Writes (publishes) objects of type com.rti.dds.dynamicdata.DynamicData. More...

Inheritance diagram for DynamicDataWriter:

Public Member Functions
InstanceHandle_t	register_instance (DynamicData instance_data)
	Informs RTI Connext that the application will be modifying a particular instance.

InstanceHandle_t	register_instance_w_timestamp (DynamicData instance_data, Time_t source_timestamp)
	Performs the same functions as register_instance except that the application provides the value for the `source_timestamp`.

void	unregister_instance (DynamicData instance_data, InstanceHandle_t handle)
	Reverses the action of com.rti.ndds.example.FooDataWriter.register_instance.

void	unregister_instance_w_timestamp (DynamicData instance_data, InstanceHandle_t handle, Time_t source_timestamp)
	Performs the same function as com.rti.ndds.example.FooDataWriter.unregister_instance except that it also provides the value for the `source_timestamp`.

void	write (DynamicData instance_data, InstanceHandle_t handle)
	Modifies the value of a data instance.

void	write_w_timestamp (DynamicData instance_data, InstanceHandle_t handle, Time_t source_timestamp)
	Performs the same function as com.rti.ndds.example.FooDataWriter.write except that it also provides the value for the `source_timestamp`.

void	dispose (DynamicData instance_data, InstanceHandle_t instance_handle)
	Requests the middleware to delete the data.

void	dispose_w_timestamp (DynamicData instance_data, InstanceHandle_t instance_handle, Time_t source_timestamp)
	Performs the same functions as dispose except that the application provides the value for the `source_timestamp` that is made available to com.rti.dds.subscription.DataReader objects by means of the `source_timestamp` attribute inside the com.rti.dds.subscription.SampleInfo.

void	get_key_value (DynamicData key_holder, InstanceHandle_t handle)
	Retrieve the instance `key` that corresponds to an instance `handle`.

InstanceHandle_t	lookup_instance (DynamicData key_holder)
	Retrieve the instance `handle` that corresponds to an instance `key_holder`.

Public Member Functions inherited from DataWriter
void	set_qos (DataWriterQos qos)
	Sets the writer QoS.

void	set_qos_with_profile (String library_name, String profile_name)
	<<eXtension>> Change the QoS of this writer using the input XML QoS profile.

void	get_qos (DataWriterQos qos)
	Gets the writer QoS.

void	set_listener (DataWriterListener l, int mask)
	Sets the writer listener.

DataWriterListener	get_listener ()
	Get the writer listener.

void	get_liveliness_lost_status (LivelinessLostStatus status)
	Accesses the com.rti.dds.infrastructure.StatusKind.StatusKind.LIVELINESS_LOST_STATUS communication status.

void	get_offered_deadline_missed_status (OfferedDeadlineMissedStatus status)
	Accesses the com.rti.dds.infrastructure.StatusKind.StatusKind.OFFERED_DEADLINE_MISSED_STATUS communication status.

void	get_offered_incompatible_qos_status (OfferedIncompatibleQosStatus status)
	Accesses the com.rti.dds.infrastructure.StatusKind.StatusKind.OFFERED_INCOMPATIBLE_QOS_STATUS communication status.

void	get_publication_matched_status (PublicationMatchedStatus status)
	Accesses the com.rti.dds.infrastructure.StatusKind.StatusKind.PUBLICATION_MATCHED_STATUS communication status.

void	get_reliable_writer_cache_changed_status (ReliableWriterCacheChangedStatus status)
	<<eXtension>> Get the reliable cache status for this writer.

void	get_reliable_reader_activity_changed_status (ReliableReaderActivityChangedStatus status)
	<<eXtension>> Get the reliable reader activity changed status for this writer.

void	get_datawriter_cache_status (DataWriterCacheStatus status)
	<<eXtension>> Get the datawriter cache status for this writer.

void	get_datawriter_protocol_status (DataWriterProtocolStatus status)
	<<eXtension>> Get the datawriter protocol status for this writer.

void	get_matched_subscription_datawriter_protocol_status (DataWriterProtocolStatus status, InstanceHandle_t subscription_handle)
	<<eXtension>> Get the datawriter protocol status for this writer, per matched subscription identified by the subscription_handle.

