<<extension>> Extensions to dds::sub More...

Classes
class	AckResponseData
	<<extension>> Data payload associated to an application-level acknowledgment More...

struct	IsValidData
	<<extension>> A functor that returns true when a sample has valid data. More...

class	LoanedSample
	The element type of a dds::sub::LoanedSamples collection. More...

class	ManipulatorSelector

class	SampleIterator
	A random-access iterator of LoanedSample. More...

class	SampleProcessor
	<<extension>> <<reference-type>> Utility to read and process the data samples that one or more DataReaders receive using a sample handler. More...

class	SharedSamples
	Provides access to a collection of middleware-loaned samples. More...

class	TopicQuery
	<<extension>> <<reference-type>> Allows a dds::sub::DataReader to query the sample cache of its matching dds::pub::DataWriters. More...

class	TopicQueryData
	<<extension>> <<value-type>> Provides information about a TopicQuery More...

class	TopicQuerySelection
	<<extension>> <<value-type>> Specifies the data query that defines a TopicQuery. More...

struct	TopicQuerySelectionKind_def
	The definition of the dds::core::safe_enum rti::sub::TopicQuerySelectionKind. More...

class	ValidLoanedSamples
	<<extension>> <<C++11>> <<move-only-type>> Provides access to only those samples that contain valid data More...

class	ValidSampleIterator
	A forward iterator adapter that skips invalid samples. More...

Typedefs
typedef dds::core::safe_enum< TopicQuerySelectionKind_def >	TopicQuerySelectionKind
	Safe Enumeration of TopicQuerySelectionKind_def More...

Functions
dds::sub::Subscriber	implicit_subscriber (const dds::domain::DomainParticipant &dp)
	<<extension>> Retrieves the implicit dds::sub::Subscriber for the given dds::domain::DomainParticipant. More...

template<typename T >
dds::topic::ParticipantBuiltinTopicData	matched_publication_participant_data (const dds::sub::DataReader< T > &reader, const dds::core::InstanceHandle &handle)
	<<extension>> This operation retrieves the information on the discovered dds::domain::DomainParticipant associated with the publication that is currently matching with the dds::sub::DataReader. More...

template<typename T >
bool	is_matched_publication_alive (const dds::sub::DataReader< T > &reader, const dds::core::InstanceHandle &handle)
	<<extension>> Check if a matched publication is alive. More...

template<typename T >
std::vector< dds::topic::PublicationBuiltinTopicData >	matched_publication_data (const dds::sub::DataReader< T > &reader)
	<<extension>> Obtain the PublicationBuiltinTopicData for all of the publications matched with a DataReader. More...

template<typename SubscriberForwardIterator >
uint32_t	find_subscribers (const dds::domain::DomainParticipant participant, SubscriberForwardIterator begin, uint32_t max_size)
	<<extension>> Retrieve all of the dds::sub::Subscriber created from this dds::domain::DomainParticipant More...

template<typename SubscriberBackInsertIterator >
uint32_t	find_subscribers (const dds::domain::DomainParticipant participant, SubscriberBackInsertIterator begin)
	<<extension>> Retrieve all of the dds::sub::Subscriber created from this dds::domain::DomainParticipant More...

dds::sub::Subscriber	find_subscriber (const dds::domain::DomainParticipant participant, const std::string &subscriber_name)
	<<extension>> Finds a Subscriber by name More...

template<typename AnyDataReaderBackInsertIterator >
uint32_t	find_datareaders (dds::sub::Subscriber subscriber, AnyDataReaderBackInsertIterator begin)
	<<extension>> Retrieve all the dds::sub::DataReader created from this dds::sub::Subscriber More...

template<typename AnyDataReaderForwardIterator >
uint32_t	find_datareaders (dds::sub::Subscriber subscriber, AnyDataReaderForwardIterator begin, uint32_t max_size)
	<<extension>> Retrieve all the readers created from a subscriber. More...

