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RTI Connext DDS Micro C API
Version 3.0.3
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RTI Connext DDS Micro C API
Version 3.0.3
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DDS_DataWriter entity and associated elements More...
Macros | |
| #define | DDS_OfferedDeadlineMissedStatus_INITIALIZER |
| <<cert>> Initializer for new status instances. | |
| #define | DDS_LivelinessLostStatus_INITIALIZER |
| <<cert>> Initializer for new status instances. | |
| #define | DDS_OfferedIncompatibleQosStatus_INITIALIZER |
| <<cert>> Initializer for new status instances. | |
| #define | DDS_PublicationMatchedStatus_INITIALIZER |
| <<cert>> Initializer for new status instances. | |
| #define | DDS_ReliableReaderActivityChangedStatus_INITIALIZER |
| <<cert>> Initializer for new status instances. | |
| #define | DDS_DataWriterQos_INITIALIZER |
| <<cert>> Initializer for new QoS instances. | |
| #define | DDS_DataWriterListener_INITIALIZER |
| <<cert>> Initializer for new DDS_DataWriterListener. | |
Typedefs | |
| typedef struct DDS_DataWriterImpl | DDS_DataWriter |
| <<interface>> <<cert>> Allows an application to set the value of the data to be published under a given DDS_Topic. | |
| typedef void(* | DDS_DataWriterListener_OfferedDeadlineMissedCallback )(void *listener_data, DDS_DataWriter *writer, const struct DDS_OfferedDeadlineMissedStatus *status) |
| <<cert>> Prototype of a DDS_DataWriterListener on_offered_deadline_missed function. | |
| typedef void(* | DDS_DataWriterListener_LivelinessLostCallback )(void *listener_data, DDS_DataWriter *writer, const struct DDS_LivelinessLostStatus *status) |
| <<cert>> Prototype of a DDS_DataWriterListener on_liveliness_lost function. | |
| typedef void(* | DDS_DataWriterListener_OfferedIncompatibleQosCallback )(void *listener_data, DDS_DataWriter *writer, const struct DDS_OfferedIncompatibleQosStatus *status) |
| <<cert>> Prototype of a DDS_DataWriterListener on_offered_incompatible_qos function. | |
| typedef void(* | DDS_DataWriterListener_PublicationMatchedCallback )(void *listener_data, DDS_DataWriter *writer, const struct DDS_PublicationMatchedStatus *status) |
| <<cert>> Prototype of a DDS_DataWriterListener on_publication_matched function. | |
| typedef void(* | DDS_DataWriterListener_ReliableReaderActivityChangedCallback )(void *listener_data, DDS_DataWriter *writer, const struct DDS_ReliableReaderActivityChangedStatus *status) |
| <<eXtension>> <<cert>> A matched reliable reader has become active or become inactive. | |
| typedef void(* | DDS_DataWriterListener_ReliableSampleUnacknowledgedCallback )(void *listener_data, DDS_DataWriter *writer, const struct DDS_ReliableSampleUnacknowledgedStatus *status) |
| <<eXtension>> <<cert>> Unacknowledged samples are removed from the writer cache. | |
| typedef void(* | DDS_DataWriterListener_SampleRemovedCallback )(void *listener_data, DDS_DataWriter *writer, const struct DDS_Cookie_t *cookie) |
| <<eXtension>> <<cert>> Unacknowledged samples are removed from the writer cache. | |
Functions | |
| FooDataWriter * | FooDataWriter_narrow (DDS_DataWriter *writer) |
| Narrow the given DDS_DataWriter pointer to a FooDataWriter pointer. | |
| DDS_DataWriter * | FooDataWriter_as_datawriter (FooDataWriter *writer) |
| Widen the given FooDataWriter pointer to a DDS_DataWriter pointer. | |
| DDS_InstanceHandle_t | FooDataWriter_register_instance (FooDataWriter *self, const void *instance_data) |
| Informs RTI Connext DDS Micro that the application will be modifying a particular instance. | |