void	get_matched_subscription_datawriter_protocol_status_by_locator (DataWriterProtocolStatus status, Locator_t locator)
	<<eXtension>> Get the datawriter protocol status for this writer, per matched subscription identified by the locator.

void	get_matched_subscription_locators (LocatorSeq locators)
	<<eXtension>> Retrieve the list of locators for subscriptions currently "associated" with this com.rti.dds.publication.DataWriter.

void	get_matched_subscriptions (InstanceHandleSeq subscription_handles)
	Retrieve the list of subscriptions currently "associated" with this com.rti.dds.publication.DataWriter.

void	get_matched_subscription_data (SubscriptionBuiltinTopicData subscription_data, InstanceHandle_t subscription_handle)
	This operation retrieves the information on a subscription that is currently "associated" with the com.rti.dds.publication.DataWriter.

Topic	get_topic ()
	This operation returns the com.rti.dds.topic.Topic associated with the com.rti.dds.publication.DataWriter.

Publisher	get_publisher ()
	This operation returns the com.rti.dds.publication.Publisher to which the com.rti.dds.publication.DataWriter belongs.

void	wait_for_acknowledgments (Duration_t max_wait)
	Blocks the calling thread until all data written by reliable com.rti.dds.publication.DataWriter entity is acknowledged, or until timeout expires.

void	wait_for_asynchronous_publishing (Duration_t max_wait)
	<<eXtension>> Blocks the calling thread until asynchronous sending is complete.

void	assert_liveliness ()
	This operation manually asserts the liveliness of this com.rti.dds.publication.DataWriter.

void	flush ()
	<<eXtension>> Flushes the batch in progress in the context of the calling thread.

InstanceHandle_t	register_instance_untyped (Object instance_data)
	Register a new instance with this writer.

InstanceHandle_t	register_instance_w_timestamp_untyped (Object instance_data, Time_t source_timestamp)
	Register a new instance with this writer using the given time instead of the current time.

void	unregister_instance_untyped (Object instance_data, InstanceHandle_t handle)
	Unregister a new instance from this writer.

void	unregister_instance_w_timestamp_untyped (Object instance_data, InstanceHandle_t handle, Time_t source_timestamp)
	Unregister a new instance from this writer using the given time instead of the current time.

void	write_untyped (Object instance_data, InstanceHandle_t handle)
	Publish a data sample.

void	write_w_timestamp_untyped (Object instance_data, InstanceHandle_t handle, Time_t source_timestamp)
	Publish a data sample using the given time instead of the current time.

void	dispose_untyped (Object instance_data, InstanceHandle_t handle)
	Dispose a data sample.

void	dispose_w_timestamp_untyped (Object instance_data, InstanceHandle_t handle, Time_t source_timestamp)
	Dispose a data sample using the given time instead of the current time.

void	get_key_value_untyped (Object key_holder, InstanceHandle_t handle)
	Fill in the key fields of the given data sample.

InstanceHandle_t	lookup_instance_untyped (Object key_value)
	Given a sample with the given key field values, return the handle corresponding to its instance.

Detailed Description

Writes (publishes) objects of type com.rti.dds.dynamicdata.DynamicData.

Instantiates com.rti.dds.publication.DataWriter < com.rti.dds.dynamicdata.DynamicData > .

See Also: com.rti.dds.publication.DataWriter; com.rti.ndds.example.FooDataWriter; com.rti.dds.dynamicdata.DynamicData

Member Function Documentation

InstanceHandle_t register_instance ( DynamicData instance_data )

Informs RTI Connext that the application will be modifying a particular instance.

This operation is only useful for keyed data types. Using it for non-keyed types causes no effect and returns com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. The operation takes as a parameter an instance (of which only the key value is examined) and returns a handle that can be used in successive write() or dispose() operations.

The operation gives RTI Connext an opportunity to pre-configure itself to improve performance.

The use of this operation by an application is optional even for keyed types. If an instance has not been pre-registered, the application can use the special value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL as the com.rti.dds.infrastructure.InstanceHandle_t paramater to the write or dispose operation and RTI Connext will auto-register the instance.