template<typename Reader >
Reader	find_datareader_by_topic_name (dds::sub::Subscriber subscriber, const std::string &topic_name)
	<<extension>> Retrieves a dds::sub::DataReader with the given topic name within the dds::sub::Subscriber More...

template<typename Reader >
Reader	find_datareader_by_name (dds::sub::Subscriber subscriber, const std::string &datareader_name)
	<<extension>> Retrieves a dds::sub::DataReader with the given name within the dds::sub::Subscriber More...

template<typename Reader , typename T >
Reader	find_datareader_by_topic_description (const dds::sub::Subscriber &subscriber, const dds::topic::TopicDescription< T > &topic_description)
	<<extension>> Retrieves a dds::sub::DataReader with the given TopicDescription within the dds::sub::Subscriber More...

template<typename Reader >
Reader	find_datareader_by_name (dds::domain::DomainParticipant participant, const std::string &datareader_name)
	<<extension>> Retrieves a dds::sub::DataReader within the dds::domain::DomainParticipant with the given name More...

template<typename T >
dds::sub::Sample< T >	copy_to_sample (const rti::sub::LoanedSample< T > &ls)
	Copies the contents of a rti::sub::LoanedSample into a dds::sub::Sample. More...

template<typename T >
std::ostream &	operator<< (std::ostream &out, const LoanedSample< T > &sample)
	Calls the operator on the data or prints [invalid data]. More...

template<typename T >
ValidLoanedSamples< T >::iterator	begin (ValidLoanedSamples< T > &ls)

template<typename T >
ValidLoanedSamples< T >::const_iterator	begin (const ValidLoanedSamples< T > &ls)

template<typename T >
ValidLoanedSamples< T >::iterator	end (ValidLoanedSamples< T > &ls)

template<typename T >
ValidLoanedSamples< T >::const_iterator	end (const ValidLoanedSamples< T > &ls)

template<typename T >
void	swap (ValidLoanedSamples< T > &ls1, ValidLoanedSamples< T > &ls2) throw ()

template<typename T >
ValidLoanedSamples< T >	valid_data (LoanedSamples< T > &&samples)
	<<C++11>> <<extension>> Returns a collection that provides access only to samples with valid data More...

bool	operator== (const SampleInfoImpl &other) const
	Compare two dds::sub::SampleInfo objects for equality. More...

template<typename T >
ValidSampleIterator< T >	valid_data (const SampleIterator< T > &sample_iterator)
	<<extension>> Returns an iterator that skips invalid samples More...

TopicQueryData	create_topic_query_data_from_service_request (const rti::topic::ServiceRequest &service_request)
	Creates a TopicQueryData from a ServiceRequest. More...

TopicQuery	find_topic_query (dds::sub::AnyDataReader datareader, const rti::core::Guid &guid)
	Looks up a TopicQuery by its GUID. More...

template<typename T >
void	unpack (const dds::sub::SharedSamples< T > &samples, std::vector< std::shared_ptr< const T > > &sample_vector)
	<<extension>> <<C++11>> Unpacks a SharedSamples collection into individual shared_ptr's in a vector More...

template<typename T >
std::vector< std::shared_ptr< const T > >	unpack (const dds::sub::SharedSamples< T > &samples)
	<<extension>> <<C++11>> Unpacks a SharedSamples collection into individual shared_ptr's in a vector More...

template<typename T >
std::vector< std::shared_ptr< const T > >	unpack (dds::sub::LoanedSamples< T > &&samples)
	<<extension>> <<C++11>> Unpacks a LoanedSamples collection into individual shared_ptr's in a vector More...

Detailed Description

<<extension>> Extensions to dds::sub

Function Documentation

◆ implicit_subscriber()

dds::sub::Subscriber rti::sub::implicit_subscriber ( const dds::domain::DomainParticipant & dp )

<<extension>> Retrieves the implicit dds::sub::Subscriber for the given dds::domain::DomainParticipant.

Note: This is a standalone function in the namespace rti::sub

If an implicit Subscriber does not already exist, this creates one.

