S Morita / mbed-mros2

Porting mros2 as an Mbed library.

Dependents:   mbed-os-example-mros2 example-mbed-mros2-sub-pose example-mbed-mros2-pub-twist example-mbed-mros2-mturtle-teleop

embeddedRTPS/include/rtps/entities/Reader.h@7:c80f65422d99, 2022-03-19 (annotated)

Committer:
smoritaemb
Date:
Sat Mar 19 09:23:37 2022 +0900
Revision:
7:c80f65422d99
Parent:
0:580aba13d1a1 
Merge test_assortment_of_msgs branch.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smoritaemb 0:580aba13d1a1 1 /*
smoritaemb 0:580aba13d1a1 2 The MIT License
smoritaemb 0:580aba13d1a1 3 Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
smoritaemb 0:580aba13d1a1 4 Permission is hereby granted, free of charge, to any person obtaining a copy
smoritaemb 0:580aba13d1a1 5 of this software and associated documentation files (the "Software"), to deal
smoritaemb 0:580aba13d1a1 6 in the Software without restriction, including without limitation the rights
smoritaemb 0:580aba13d1a1 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
smoritaemb 0:580aba13d1a1 8 copies of the Software, and to permit persons to whom the Software is
smoritaemb 0:580aba13d1a1 9 furnished to do so, subject to the following conditions:
smoritaemb 0:580aba13d1a1 10 The above copyright notice and this permission notice shall be included in
smoritaemb 0:580aba13d1a1 11 all copies or substantial portions of the Software.
smoritaemb 0:580aba13d1a1 12 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
smoritaemb 0:580aba13d1a1 13 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
smoritaemb 0:580aba13d1a1 14 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
smoritaemb 0:580aba13d1a1 15 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
smoritaemb 0:580aba13d1a1 16 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
smoritaemb 0:580aba13d1a1 17 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
smoritaemb 0:580aba13d1a1 18 THE SOFTWARE
smoritaemb 0:580aba13d1a1 19
smoritaemb 0:580aba13d1a1 20 This file is part of embeddedRTPS.
smoritaemb 0:580aba13d1a1 21
smoritaemb 0:580aba13d1a1 22 Author: i11 - Embedded Software, RWTH Aachen University
smoritaemb 0:580aba13d1a1 23 */
smoritaemb 0:580aba13d1a1 24
smoritaemb 0:580aba13d1a1 25 #ifndef RTPS_READER_H
smoritaemb 0:580aba13d1a1 26 #define RTPS_READER_H
smoritaemb 0:580aba13d1a1 27
smoritaemb 0:580aba13d1a1 28 #include "rtps/common/types.h"
smoritaemb 0:580aba13d1a1 29 #include "rtps/config.h"
smoritaemb 0:580aba13d1a1 30 #include "rtps/discovery/TopicData.h"
smoritaemb 0:580aba13d1a1 31 #include "rtps/entities/WriterProxy.h"
smoritaemb 0:580aba13d1a1 32 #include "rtps/storages/PBufWrapper.h"
smoritaemb 0:580aba13d1a1 33 #include <cstring>
smoritaemb 0:580aba13d1a1 34
smoritaemb 0:580aba13d1a1 35 namespace rtps {
smoritaemb 0:580aba13d1a1 36
smoritaemb 0:580aba13d1a1 37 struct SubmessageHeartbeat;
smoritaemb 0:580aba13d1a1 38
smoritaemb 0:580aba13d1a1 39 class ReaderCacheChange {
smoritaemb 0:580aba13d1a1 40 private:
smoritaemb 0:580aba13d1a1 41
smoritaemb 0:580aba13d1a1 42
smoritaemb 0:580aba13d1a1 43 public:
smoritaemb 0:580aba13d1a1 44 const ChangeKind_t kind;
smoritaemb 0:580aba13d1a1 45 const DataSize_t size;