| DDS_InstanceHandle_t | FooDataWriter_register_instance_w_timestamp (FooDataWriter *self, const void *instance_data, const struct DDS_Time_t *source_timestamp) |
Performs the same functions as register_instance except that the application provides the value for the source_timestamp. | |
| DDS_ReturnCode_t | FooDataWriter_unregister_instance (FooDataWriter *self, const void *instance_data, const DDS_InstanceHandle_t *handle) |
| Reverses the action of FooDataWriter_register_instance. | |
| DDS_ReturnCode_t | FooDataWriter_unregister_instance_w_timestamp (FooDataWriter *self, const void *instance_data, const DDS_InstanceHandle_t *handle, const struct DDS_Time_t *source_timestamp) |
Performs the same function as FooDataWriter_unregister_instance except that it also provides the value for the source_timestamp. | |
| DDS_ReturnCode_t | FooDataWriter_dispose (FooDataWriter *self, const void *instance_data, const DDS_InstanceHandle_t *handle) |
| Requests the middleware to delete the data. | |
| DDS_ReturnCode_t | FooDataWriter_dispose_w_timestamp (FooDataWriter *self, const void *instance_data, const DDS_InstanceHandle_t *handle, const struct DDS_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 DDS_DataReader objects by means of the source_timestamp attribute inside the DDS_SampleInfo. | |
| DDS_ReturnCode_t | FooDataWriter_write (FooDataWriter *self, const void *instance_data, const DDS_InstanceHandle_t *handle) |
| Modifies the value of a data instance. | |
| DDS_ReturnCode_t | FooDataWriter_write_w_timestamp (FooDataWriter *self, const void *instance_data, const DDS_InstanceHandle_t *handle, const struct DDS_Time_t *source_timestamp) |
Performs the same function as FooDataWriter_write except that it also provides the value for the source_timestamp. | |
| void * | FooDataWriter_create_data (DDS_DataWriter *self) |
| Creates a data sample and initializes it. | |
| DDS_Boolean | FooDataWriter_delete_data (FooDataWriter *self, void *sample) |
| Destroys a user data type instance. | |
| DDS_ReturnCode_t | FooDataWriter_get_loan (TDataWriter *self, Foo **sample) |
| Gets a sample managed by the DataWriter. | |
| DDS_ReturnCode_t | FooDataWriter_discard_loan (TDataWriter *self, Foo *sample) |
| Returns a loaned sample back to the DataWriter. | |
| DDS_ReturnCode_t | DDS_DataWriterQos_initialize (struct DDS_DataWriterQos *self) |
| Initializer for new QoS instances. | |
| DDS_ReturnCode_t | DDS_DataWriterQos_copy (struct DDS_DataWriterQos *self, const struct DDS_DataWriterQos *source) |
| Copy the contents of the given QoS into this QoS. | |
| DDS_ReturnCode_t | DDS_DataWriterQos_finalize (struct DDS_DataWriterQos *self) |
| Free any dynamic memory allocated by the policies in this DDS_DataWriterQos. | |
| DDS_Entity * | DDS_DataWriter_as_entity (DDS_DataWriter *dataWriter) |
| <<cert>> Access a DDS_DataWriter's supertype instance. | |
| DDS_ReturnCode_t | DDS_DataWriter_assert_liveliness (DDS_DataWriter *self) |
| <<cert>> This operation manually asserts the liveliness of this DDS_DataWriter. | |
| DDS_ReturnCode_t | DDS_DataWriter_get_matched_subscriptions (DDS_DataWriter *self, struct DDS_InstanceHandleSeq *subscription_handles) |
| Retrieve the list of subscriptions currently "associated" with this DDS_DataWriter. | |
| DDS_ReturnCode_t | DDS_DataWriter_get_matched_subscription_data (DDS_DataWriter *self, struct DDS_SubscriptionBuiltinTopicData *subscription_data, const DDS_InstanceHandle_t *subscription_handle) |
| This operation retrieves the information on a subscription that is currently "associated" with the DDS_DataWriter. | |
| DDS_Topic * | DDS_DataWriter_get_topic (DDS_DataWriter *self) |
| <<cert>> This operation returns the DDS_Topic associated with the DDS_DataWriter. | |