The implicit Subscriber is created with default dds::sub::qos::SubscriberQos and no listener. When a DomainParticipant is deleted, if there are no attached dds::sub::DataReader that belong to the implicit Subscriber, the implicit Subscriber will be implicitly deleted.

MT Safety:: UNSAFE. it is not safe to create the implicit subscriber while another thread may be simultaneously calling dds::domain::DomainParticipant::default_subscriber_qos(const dds::sub::qos::SubscriberQos & qos ).

Parameters

dp	The DomainParticipant that the implicit subscriber belongs to.

Returns: The implicit Subscriber

◆ matched_publication_participant_data()

template<typename T >

dds::topic::ParticipantBuiltinTopicData rti::sub::matched_publication_participant_data	(	const dds::sub::DataReader< T > &	reader,
		const dds::core::InstanceHandle &	handle
	)

<<extension>> This operation retrieves the information on the discovered dds::domain::DomainParticipant associated with the publication that is currently matching with the dds::sub::DataReader.

Note: This is a standalone function in the namespace rti::sub

The publication_handle must correspond to a publication currently associated with the dds::sub::DataReader. Otherwise, the operation will fail with dds::core::InvalidArgumentError. The operation may also fail with dds::core::PreconditionNotMetError if the publication corresponds to the same dds::domain::DomainParticipant that the DataReader belongs to. Use the operation dds::sub::matched_publications to find the publications that are currently matched with the dds::sub::DataReader.

Exceptions

One	of the Standard Exceptions or dds::core::NotEnabledError

Template Parameters

T	The topic-type that the DataReader subscribes to

Parameters

reader	The reader to lookup the matched participant data of
handle	The InstanceHandle to a specific publication. Must correspond to a publication currently associated with the DataReader. This handle is available in the dds::sub::SampleInfo::publication_handle()

Returns: The dds::topic::ParticipantBuiltinTopicData of the DomainParticipant of a matched publication of a dds::sub::DataReader

◆ is_matched_publication_alive()

template<typename T >

bool rti::sub::is_matched_publication_alive	(	const dds::sub::DataReader< T > &	reader,
		const dds::core::InstanceHandle &	handle
	)

<<extension>> Check if a matched publication is alive.

Note: This is a standalone function in the namespace rti::sub

Template Parameters

T	The topic-type that the DataReader subscribes to.

Parameters

reader	The DataReader.
handle	The dds::core::InstanceHandle of the matched publication.

This API is used for querying the endpoint liveliness of a matched publication. A matched publication will be marked as not alive if the liveliness that it committed to through its LIVELINESS QoS policy was not respected. Note that if the participant associated with the matched publication loses liveliness, the dds::core::InstanceHandle will become invalid and this function will fail with dds::core::InvalidArgumentError.

of the matched publication. See dds::sub::matched_publications for a description of what is considered a matched publication.

Exceptions

One	of the Standard Exceptions

Returns: A boolean indicating whether or not the matched publication is alive.

◆ matched_publication_data()

template<typename T >

std::vector< dds::topic::PublicationBuiltinTopicData > rti::sub::matched_publication_data ( const dds::sub::DataReader< T > & reader )

<<extension>> Obtain the PublicationBuiltinTopicData for all of the publications matched with a DataReader.

Note: This is a standalone function in the namespace rti::sub

This API retrieves the matched subscription data from all of the publications currently matched a DataReader.

Template Parameters

T	The topic-type that the DataReader subscribes to.

Parameters

reader The DataReader.

Returns: A std::vector containing all of the matched publication data.

◆ find_subscribers() [1/2]

template<typename SubscriberForwardIterator >

uint32_t rti::sub::find_subscribers	(	const dds::domain::DomainParticipant	participant,
		SubscriberForwardIterator	begin,
		uint32_t	max_size
	)

<<extension>> Retrieve all of the dds::sub::Subscriber created from this dds::domain::DomainParticipant

Note: This is a standalone function in the namespace rti::sub

Template Parameters

SubscriberForwardIterator Type of the forward iterator passed into this function, whose value_type must be dds::sub::Subscriber.