For best performance, the operation should be invoked prior to calling any operation that modifies the instance, such as com.rti.ndds.example.FooDataWriter.write, com.rti.ndds.example.FooDataWriter.write_w_timestamp, com.rti.ndds.example.FooDataWriter.dispose and com.rti.ndds.example.FooDataWriter.dispose_w_timestamp and the handle used in conjunction with the data for those calls.

When this operation is used, RTI Connext will automatically supply the value of the source_timestamp that is used.

This operation may fail and return com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL if com.rti.dds.infrastructure.ResourceLimitsQosPolicy.max_instances limit has been exceeded.

The operation is idempotent. If it is called for an already registered instance, it just returns the already allocated handle. This may be used to lookup and retrieve the handle allocated to a given instance.

This operation can only be called after com.rti.dds.publication.DataWriter has been enabled. Otherwise, com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL will be returned.

Parameters

instance_data <<in>> The instance that should be registered. Of this instance, only the fields that represent the key are examined by the function. Cannot be NULL..

Returns: For keyed data type, a handle that can be used in the calls that take a com.rti.dds.infrastructure.InstanceHandle_t, such as write, dispose, unregister_instance, or return com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL on failure. If the instance_data is of a data type that has no keys, this function always return com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL.

See Also: com.rti.ndds.example.FooDataWriter.unregister_instance, com.rti.ndds.example.FooDataWriter.get_key_value, RELATIONSHIP BETWEEN REGISTRATION, LIVELINESS and OWNERSHIP

InstanceHandle_t register_instance_w_timestamp	(	DynamicData	instance_data,
		Time_t	source_timestamp
	)

Performs the same functions as register_instance except that the application provides the value for the source_timestamp.

The provided source_timestamp potentially affects the relative order in which readers observe events from multiple writers. Refer to DESTINATION_ORDER QoS policy for details.

This operation may fail and return com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL if com.rti.dds.infrastructure.ResourceLimitsQosPolicy.max_instances limit has been exceeded.

This operation can only be called after com.rti.dds.publication.DataWriter has been enabled. Otherwise, com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL will be returned.

Parameters

instance_data	<<in>> The instance that should be registered. Of this instance, only the fields that represent the key are examined by the function. Cannot be NULL.
source_timestamp	<<in>> The timestamp value must be greater than or equal to the timestamp value used in the last writer operation (used in a register, unregister, dispose, or write, with either the automatically supplied timestamp or the application provided timestamp). This timestamp may potentially affect the order in which readers observe events from multiple writers. Cannot be NULL.

Returns: For keyed data type, return a handle that can be used in the calls that take a com.rti.dds.infrastructure.InstanceHandle_t, such as write, dispose, unregister_instance, or return com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL on failure. If the instance_data is of a data type that has no keys, this function always return com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL.

See Also: com.rti.ndds.example.FooDataWriter.unregister_instance, com.rti.ndds.example.FooDataWriter.get_key_value

void unregister_instance	(	DynamicData	instance_data,
		InstanceHandle_t	handle
	)

Reverses the action of com.rti.ndds.example.FooDataWriter.register_instance.

This operation is useful only for keyed data types. Using it for non-keyed types causes no effect and reports no error. The operation takes as a parameter an instance (of which only the key value is examined) and a handle.

This operation should only be called on an instance that is currently registered. This includes instances that have been auto-registered by calling operations such as write or dispose as described in com.rti.ndds.example.FooDataWriter.register_instance. Otherwise, this operation may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

This only need be called just once per instance, regardless of how many times register_instance was called for that instance.

When this operation is used, RTI Connext will automatically supply the value of the source_timestamp that is used.

This operation informs RTI Connext that the com.rti.dds.publication.DataWriter is no longer going to provide any information about the instance. This operation also indicates that RTI Connext can locally remove all information regarding that instance. The application should not attempt to use the handle previously allocated to that instance after calling com.rti.ndds.example.FooDataWriter.unregister_instance().

The special value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL can be used for the parameter handle. This indicates that the identity of the instance should be automatically deduced from the instance_data (by means of the key).