| DDS_Publisher * | DDS_DataWriter_get_publisher (DDS_DataWriter *self) |
| <<cert>> This operation returns the DDS_Publisher to which the DDS_DataWriter belongs. | |
| DDS_ReturnCode_t | DDS_DataWriter_get_liveliness_lost_status (DDS_DataWriter *self, struct DDS_LivelinessLostStatus *status) |
| <<cert>> Accesses the DDS_LIVELINESS_LOST_STATUS communication status. | |
| DDS_ReturnCode_t | DDS_DataWriter_get_offered_deadline_missed_status (DDS_DataWriter *self, struct DDS_OfferedDeadlineMissedStatus *status) |
| <<cert>> Accesses the DDS_OFFERED_DEADLINE_MISSED_STATUS communication status. | |
| DDS_ReturnCode_t | DDS_DataWriter_get_offered_incompatible_qos_status (DDS_DataWriter *self, struct DDS_OfferedIncompatibleQosStatus *status) |
| <<cert>> Accesses the DDS_OFFERED_INCOMPATIBLE_QOS_STATUS communication status. | |
| DDS_ReturnCode_t | DDS_DataWriter_get_publication_matched_status (DDS_DataWriter *self, struct DDS_PublicationMatchedStatus *status) |
| <<cert>> Accesses the DDS_PUBLICATION_MATCHED_STATUS communication status. | |
| DDS_ReturnCode_t | DDS_DataWriter_get_reliable_reader_activity_changed_status (DDS_DataWriter *self, struct DDS_ReliableReaderActivityChangedStatus *status) |
| <<cert>> Get the reliable reader activity changed status for this writer. | |
| DDS_ReturnCode_t | DDS_DataWriter_set_qos (DDS_DataWriter *self, const struct DDS_DataWriterQos *qos) |
| Sets the writer QoS. | |
| DDS_ReturnCode_t | DDS_DataWriter_get_qos (DDS_DataWriter *self, struct DDS_DataWriterQos *qos) |
| Gets the writer QoS. | |
| DDS_ReturnCode_t | DDS_DataWriter_set_listener (DDS_DataWriter *self, const struct DDS_DataWriterListener *listener, DDS_StatusMask mask) |
| Sets the writer listener. | |
| struct DDS_DataWriterListener | DDS_DataWriter_get_listener (DDS_DataWriter *self) |
| Get the writer listener. | |
DDS_DataWriter entity and associated elements
| #define DDS_OfferedDeadlineMissedStatus_INITIALIZER |
<<cert>> Initializer for new status instances.
New DDS_OfferedDeadlineMissedStatus instances stored on the stack should be initialized with this value before they are passed to any function. This step ensures that those fields that use dynamic memory are properly initialized. This does not allocate memory.
The simplest way to create a status structure is to initialize it on the stack at the time of its creation.
| #define DDS_LivelinessLostStatus_INITIALIZER |
<<cert>> Initializer for new status instances.
New DDS_LivelinessLostStatus instances stored on the stack should be initialized with this value before they are passed to any function. This step ensures that those fields that use dynamic memory are properly initialized. This does not allocate memory.
The simplest way to create a status structure is to initialize it on the stack at the time of its creation.
| #define DDS_OfferedIncompatibleQosStatus_INITIALIZER |
<<cert>> Initializer for new status instances.
New DDS_OfferedIncompatibleQosStatus instances stored on the stack should be initialized with this value before they are passed to any function. This step ensures that those fields that use dynamic memory are properly initialized. This does not allocate memory.
The simplest way to create a status structure is to initialize it on the stack at the time of its creation.
| #define DDS_PublicationMatchedStatus_INITIALIZER |
<<cert>> Initializer for new status instances.
New DDS_PublicationMatchedStatus instances stored on the stack should be initialized with this value before they are passed to any function. This step ensures that those fields that use dynamic memory are properly initialized. This does not allocate memory.