Parameters

participant	The dds::domain::DomainParticipant the Publishers belong to
begin	A forward iterator to the position in the destination container where to begin copying the found Subscribers into
max_size	The maximum size of Subscribers to add

Returns: The number of found Subscribers

◆ find_subscribers() [2/2]

template<typename SubscriberBackInsertIterator >

uint32_t rti::sub::find_subscribers	(	const dds::domain::DomainParticipant	participant,
		SubscriberBackInsertIterator	begin
	)

<<extension>> Retrieve all of the dds::sub::Subscriber created from this dds::domain::DomainParticipant

Note: This is a standalone function in the namespace rti::sub

Template Parameters

AnyDataReaderBackInsertIterator Type of the back-inserting iterator passed into this function, whose value_type must be dds::sub::Subscriber.

Parameters

participant	The dds::domain::DomainParticipant the Subscribers belong to
begin	A back-inserting iterator to the position in the destination container to insert the found Subscribers into

Returns: The number of found Subscribers

◆ find_subscriber()

dds::sub::Subscriber rti::sub::find_subscriber	(	const dds::domain::DomainParticipant	participant,
		const std::string &	subscriber_name
	)

<<extension>> Finds a Subscriber by name

Note: This is a standalone function in the namespace rti::sub

Template Parameters

AnyDataReaderBackInsertIterator Type of the back-inserting iterator passed into this function, whose value_type must be dds::sub::AnyDataReader.

Parameters

participant	The dds::domain::DomainParticipant the Subscribers belong to
subscriber_name	The name of the Subscriber

Returns: A valid reference if the a subscriber with that name exists or a reference equals to dds::core::null otherwise.

◆ find_datareaders() [1/2]

template<typename AnyDataReaderBackInsertIterator >

uint32_t rti::sub::find_datareaders	(	dds::sub::Subscriber	subscriber,
		AnyDataReaderBackInsertIterator	begin
	)

<<extension>> Retrieve all the dds::sub::DataReader created from this dds::sub::Subscriber

Note: This is a standalone function in the namespace rti::sub

Template Parameters

AnyDataReaderBackInsertIterator Type of the back-inserting iterator passed into this function, whose value_type must be dds::sub::AnyDataReader.

Parameters

subscriber	The dds::sub::Subscriber the DataReaders belong to
begin	A back-inserting iterator to the position in the destination container to insert the found DataReaders into

Returns: The number of found DataReaders

See also: Looking up DataReaders

◆ find_datareaders() [2/2]

template<typename AnyDataReaderForwardIterator >

uint32_t rti::sub::find_datareaders	(	dds::sub::Subscriber	subscriber,
		AnyDataReaderForwardIterator	begin,
		uint32_t	max_size
	)

<<extension>> Retrieve all the readers created from a subscriber.

Note: This is a standalone function in the namespace rti::sub

Template Parameters

AnyDataReaderForwardIterator A forward iterator whose value_type is dds::sub::AnyDataReader

Parameters

subscriber	The dds::sub::Subscriber the readers belong to
begin	A forward iterator to the position in the destination container where to begin copying the found readers into.
max_size	The maximum number of readers to return

Returns: The number of found readers

See also: Looking up DataReaders

◆ find_datareader_by_topic_name()

template<typename Reader >

Reader rti::sub::find_datareader_by_topic_name	(	dds::sub::Subscriber	subscriber,
		const std::string &	topic_name
	)

<<extension>> Retrieves a dds::sub::DataReader with the given topic name within the dds::sub::Subscriber

Note: This is a standalone function in the namespace rti::sub

Use this operation on the built-in dds::sub::Subscriber (Built-in Topics) to access the built-in dds::sub::DataReader entities for the built-in topics.

The built-in dds::sub::DataReader is created when this operation is called on a built-in topic for the first time. The built-in dds::sub::DataReader is deleted automatically when the dds::domain::DomainParticipant is deleted.