If handle is any value other than com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, then it must correspond to an instance that has been registered. If there is no correspondence, the operation will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

RTI Connext will not detect the error when the handle is any value other than com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, corresponds to an instance that has been registered, but does not correspond to the instance deduced from the instance_data (by means of the key). RTI Connext will treat as if the unregister_instance() operation is for the instance as indicated by the handle.

If after a com.rti.ndds.example.FooDataWriter.unregister_instance, the application wants to modify (com.rti.ndds.example.FooDataWriter.write or com.rti.ndds.example.FooDataWriter.dispose) an instance, it has to register it again, or else use the special handle value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL.

This operation does not indicate that the instance is deleted (that is the purpose of com.rti.ndds.example.FooDataWriter.dispose). The operation com.rti.ndds.example.FooDataWriter.unregister_instance just indicates that the com.rti.dds.publication.DataWriter no longer has anything to say about the instance. com.rti.dds.subscription.DataReader entities that are reading the instance may receive a sample with com.rti.dds.subscription.InstanceStateKind.InstanceStateKind.NOT_ALIVE_NO_WRITERS_INSTANCE_STATE for the instance, unless there are other com.rti.dds.publication.DataWriter objects writing that same instance.

This operation can affect the ownership of the data instance (see OWNERSHIP). If the com.rti.dds.publication.DataWriter was the exclusive owner of the instance, then calling unregister_instance() will relinquish that ownership.

If com.rti.dds.infrastructure.ReliabilityQosPolicy.kind is set to com.rti.dds.infrastructure.ReliabilityQosPolicyKind.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS and the unregistration would overflow the resource limits of this writer or of a reader, this operation may block for up to com.rti.dds.infrastructure.ReliabilityQosPolicy.max_blocking_time; if this writer is still unable to unregister after that period, this method will fail with com.rti.dds.infrastructure.RETCODE_TIMEOUT.

Parameters

instance_data <<in>> The instance that should be unregistered. If com.rti.ndds.example.Foo has a key and instance_handle is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, only the fields that represent the key are examined by the function. Otherwise, instance_data is not used. If instance_data is used, it must represent an instance that has been registerd. Otherwise, this method may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER . If com.rti.ndds.example.Foo has a key, instance_data can be NULL only if handle is not com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. Otherwise, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

handle <<in>> represents the instance to be unregistered. If com.rti.ndds.example.Foo has a key and handle is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, handle is not used and instance is deduced from instance_data. If com.rti.ndds.example.Foo has no key, handle is not used. If handle is used, it must represent an instance that has been registered. Otherwise, this method may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER. This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if handle is NULL. If com.rti.ndds.example.Foo has a key, handle cannot be com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL if instance_data is NULL. Otherwise, this method will report the error com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

Exceptions

One	of the Standard Return Codes, com.rti.dds.infrastructure.RETCODE_TIMEOUT or com.rti.dds.infrastructure.RETCODE_NOT_ENABLED

See Also: com.rti.ndds.example.FooDataWriter.register_instance; com.rti.ndds.example.FooDataWriter.FooDataWriter.unregister_instance_w_timestamp; com.rti.ndds.example.FooDataWriter.get_key_value; RELATIONSHIP BETWEEN REGISTRATION, LIVELINESS and OWNERSHIP

void unregister_instance_w_timestamp	(	DynamicData	instance_data,
		InstanceHandle_t	handle,
		Time_t	source_timestamp
	)

Performs the same function as com.rti.ndds.example.FooDataWriter.unregister_instance except that it also provides the value for the source_timestamp.

The provided source_timestamp potentially affects the relative order in which readers observe events from multiple writers. Refer to DESTINATION_ORDER QoS policy for details.

The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the com.rti.ndds.example.FooDataWriter.unregister_instance operation.

This operation may block and may time out (com.rti.dds.infrastructure.RETCODE_TIMEOUT) under the same circumtances described for the unregister_instance operation.