The simplest way to create a status structure is to initialize it on the stack at the time of its creation.
| #define DDS_ReliableReaderActivityChangedStatus_INITIALIZER |
<<cert>> Initializer for new status instances.
New DDS_ReliableReaderActivityChangedStatus instances stored on the stack should be initialized with this value before they are passed to any function. This step ensures that those fields that use dynamic memory are properly initialized. This does not allocate memory.
The simplest way to create a status structure is to initialize it on the stack at the time of its creation.
| #define DDS_DataWriterQos_INITIALIZER |
<<cert>> Initializer for new QoS instances.
New DDS_DataWriterQos instances stored on the stack should be initialized with this value before they are passed to any function. This step ensures that those contained QoS policies that use dynamic memory are properly initialized. This does not allocate memory.
The simplest way to create a new QoS structure is to initialize it on the stack at the time of its creation:
| #define DDS_DataWriterListener_INITIALIZER |
<<cert>> Initializer for new DDS_DataWriterListener.
All the new DDS_DataWriterListener instances allocated in the stack should be initialized to this value.No memory is allocated.
| typedef struct DDS_DataWriterImpl DDS_DataWriter |
<<interface>> <<cert>> Allows an application to set the value of the data to be published under a given DDS_Topic.
A DDS_DataWriter is attached to exactly one DDS_Publisher, that acts as a factory for it.
A DDS_DataWriter is bound to exactly one DDS_Topic and therefore to exactly one data type. The DDS_Topic must exist prior to the DDS_DataWriter's creation.
DDS_DataWriter is an abstract class. It must be specialized for each particular application data-type. The additional methods or functions that must be defined in the auto-generated class for a hypothetical application type Foo are specified in the example type DDS_DataWriter.
The following operations may be called even if the DDS_DataWriter is not enabled. Other operations will fail with DDS_RETCODE_NOT_ENABLED if called on a disabled DDS_DataWriter:
Several DDS_DataWriter may operate in different threads. If they share the same DDS_Publisher, the middleware guarantees that its operations are thread-safe.
| typedef void(* DDS_DataWriterListener_OfferedDeadlineMissedCallback)(void *listener_data, DDS_DataWriter *writer, const struct DDS_OfferedDeadlineMissedStatus *status) |
<<cert>> Prototype of a DDS_DataWriterListener on_offered_deadline_missed function.
| typedef void(* DDS_DataWriterListener_LivelinessLostCallback)(void *listener_data, DDS_DataWriter *writer, const struct DDS_LivelinessLostStatus *status) |
<<cert>> Prototype of a DDS_DataWriterListener on_liveliness_lost function.
| listener_data | <<out>> Data associated with the listener when the listener is set |
| writer | <<out>> Locally created DDS_DataWriter that triggers the listener callback |
| status | <<out>> Current liveliness lost status of the locally created DDS_DataWriter |
| typedef void(* DDS_DataWriterListener_OfferedIncompatibleQosCallback)(void *listener_data, DDS_DataWriter *writer, const struct DDS_OfferedIncompatibleQosStatus *status) |
<<cert>> Prototype of a DDS_DataWriterListener on_offered_incompatible_qos function.
| listener_data | <<out>> Data associated with the listener when the listener is set |
| writer | <<out>> Locally created DDS_DataWriter that triggers the listener callback |
| status | <<out>> Current offered incompatible qos status of the locally created DDS_DataWriter |
| typedef void(* DDS_DataWriterListener_PublicationMatchedCallback)(void *listener_data, DDS_DataWriter *writer, const struct DDS_PublicationMatchedStatus *status) |
<<cert>> Prototype of a DDS_DataWriterListener on_publication_matched function.
| typedef void(* DDS_DataWriterListener_ReliableReaderActivityChangedCallback)(void *listener_data, DDS_DataWriter *writer, const struct DDS_ReliableReaderActivityChangedStatus *status) |
<<eXtension>> <<cert>> A matched reliable reader has become active or become inactive.