To ensure that builtin dds::sub::DataReader entities receive all the discovery traffic, it is suggested that you lookup the builtin dds::sub::DataReader before the dds::domain::DomainParticipant is enabled. Looking up builtin dds::sub::DataReader may implicitly register builtin transports due to creation of dds::sub::DataReader (see Built-in Transport Plugins for details on when a builtin transport is registered). Therefore, if you are want to modify builtin transport properties, do so before using this operation.

Therefore the suggested sequence when looking up builtin DataReaders is:

Create a disabled dds::domain::DomainParticipant.
(optional) Modify builtin transport properties
Call dds::sub::builtin_subscriber().
Call dds::sub::find().
Call enable() on the DomainParticipant.

The returned dds::sub::DataReader may be enabled or disabled.

If more than one dds::sub::DataReader is attached to the dds::sub::Subscriber, this operation may return any one of them.

MT Safety:: UNSAFE. It is not safe to lookup a dds::sub::DataReader in one thread while another thread is simultaneously creating or destroying that dds::sub::DataReader.

Template Parameters

Reader The type of the reader. It can be dds::sub::AnyDataReader, or an instantiation of dds::sub::DataReader<T> (if T is not the correct type, this function throws dds::core::InvalidDowncastError)

Parameters

subscriber	The dds::sub::Subscriber that created the DataReader to find
topic_name	Topic name of the DataReader to find

Returns: The DataReader with the given topic name, or dds::core::null if it doesn't exist

See also: Looking up DataReaders

◆ find_datareader_by_name() [1/2]

template<typename Reader >

Reader rti::sub::find_datareader_by_name	(	dds::sub::Subscriber	subscriber,
		const std::string &	datareader_name
	)

<<extension>> Retrieves a dds::sub::DataReader with the given name within the dds::sub::Subscriber

Note: This is a standalone function in the namespace rti::sub

Template Parameters

Reader The type of the reader. It can be dds::sub::AnyDataReader, or an instantiation of dds::sub::DataReader<T> (if T is not the correct type, this function throws dds::core::InvalidDowncastError)

Every dds::sub::DataReader in the system has an entity name which is configured and stored in the <<extension>> EntityName policy, ENTITY_NAME.

This operation retrieves the dds::sub::DataReader within the dds::sub::Subscriber whose name matches the one specified. If there are several dds::sub::DataReader with the same name within the dds::sub::Subscriber, the operation returns the first matching occurrence.

Parameters

subscriber	The dds::sub::Subscriber that created the DataReader to find
datareader_name	Entity name of the DataReader to find

Returns: The DataReader with the given name, or dds::core::null if it doesn't exist

See also: Looking up DataReaders

◆ find_datareader_by_topic_description()

template<typename Reader , typename T >

Reader rti::sub::find_datareader_by_topic_description	(	const dds::sub::Subscriber &	subscriber,
		const dds::topic::TopicDescription< T > &	topic_description
	)

<<extension>> Retrieves a dds::sub::DataReader with the given TopicDescription within the dds::sub::Subscriber

Note: This is a standalone function in the namespace rti::sub

Template Parameters

Reader	The type of the reader returned, for example, dds::sub::DataReader<Foo>, or dds::sub::AnyDataReader
T	The topic-type

Parameters

subscriber	The Subscriber to which the DataReader belongs
topic_description	The TopicDescription identifying the DataReader to find

Returns: The found DataReader, or dds::core::null if it doesn't exist

◆ find_datareader_by_name() [2/2]

template<typename Reader >

Reader rti::sub::find_datareader_by_name	(	dds::domain::DomainParticipant	participant,
		const std::string &	datareader_name
	)

<<extension>> Retrieves a dds::sub::DataReader within the dds::domain::DomainParticipant with the given name

Note: This is a standalone function in the namespace rti::sub

Template Parameters

Reader The type of the reader. It can be dds::sub::AnyDataReader, or an instantiation of dds::sub::DataReader<T> (if T is not the correct type, this function throws dds::core::InvalidDowncastError)

Every dds::sub::DataReader in the system has an entity name which is configured and stored in the EntityName policy, ENTITY_NAME.