Parameters

instance_data	<<in>> The instance that should be unregistered. If com.rti.ndds.example.Foo has a key and `instance_handle` is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, only the fields that represent the key are examined by the function. Otherwise, `instance_data` is not used. If `instance_data` is used, it must represent an instance that has been registerd. Otherwise, this method may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER. If com.rti.ndds.example.Foo has a key, `instance_data` can be NULL only if `handle` is not com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. Otherwise, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.
handle	<<in>> represents the `instance` to be unregistered. If com.rti.ndds.example.Foo has a key and `handle` is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, `handle` is not used and `instance` is deduced from `instance_data`. If com.rti.ndds.example.Foo has no key, `handle` is not used. If `handle` is used, it must represent an instance that has been registered. Otherwise, this method may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER. This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if `handle` is NULL. If com.rti.ndds.example.Foo has a key, `handle` cannot be com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL if `instance_data` is NULL. Otherwise, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.
source_timestamp	<<in>> The timestamp value must be greater than or equal to the timestamp value used in the last writer operation (used in a register, unregister, dispose, or write, with either the automatically supplied timestamp or the application provided timestamp). This timestamp may potentially affect the order in which readers observe events from multiple writers. Cannot be NULL.

Exceptions

One	of the Standard Return Codes, com.rti.dds.infrastructure.RETCODE_TIMEOUT or com.rti.dds.infrastructure.RETCODE_NOT_ENABLED.

See Also: com.rti.ndds.example.FooDataWriter.register_instance; com.rti.ndds.example.FooDataWriter.unregister_instance; com.rti.ndds.example.FooDataWriter.get_key_value

void write	(	DynamicData	instance_data,
		InstanceHandle_t	handle
	)

Modifies the value of a data instance.

When this operation is used, RTI Connext will automatically supply the value of the source_timestamp that is made available to com.rti.dds.subscription.DataReader objects by means of the source_timestamp attribute inside the com.rti.dds.subscription.SampleInfo. (Refer to com.rti.dds.subscription.SampleInfo and DESTINATION_ORDER QoS policy for details).

As a side effect, this operation asserts liveliness on the com.rti.dds.publication.DataWriter itself, the com.rti.dds.publication.Publisher and the com.rti.dds.domain.DomainParticipant.

Note that the special value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL can be used for the parameter handle. This indicates the identity of the instance should be automatically deduced from the instance_data (by means of the key).

If handle is any value other than com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, then it must correspond to an instance that has been registered. If there is no correspondence, the operation will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

RTI Connext will not detect the error when the handle is any value other than com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, corresponds to an instance that has been registered, but does not correspond to the instance deduced from the instance_data (by means of the key). RTI Connext will treat as if the write() operation is for the instance as indicated by the handle.

This operation may block if the RELIABILITY kind is set to com.rti.dds.infrastructure.ReliabilityQosPolicyKind.ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS and the modification would cause data to be lost or else cause one of the limits specified in the RESOURCE_LIMITS to be exceeded.

Specifically, this operation may block in the following situations (note that the list may not be exhaustive), even if its com.rti.dds.infrastructure.HistoryQosPolicyKind is com.rti.dds.infrastructure.HistoryQosPolicyKind.HistoryQosPolicyKind.KEEP_LAST_HISTORY_QOS:

If (com.rti.dds.infrastructure.ResourceLimitsQosPolicy.max_samples < com.rti.dds.infrastructure.ResourceLimitsQosPolicy.max_instances * com.rti.dds.infrastructure.HistoryQosPolicy.depth), then in the situation where the max_samples resource limit is exhausted, RTI Connext is allowed to discard samples of some other instance, as long as at least one sample remains for such an instance. If it is still not possible to make space available to store the modification, the writer is allowed to block.
If (com.rti.dds.infrastructure.ResourceLimitsQosPolicy.max_samples < com.rti.dds.infrastructure.ResourceLimitsQosPolicy.max_instances), then the com.rti.dds.publication.DataWriter may block regardless of the com.rti.dds.infrastructure.HistoryQosPolicy.depth.
If (com.rti.dds.infrastructure.RtpsReliableWriterProtocol_t.min_send_window_size < com.rti.dds.infrastructure.ResourceLimitsQosPolicy.max_samples), then it is possible for the send_window_size limit to be reached before RTI Connext is allowed to discard samples, in which case the com.rti.dds.publication.DataWriter will block.

