|DDSSubscriber entity and associated elements |
|DDSDataReader entity and associated elements |
|DDS_SampleInfo, DDS_SampleStateKind, DDS_ViewStateKind, DDS_InstanceStateKind and associated elements |
DCPS Subscription package
The general semantics of the
read() operation is that the application only gets access to the corresponding data (i.e. a precise instance value); the data remains the responsibility of RTI Data Distribution Service and can be read again.
The semantics of the
take() operations is that the application takes full responsibility for the data; that data will no longer be available locally to RTI Data Distribution Service. Consequently, it is possible to access the same information multiple times only if all previous accesses were read() operations, not take().
Each of these operations returns a collection of
Data values and associated DDS_SampleInfo objects. Each data value represents an atom of data information (i.e., a value for one instance). This collection may contain samples related to the same or different instances (identified by the key). Multiple samples can refer to the same instance if the settings of the HISTORY QoS allow for it.
To return the memory back to the middleware, every read() or take() that retrieves a sequence of samples must be followed with a call to FooDataReader::return_loan.
takeon the DDSDataReader. These operations return an ordered collection of
DataSamplesconsisting of a DDS_SampleInfo part and a
The way RTI Data Distribution Service builds the collection depends on QoS policies set on the DDSDataReader and DDSSubscriber, as well as the
source_timestamp of the samples, and the parameters passed to the
take() operations, namely:
take() operations are non-blocking and just deliver what is currently available that matches the specified states.
take_w_condition() operations take a DDSReadCondition object as a parameter instead of sample, view or instance states. The behaviour is that the samples returned will only be those for which the condition is DDS_BOOLEAN_TRUE. These operations, in conjunction with DDSReadCondition objects and a DDSWaitSet, allow performing waiting reads.
Once the data samples are available to the data readers, they can be read or taken by the application. The basic rule is that the application may do this in any order it wishes. This approach is very flexible and allows the application ultimate control.
To access data coherently, or in order, the PRESENTATION QoS must be set properly.