Every dds::sub::Subscriber in the system has an entity name which is also configured and stored in the EntityName policy, ENTITY_NAME.

This operation retrieves a dds::sub::DataReader within a dds::sub::Subscriber given the specified name which encodes both to the dds::sub::DataReader and the dds::sub::Subscriber name.

If there are several dds::sub::DataReader with the same name within the corresponding dds::sub::Subscriber this function returns the first matching occurrence.

The specified name might be given as a fully-qualified entity name or as a plain name.

The fully qualified entity name is a concatenation of the dds::sub::Subscriber to which the dds::sub::DataReader belongs and the entity name of of the dds::sub::DataReader itself, separated by a double colon "::". For example: MySubscriberName::MyDataReaderName

The plain name contains the dds::sub::DataReader name only. In this situation it is implied that the dds::sub::DataReader belongs to the implicit dds::sub::Subscriber so the use of a plain name is equivalent to specifying a fully qualified name with the dds::sub::Subscriber name part being "implicit". For example: the plain name "MyDataReaderName" is equivalent to specifiying the fully qualified name "implicit::MyDataReaderName"

The dds::sub::DataReader is only looked up within the dds::sub::Subscriber specified in the fully qualified name, or within the implicit dds::sub::Subscriber if the name was not fully qualified.

Parameters

participant	The dds::domain::DomainParticipant within which the dds::sub::DataReader exists
datareader_name	EntityName of the DataReader to find

Returns: The first reader with the given name or dds::core::null if it is not found.

See also: rti::sub::find_datareader_by_name(const dds::sub::Subscriber&, const std::string&)

◆ copy_to_sample()

template<typename T >

dds::sub::Sample< T > copy_to_sample ( const rti::sub::LoanedSample< T > & ls )

Copies the contents of a rti::sub::LoanedSample into a dds::sub::Sample.

Example:

dds::sub::LoanedSamples<Foo> samples = reader.take();
std::vector<Sample<Foo> > sample_vector;
std::transform(
    rti::sub::valid_data(samples.begin()),
    rti::sub::valid_data(samples.end()),
    std::back_inserter(sample_vector),
    rti::sub::copy_to_sample<Foo>);

◆ operator<<()

template<typename T >

std::ostream & operator<<	(	std::ostream &	out,
		const LoanedSample< T > &	sample
	)

Calls the operator on the data or prints [invalid data].

◆ begin() [1/2]

template<typename T >

ValidLoanedSamples< T >::iterator begin ( ValidLoanedSamples< T > & ls )

See also: ValidLoanedSamples::begin()

Referenced by dds::sub::DataReader< T >::find_datareaders(), and dds::sub::Subscriber::find_subscribers().

◆ begin() [2/2]

template<typename T >

ValidLoanedSamples< T >::const_iterator begin ( const ValidLoanedSamples< T > & ls )

See also: ValidLoanedSamples::begin()

◆ end() [1/2]

template<typename T >

ValidLoanedSamples< T >::iterator end ( ValidLoanedSamples< T > & ls )

See also: ValidLoanedSamples::end()

◆ end() [2/2]

template<typename T >

ValidLoanedSamples< T >::const_iterator end ( const ValidLoanedSamples< T > & ls )

See also: ValidLoanedSamples::end()

◆ swap()

template<typename T >

void swap	(	ValidLoanedSamples< T > &	ls1,
		ValidLoanedSamples< T > &	ls2
	)
throw	(
	)

See also: ValidLoanedSamples::swap()

◆ valid_data() [1/2]

template<typename T >

ValidLoanedSamples< T > rti::sub::valid_data ( LoanedSamples< T > && samples )

<<C++11>> <<extension>> Returns a collection that provides access only to samples with valid data

Template Parameters

T	The topic-type. It has to match the type of the DataReader.

