const fastdds::rtps::InstanceHandle_t& publication_handle) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_matched_publications(
            std::vector<InstanceHandle_t>& publication_handles) const;
 
    FASTDDS_EXPORTED_API ReadCondition* create_readcondition(
            SampleStateMask sample_states,
            ViewStateMask view_states,
            InstanceStateMask instance_states);
 
    FASTDDS_EXPORTED_API QueryCondition* create_querycondition(
            SampleStateMask sample_states,
            ViewStateMask view_states,
            InstanceStateMask instance_states,
            const std::string& query_expression,
            const std::vector<std::string>& query_parameters);
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_readcondition(
            ReadCondition* a_condition);
 
    FASTDDS_EXPORTED_API const Subscriber* get_subscriber() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_contained_entities();
 
    FASTDDS_EXPORTED_API bool is_sample_valid(
            const void* data,
            const SampleInfo* info) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_listening_locators(
            rtps::LocatorList& locators) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_subscription_builtin_topic_data(
            SubscriptionBuiltinTopicData& subscription_data) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t set_related_datawriter(
            const DataWriter* related_writer);
 
    FASTDDS_EXPORTED_API ReturnCode_t set_type_support_context(
            const std::shared_ptr<TopicDataType::Context>& context);
 
protected:
 
    DataReaderImpl* impl_;
 
    friend class ::dds::sub::DataReader;
 
};
 
} // namespace dds
} // namespace fastdds
} // namespace eprosima
 
#endif // FASTDDS_DDS_SUBSCRIBER__DATAREADER_HPP