This operation may also block when using com.rti.dds.infrastructure.ReliabilityQosPolicyKind.ReliabilityQosPolicyKind.BEST_EFFORT_RELIABILITY_QOS and com.rti.dds.infrastructure.PublishModeQosPolicyKind.PublishModeQosPolicyKind.ASYNCHRONOUS_PUBLISH_MODE_QOS. In this case, the com.rti.dds.publication.DataWriter will queue samples until they are sent by the asynchronous publishing thread. The number of samples that can be stored is determined by the com.rti.dds.infrastructure.HistoryQosPolicy. If the asynchronous thread does not send samples fast enough (e.g., when using a slow com.rti.dds.publication.FlowController), the queue may fill up. In that case, subsequent write calls will block.

If this operation does block for any of the above reasons, the RELIABILITY max_blocking_time configures the maximum time the write operation may block (waiting for space to become available). If max_blocking_time elapses before the com.rti.dds.publication.DataWriter is able to store the modification without exceeding the limits, the operation will time out (com.rti.dds.infrastructure.RETCODE_TIMEOUT).

If there are no instance resources left, this operation may fail with com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES. Calling com.rti.ndds.example.FooDataWriter.unregister_instance may help freeing up some resources.

This operation will fail with com.rti.dds.infrastructure.RETCODE_PRECONDITION_NOT_MET if the timestamp is less than the timestamp used in the last writer operation (register, unregister, dispose, or write, with either the automatically supplied timestamp or the application-provided timestamp).

Parameters

instance_data <<in>> The data to write.

This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if instance_data is NULL.

Parameters

handle <<in>> Either the handle returned by a previous call to com.rti.ndds.example.FooDataWriter.register_instance, or else the special value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. If com.rti.ndds.example.Foo has a key and handle is not com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, handle must represent a registered instance of type com.rti.ndds.example.Foo. Otherwise, this method may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER. This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if handle is NULL.

Exceptions

One	of the Standard Return Codes, com.rti.dds.infrastructure.RETCODE_TIMEOUT, com.rti.dds.infrastructure.RETCODE_PRECONDITION_NOT_MET, com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES, or com.rti.dds.infrastructure.RETCODE_NOT_ENABLED.

See Also: com.rti.dds.subscription.DataReader; com.rti.ndds.example.FooDataWriter.write_w_timestamp; DESTINATION_ORDER

void write_w_timestamp	(	DynamicData	instance_data,
		InstanceHandle_t	handle,
		Time_t	source_timestamp
	)

Performs the same function as com.rti.ndds.example.FooDataWriter.write except that it also provides the value for the source_timestamp.

Explicitly provides the timestamp that will be available to the com.rti.dds.subscription.DataReader objects by means of the source_timestamp attribute inside the com.rti.dds.subscription.SampleInfo. (Refer to com.rti.dds.subscription.SampleInfo and DESTINATION_ORDER QoS policy for details)

The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the com.rti.ndds.example.FooDataWriter.write operation.

This operation may block and time out (com.rti.dds.infrastructure.RETCODE_TIMEOUT) under the same circumtances described for com.rti.ndds.example.FooDataWriter.write.

If there are no instance resources left, this operation may fail with com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES. Calling com.rti.ndds.example.FooDataWriter.unregister_instance may help free up some resources.

This operation may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER under the same circumstances described for the write operation.

Parameters

instance_data	<<in>> The data to write. This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if `instance_data` is NULL.
handle	<<in>> Either the handle returned by a previous call to com.rti.ndds.example.FooDataWriter.register_instance, or else the special value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. If com.rti.ndds.example.Foo has a key and `handle` is not com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, `handle` must represent a registered instance of type com.rti.ndds.example.Foo. Otherwise, this method may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER. This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if `handle` is NULL.
source_timestamp	<<in>> When using com.rti.dds.infrastructure.DestinationOrderQosPolicyKind.DestinationOrderQosPolicyKind.BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS the timestamp value must be greater than or equal to the timestamp value used in the last writer operation (register, unregister, dispose, or write, with either the automatically supplied timestamp or the application-provided timestamp) However, if it is less than the timestamp of the previous operation but the difference is less than the com.rti.dds.infrastructure.DestinationOrderQosPolicy.source_timestamp_tolerance, the timestamp of the previous operation will be used as the source timestamp of this sample. Otherwise, if the difference is greater than com.rti.dds.infrastructure.DestinationOrderQosPolicy.source_timestamp_tolerance, the function will return com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

Cannot be NULL.