| listener_data | <<out>> Data associated with the listener when the listener is set |
| writer | <<out>> Locally created DDS_DataWriter that triggers the listener callback |
| status | <<out>> Current reliable reader activity changed status of the locally created DDS_DataWriter |
| typedef void(* DDS_DataWriterListener_ReliableSampleUnacknowledgedCallback)(void *listener_data, DDS_DataWriter *writer, const struct DDS_ReliableSampleUnacknowledgedStatus *status) |
<<eXtension>> <<cert>> Unacknowledged samples are removed from the writer cache.
| listener_data | <<out>> Data associated with the listener when the listener is set |
| writer | <<out>> Locally created DDS_DataWriter that triggers the listener callback |
| status | <<out>> Unacknowledged sample status for DDS_DataWriter |
| typedef void(* DDS_DataWriterListener_SampleRemovedCallback)(void *listener_data, DDS_DataWriter *writer, const struct DDS_Cookie_t *cookie) |
<<eXtension>> <<cert>> Unacknowledged samples are removed from the writer cache.
| listener_data | <<out>> Data associated with the listener when the listener is set |
| writer | <<out>> Locally created DDS_DataWriter that triggers the listener callback |
| status | <<out>> Unacknowledged sample status for DDS_DataWriter |
| FooDataWriter* FooDataWriter_narrow | ( | DDS_DataWriter * | writer | ) |
Narrow the given DDS_DataWriter pointer to a FooDataWriter pointer.
Check if the given writer is of type FooDataWriter.
| writer | <<in>> Cannot be NULL. |
| writer | <<in>> Base-class DDS_DataWriter to be converted to the auto-generated class FooDataWriter that extends DDS_DataWriter. |
writer is of type Foo. Return NULL otherwise. | DDS_DataWriter* FooDataWriter_as_datawriter | ( | FooDataWriter * | writer | ) |
Widen the given FooDataWriter pointer to a DDS_DataWriter pointer.
| writer | <<in>> Cannot be NULL. |
| writer | <<in>> auto-generated FooDataWriter to be converted to the Base-class DDS_DataWriter. |
| DDS_InstanceHandle_t FooDataWriter_register_instance | ( | FooDataWriter * | self, |
| const void * | instance_data | ||
| ) |
Informs RTI Connext DDS Micro 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 DDS_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 DDS Micro 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 DDS_HANDLE_NIL as the DDS_InstanceHandle_t paramater to the write or dispose operation and RTI Connext DDS Micro will auto-register the instance.
For best performance, the operation should be invoked prior to calling any operation that modifies the instance, such as FooDataWriter_write, FooDataWriter_write_w_timestamp, FooDataWriter_dispose and FooDataWriter_dispose_w_timestamp and the handle used in conjunction with the data for those calls.
When this operation is used, RTI Connext DDS Micro will automatically supply the value of the source_timestamp that is used.
This operation may fail and return DDS_HANDLE_NIL if DDS_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 DDS_DataWriter has been enabled. Otherwise, DDS_HANDLE_NIL will be returned.
| self | <<in>> Cannot be NULL. |
| 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. . |
| DDS_InstanceHandle_t FooDataWriter_register_instance_w_timestamp | ( | FooDataWriter * | self, |
| const void * | instance_data, | ||
| const struct DDS_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.
This operation may fail and return DDS_HANDLE_NIL if DDS_ResourceLimitsQosPolicy::max_instances limit has been exceeded.
This operation can only be called after DDS_DataWriter has been enabled. Otherwise, DDS_HANDLE_NIL will be returned.
| self | <<in>> Cannot be NULL. |
| 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. |
| DDS_ReturnCode_t FooDataWriter_unregister_instance | ( | FooDataWriter * | self, |
| const void * | instance_data, | ||
| const DDS_InstanceHandle_t * | handle | ||
| ) |
Reverses the action of 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 FooDataWriter_register_instance. Otherwise, this operation may fail with DDS_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 DDS Micro will automatically supply the value of the source_timestamp that is used.
This operation informs RTI Connext DDS Micro that the DDS_DataWriter is no longer going to provide any information about the instance. This operation also indicates that RTI Connext DDS Micro can locally remove all information regarding that instance. The application should not attempt to use the handle previously allocated to that instance after calling FooDataWriter_unregister_instance().