This function transforms a LoanedSamples collection into another collection whose iterators only access valid-data samples, skipping any sample such that !sample.info().valid().

This operation is O(1) and will not copy the data samples or allocated any additional memory.

The typical way to use this function is to directly call it on the return value of a read()/take() operation and use it in a for-loop. For example:

auto valid_samples = rti::sub::valid_data(reader.read());
for (auto sample : valid_samples) {
    // no need to check sample.info().valid()
    std::cout << sample.data() << std::endl;
}

Parameters

samples

The collection of LoanedSamples to transform into a ValidLoanedSamples. It must be an rvalue, so valid actual parameters are the result of one of the read/take operations:

auto vs = rti::sub::valid_data(reader.take());

Or an std::move'd existing collection:

auto ls = reader.take();
auto vs = rti::sub::valid_data(std::move(ls));
// 'ls' is now invalid and can't be further used

Returns: A forward-iterable collection that provides access only to samples with valid data. Note that this collection doesn't provide random access.

Postcondition: samples is invalid cannot be used after this call

See also: rti::sub::valid_data(const SampleIterator<T>&), which applies to an iterator rather to the whole collection; Reading data samples

◆ operator==()

bool rti::sub::operator== ( const SampleInfoImpl & other ) const

Compare two dds::sub::SampleInfo objects for equality.

◆ valid_data() [2/2]

template<typename T >

ValidSampleIterator< T > rti::sub::valid_data ( const SampleIterator< T > & sample_iterator )

<<extension>> Returns an iterator that skips invalid samples

Given a regular sample iterator, this functions creates another iterator it that behaves exactly the same except that it++ moves to the next valid sample (or to the end of the collection). That is, if it doesn't point to the end of the collection, it->info.valid() is always true.

This is useful when your application doesn't need to deal with samples containing meta-information only.

For example, the following code copies all the data in a LoanedSamples collection skipping any invalid samples (otherwise, attempting to copy the data from an invalid sample would throw an exception, see rti::sub::LoanedSample::operator const DataType& ()).

dds::sub::LoanedSamples<KeyedType> samples = reader.take();
std::vector<KeyedType> data_vector;
std::copy(
     rti::sub::valid_data(samples.begin()),
     rti::sub::valid_data(samples.end()),
     std::back_inserter(data_vector));

Note that valid_data(samples.begin()) won't point to the first element if that element is not a valid sample.

A similar utility is the functor rti::sub::IsValidData.

See also: dds::sub::LoanedSamples; rti::sub::IsValidData; dds::sub::SampleInfo::valid(); rti::sub::valid_data(LoanedSamples<T>&&), which applies to the whole collection instead of an iterator; Reading data samples

◆ create_topic_query_data_from_service_request()

TopicQueryData create_topic_query_data_from_service_request ( const rti::topic::ServiceRequest & service_request )

Creates a TopicQueryData from a ServiceRequest.

This operation will extract the content from the request body of the rti::topic::ServiceRequest to create a rti::sub::TopicQueryData object.

The specified rti::topic::ServiceRequest must be a valid sample associated with the service id rti::core::ServiceRequestId_def::TOPIC_QUERY. Otherwise this operation will return false.

This operation can be called within the context of a dds::pub::DataWriterListener::on_service_request_accepted to retrieve the rti::sub::TopicQueryData of a rti::topic::ServiceRequest that has been received with service id rti::core::ServiceRequestId_def::TOPIC_QUERY

Parameters

service_request The rti::topic::ServiceRequest that contains the rti::sub::TopicQueryData as part of its request body.

Returns: A rti::sub::TopicQueryData object where the content from the service request is extracted.

◆ find_topic_query()

TopicQuery find_topic_query	(	dds::sub::AnyDataReader	datareader,
		const rti::core::Guid &	guid
	)

Looks up a TopicQuery by its GUID.

Parameters

datareader	The DataReader used to create the TopicQuery
guid	The TopicQuery's GUID

Returns: The TopicQuery if it exists or a dds::core::null reference otherwise.