Exceptions

One	of the Standard Return Codes, com.rti.dds.infrastructure.RETCODE_TIMEOUT, com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES, or com.rti.dds.infrastructure.RETCODE_NOT_ENABLED.

See Also: com.rti.ndds.example.FooDataWriter.write; com.rti.dds.subscription.DataReader; DESTINATION_ORDER

void dispose	(	DynamicData	instance_data,
		InstanceHandle_t	instance_handle
	)

Requests the middleware to delete the data.

This operation is useful only for keyed data types. Using it for non-keyed types has no effect and reports no error.

The actual deletion is postponed until there is no more use for that data in the whole system.

Applications are made aware of the deletion by means of operations on the com.rti.dds.subscription.DataReader objects that already knew that instance. com.rti.dds.subscription.DataReader objects that didn't know the instance will never see it.

This operation does not modify the value of the instance. The instance_data parameter is passed just for the purposes of identifying the instance.

When this operation is used, RTI Connext will automatically supply the value of the source_timestamp that is made available to com.rti.dds.subscription.DataReader objects by means of the source_timestamp attribute inside the com.rti.dds.subscription.SampleInfo.

The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the com.rti.ndds.example.FooDataWriter.unregister_instance operation.

The special value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL can be used for the parameter instance_handle. This indicates the identity of the instance should be automatically deduced from the instance_data (by means of the key).

If handle is any value other than com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, then it must correspond to an instance that has been registered. If there is no correspondence, the operation will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

RTI Connext will not detect the error when the handle is any value other than com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, corresponds to an instance that has been registered, but does not correspond to the instance deduced from the instance_data (by means of the key). RTI Connext will treat as if the dispose() operation is for the instance as indicated by the handle.

This operation may block and time out (com.rti.dds.infrastructure.RETCODE_TIMEOUT) under the same circumtances described for com.rti.ndds.example.FooDataWriter.write().

If there are no instance resources left, this operation may fail with com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES. Calling com.rti.ndds.example.FooDataWriter.unregister_instance may help freeing up some resources.

Parameters

instance_data <<in>> The data to dispose. If com.rti.ndds.example.Foo has a key and instance_handle is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, only the fields that represent the key are examined by the function. Otherwise, instance_data is not used. If com.rti.ndds.example.Foo has a key, instance_data can be NULL only if instance_handle is not com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. Otherwise, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

instance_handle <<in>> Either the handle returned by a previous call to com.rti.ndds.example.FooDataWriter.register_instance, or else the special value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. If com.rti.ndds.example.Foo has a key and instance_handle is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, instance_handle is not used and instance is deduced from instance_data. If com.rti.ndds.example.Foo has no key, instance_handle is not used. If handle is used, it must represent a registered instance of type com.rti.ndds.example.Foo. Otherwise, this method fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER. This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if handle is NULL. If com.rti.ndds.example.Foo has a key, instance_handle cannot be com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL if instance_data is NULL. Otherwise, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.

Exceptions

One	of the Standard Return Codes, com.rti.dds.infrastructure.RETCODE_TIMEOUT, com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES or com.rti.dds.infrastructure.RETCODE_NOT_ENABLED.

See Also: com.rti.ndds.example.FooDataWriter.dispose_w_timestamp; RELATIONSHIP BETWEEN REGISTRATION, LIVELINESS and OWNERSHIP

void dispose_w_timestamp	(	DynamicData	instance_data,
		InstanceHandle_t	instance_handle,
		Time_t	source_timestamp
	)

Performs the same functions as dispose except that the application provides the value for the source_timestamp that is made available to com.rti.dds.subscription.DataReader objects by means of the source_timestamp attribute inside the com.rti.dds.subscription.SampleInfo.

The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the com.rti.ndds.example.FooDataWriter.dispose operation.