smoritaemb 0:580aba13d1a1 46 const Guid writerGuid;
smoritaemb 0:580aba13d1a1 47 const SequenceNumber_t sn;
smoritaemb 0:580aba13d1a1 48 const uint8_t *data;
smoritaemb 0:580aba13d1a1 49
smoritaemb 0:580aba13d1a1 50 ReaderCacheChange(ChangeKind_t kind, Guid &writerGuid, SequenceNumber_t sn,
smoritaemb 0:580aba13d1a1 51 const uint8_t *data, DataSize_t size)
smoritaemb 0:580aba13d1a1 52 : data(data), kind(kind), size(size), writerGuid(writerGuid), sn(sn){};
smoritaemb 0:580aba13d1a1 53
smoritaemb 0:580aba13d1a1 54 ~ReaderCacheChange() =
smoritaemb 0:580aba13d1a1 55 default; // No need to free data. It's not owned by this object
smoritaemb 0:580aba13d1a1 56 // Not allowed because this class doesn't own the ptr and the user isn't
smoritaemb 0:580aba13d1a1 57 // allowed to use it outside the Scope of the callback
smoritaemb 0:580aba13d1a1 58 ReaderCacheChange(const ReaderCacheChange &other) = delete;
smoritaemb 0:580aba13d1a1 59 ReaderCacheChange(ReaderCacheChange &&other) = delete;
smoritaemb 0:580aba13d1a1 60 ReaderCacheChange &operator=(const ReaderCacheChange &other) = delete;
smoritaemb 0:580aba13d1a1 61 ReaderCacheChange &operator=(ReaderCacheChange &&other) = delete;
smoritaemb 0:580aba13d1a1 62
smoritaemb 0:580aba13d1a1 63 bool copyInto(uint8_t *buffer, DataSize_t destSize) const {
smoritaemb 0:580aba13d1a1 64 if (destSize < size) {
smoritaemb 0:580aba13d1a1 65 return false;
smoritaemb 0:580aba13d1a1 66 } else {
smoritaemb 0:580aba13d1a1 67 memcpy(buffer, data, size);
smoritaemb 0:580aba13d1a1 68 return true;
smoritaemb 0:580aba13d1a1 69 }
smoritaemb 0:580aba13d1a1 70 }
smoritaemb 0:580aba13d1a1 71
smoritaemb 0:580aba13d1a1 72 const uint8_t *getData() const { return data; }
smoritaemb 0:580aba13d1a1 73
smoritaemb 0:580aba13d1a1 74 const DataSize_t getDataSize() const { return size; }
smoritaemb 0:580aba13d1a1 75 };
smoritaemb 0:580aba13d1a1 76
smoritaemb 0:580aba13d1a1 77 typedef void (*ddsReaderCallback_fp)(void *callee,
smoritaemb 0:580aba13d1a1 78 const ReaderCacheChange &cacheChange);
smoritaemb 0:580aba13d1a1 79
smoritaemb 0:580aba13d1a1 80 class Reader {
smoritaemb 0:580aba13d1a1 81 public:
smoritaemb 0:580aba13d1a1 82 TopicData m_attributes;
smoritaemb 0:580aba13d1a1 83 virtual void newChange(const ReaderCacheChange &cacheChange) = 0;
smoritaemb 0:580aba13d1a1 84 virtual void registerCallback(ddsReaderCallback_fp cb, void *callee) = 0;
smoritaemb 0:580aba13d1a1 85 virtual bool onNewHeartbeat(const SubmessageHeartbeat &msg,
smoritaemb 0:580aba13d1a1 86 const GuidPrefix_t &remotePrefix) = 0;
smoritaemb 0:580aba13d1a1 87 virtual bool addNewMatchedWriter(const WriterProxy &newProxy) = 0;
smoritaemb 0:580aba13d1a1 88 virtual void removeWriter(const Guid &guid) = 0;
smoritaemb 0:580aba13d1a1 89 bool isInitialized() { return m_is_initialized_; }
smoritaemb 0:580aba13d1a1 90
smoritaemb 0:580aba13d1a1 91 protected:
smoritaemb 0:580aba13d1a1 92 bool m_is_initialized_ = false;
smoritaemb 0:580aba13d1a1 93 virtual ~Reader() = default;
smoritaemb 0:580aba13d1a1 94 };
smoritaemb 0:580aba13d1a1 95 } // namespace rtps
smoritaemb 0:580aba13d1a1 96
smoritaemb 0:580aba13d1a1 97 #endif // RTPS_READER_H