See also: rti::sub::TopicQuery::guid()

◆ unpack() [1/3]

template<typename T >

void rti::sub::unpack	(	const dds::sub::SharedSamples< T > &	samples,
		std::vector< std::shared_ptr< const T > > &	sample_vector
	)

<<extension>> <<C++11>> Unpacks a SharedSamples collection into individual shared_ptr's in a vector

Note: #include <rti/sub/unpack.hpp>; This is a standalone function in the namespace rti::sub

This function creates a reference (not a copy) to each sample with valid data in a SharedSamples container and pushes it back into a vector.

Each individual sample in the vector retains a reference to the original SharedSamples that controls when the loan is returned. These references can be further shared. When all the references go out of scope, the loan is returned.

This can be also useful to insert samples from different calls to read()/take() into the same vector. It is however recommended to not hold these samples indefinitely, since they use internal resources.

Example:

dds::sub::SharedSamples<Foo> shared_samples = reader.take();
std::vector<std::shared_ptr<const Foo>> sample_vector;
rti::sub::unpack(shared_samples, sample_vector);
 
std::cout << *sample_vector[0] << std::endl;
 
// ...
 
// Read more samples, unpack them at the end of the same vector
shared_samples = reader.take();
rti::sub::unpack(shared_samples, sample_vector);
 
// References to the samples can be shared freely
std::shared_ptr<const Foo> sample = sample_vector[3];
 
// ...
 
// The loans will be returned automatically

Note: To finalize a DataReader, all the shared_ptr obtained via unpack() need to have been released. Otherwise DataReader::close() will fail with dds::core::PreconditionNotMetError.

Template Parameters

T	The topic-type

Parameters

samples	The collection of samples obtained from the DataReader
sample_vector	The destination where the samples are pushed back.

Referenced by dds::sub::SharedSamples< T, DELEGATE >::unpack().

◆ unpack() [2/3]

template<typename T >

std::vector< std::shared_ptr< const T > > rti::sub::unpack ( const dds::sub::SharedSamples< T > & samples )

<<extension>> <<C++11>> Unpacks a SharedSamples collection into individual shared_ptr's in a vector

Note: This is a standalone function in the namespace rti::sub

This overload returns a new vector instead of adding into an existing one.

See also: unpack(const dds::sub::SharedSamples<T>&, std::vector<std::shared_ptr<const T> >&)

◆ unpack() [3/3]

template<typename T >

std::vector< std::shared_ptr< const T > > rti::sub::unpack ( dds::sub::LoanedSamples< T > && samples )

<<extension>> <<C++11>> Unpacks a LoanedSamples collection into individual shared_ptr's in a vector

Note: This is a standalone function in the namespace rti::sub

This overload is a shortcut for unpack(SharedSamples<T>(loaned_samples)) to simplify code like the following:

auto sample_vector = unpack(reader.take());

See also: unpack(const dds::sub::SharedSamples<T>&, std::vector<std::shared_ptr<const T> >&)

Classes

Typedefs

Functions

Detailed Description

Function Documentation

◆ implicit_subscriber()

◆ matched_publication_participant_data()

◆ is_matched_publication_alive()

◆ matched_publication_data()

◆ find_subscribers() [1/2]

◆ find_subscribers() [2/2]

◆ find_subscriber()

◆ find_datareaders() [1/2]

◆ find_datareaders() [2/2]

◆ find_datareader_by_topic_name()

◆ find_datareader_by_name() [1/2]

◆ find_datareader_by_topic_description()

◆ find_datareader_by_name() [2/2]

◆ copy_to_sample()

◆ operator<<()

◆ begin() [1/2]

◆ begin() [2/2]

◆ end() [1/2]

◆ end() [2/2]

◆ swap()

◆ valid_data() [1/2]

◆ operator==()

◆ valid_data() [2/2]

◆ create_topic_query_data_from_service_request()

◆ find_topic_query()

◆ unpack() [1/3]

◆ unpack() [2/3]

◆ unpack() [3/3]