This operation may block and time out (com.rti.dds.infrastructure.RETCODE_TIMEOUT) under the same circumtances described for com.rti.ndds.example.FooDataWriter.write.

If there are no instance resources left, this operation may fail with com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES. Calling com.rti.ndds.example.FooDataWriter.unregister_instance may help freeing up some resources.

Parameters

instance_data	<<in>> The data to dispose. If com.rti.ndds.example.Foo has a key and `instance_handle` is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, only the fields that represent the key are examined by the function. Otherwise, `instance_data` is not used. If com.rti.ndds.example.Foo has a key, `instance_data` can be NULL only if `instance_handle` is not com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. Otherwise, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.
instance_handle	<<in>> Either the handle returned by a previous call to com.rti.ndds.example.FooDataWriter.register_instance, or else the special value com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL. If com.rti.ndds.example.Foo has a key and `instance_handle` is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, `instance_handle` is not used and `instance` is deduced from `instance_data`. If com.rti.ndds.example.Foo has no key, `instance_handle` is not used. If `handle` is used, it must represent a registered instance of type com.rti.ndds.example.Foo. Otherwise, this method may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if `handle` is NULL. If com.rti.ndds.example.Foo has a key, `instance_handle` cannot be com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL if `instance_data` is NULL. Otherwise, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER.
source_timestamp	<<in>> The timestamp value must be greater than or equal to the timestamp value used in the last writer operation (used in a register, unregister, dispose, or write, with either the automatically supplied timestamp or the application provided timestamp). This timestamp may potentially affect the order in which readers observe events from multiple writers. This timestamp will be available to the com.rti.dds.subscription.DataReader objects by means of the `source_timestamp` attribute inside the com.rti.dds.subscription.SampleInfo. Cannot be NULL.

Exceptions

One	of the Standard Return Codes, com.rti.dds.infrastructure.RETCODE_TIMEOUT, com.rti.dds.infrastructure.RETCODE_OUT_OF_RESOURCES or com.rti.dds.infrastructure.RETCODE_NOT_ENABLED.

See Also: com.rti.ndds.example.FooDataWriter.dispose

void get_key_value	(	DynamicData	key_holder,
		InstanceHandle_t	handle
	)

Retrieve the instance key that corresponds to an instance handle.

Useful for keyed data types.

The operation will only fill the fields that form the key inside the key_holder instance. If com.rti.ndds.example.Foo has no key, this method has no effect and exit with no error.

For keyed data types, this operation may fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if the handle does not correspond to an existing data-object known to the com.rti.dds.publication.DataWriter.

Parameters

key_holder <<inout>> a user data type specific key holder, whose key fields are filled by this operation. If com.rti.ndds.example.Foo has no key, this method has no effect. This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if key_holder is NULL.

handle <<in>> the instance whose key is to be retrieved. If com.rti.ndds.example.Foo has a key, handle must represent a registered instance of type com.rti.ndds.example.Foo. Otherwise, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER. If com.rti.ndds.example.Foo has a key and handle is com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL, this method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER. This method will fail with com.rti.dds.infrastructure.RETCODE_BAD_PARAMETER if handle is NULL.

Exceptions

One	of the Standard Return Codes or com.rti.dds.infrastructure.RETCODE_NOT_ENABLED.

See Also: com.rti.ndds.example.FooDataReader.get_key_value

InstanceHandle_t lookup_instance ( DynamicData key_holder )

Retrieve the instance handle that corresponds to an instance key_holder.

Useful for keyed data types.

This operation takes as a parameter an instance and returns a handle that can be used in subsequent operations that accept an instance handle as an argument. The instance parameter is only used for the purpose of examining the fields that define the key. This operation does not register the instance in question. If the instance has not been previously registered, or if for any other reason RTI Connext is unable to provide an instance handle, RTI Connext will return the special value HANDLE_NIL.

Parameters

key_holder <<in>> a user data type specific key holder.

Returns: the instance handle associated with this instance. If com.rti.ndds.example.Foo has no key, this method has no effect and returns com.rti.dds.infrastructure.InstanceHandle_t.InstanceHandle_t.HANDLE_NIL

Public Member Functions

Detailed Description

Member Function Documentation