The special value DDS_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 DDS_HANDLE_NIL, then it must correspond to an instance that has been registered. If there is no correspondence, the operation will fail with DDS_RETCODE_BAD_PARAMETER.
RTI Connext DDS Micro will not detect the error when the handle is any value other than DDS_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 DDS Micro will treat as if the unregister_instance() operation is for the instance as indicated by the handle.
If after a FooDataWriter_unregister_instance, the application wants to modify (FooDataWriter_write or FooDataWriter_dispose) an instance, it has to register it again, or else use the special handle value DDS_HANDLE_NIL.
This operation does not indicate that the instance is deleted (that is the purpose of FooDataWriter_dispose). The operation FooDataWriter_unregister_instance just indicates that the DDS_DataWriter no longer has anything to say about the instance. DDS_DataReader entities that are reading the instance may receive a sample with DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE for the instance, unless there are other DDS_DataWriter objects writing that same instance.
This operation can affect the ownership of the data instance (see OWNERSHIP). If the DDS_DataWriter was the exclusive owner of the instance, then calling unregister_instance() will relinquish that ownership.
If DDS_ReliabilityQosPolicy::kind is set to DDS_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 DDS_ReliabilityQosPolicy::max_blocking_time; if this writer is still unable to unregister after that period, this function will fail with DDS_RETCODE_TIMEOUT.
| instance_data | <<in>> The instance that should be unregistered. If Foo has a key and instance_handle is DDS_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 function may fail with DDS_RETCODE_BAD_PARAMETER . If Foo has a key, instance_data can be NULL only if handle is not DDS_HANDLE_NIL. Otherwise, this function will fail with DDS_RETCODE_BAD_PARAMETER. |
| handle | <<in>> represents the instance to be unregistered. If Foo has a key and handle is DDS_HANDLE_NIL, handle is not used and instance is deduced from instance_data. If Foo has no key, handle is not used. If handle is used, it must represent an instance that has been registered. Otherwise, this function may fail with DDS_RETCODE_BAD_PARAMETER. This function will fail with DDS_RETCODE_BAD_PARAMETER if handle is NULL. If Foo has a key, handle cannot be DDS_HANDLE_NIL if instance_data is NULL. Otherwise, this function will report the error DDS_RETCODE_BAD_PARAMETER. |
| self | <<in>> Cannot be NULL. |
| DDS_ReturnCode_t FooDataWriter_unregister_instance_w_timestamp | ( | FooDataWriter * | self, |
| const void * | instance_data, | ||
| const DDS_InstanceHandle_t * | handle, | ||
| const struct DDS_Time_t * | source_timestamp | ||
| ) |
Performs the same function as 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.
The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the FooDataWriter_unregister_instance operation.
This operation may block and may time out (DDS_RETCODE_TIMEOUT) under the same circumtances described for the unregister_instance operation.
| self | <<in>> Cannot be NULL. |
| instance_data | <<in>> The instance that should be unregistered. If Foo has a key and instance_handle is DDS_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 function may fail with DDS_RETCODE_BAD_PARAMETER. If Foo has a key, instance_data can be NULL only if handle is not DDS_HANDLE_NIL. Otherwise, this function will fail with DDS_RETCODE_BAD_PARAMETER. |
| handle | <<in>> represents the instance to be unregistered. If Foo has a key and handle is DDS_HANDLE_NIL, handle is not used and instance is deduced from instance_data. If Foo has no key, handle is not used. If handle is used, it must represent an instance that has been registered. Otherwise, this function may fail with DDS_RETCODE_BAD_PARAMETER. This function will fail with DDS_RETCODE_BAD_PARAMETER if handle is NULL. If Foo has a key, handle cannot be DDS_HANDLE_NIL if instance_data is NULL. Otherwise, this function will fail with DDS_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. |
| DDS_ReturnCode_t FooDataWriter_dispose | ( | FooDataWriter * | self, |
| const void * | instance_data, | ||
| const DDS_InstanceHandle_t * | 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 DDS_DataReader objects that already knew that instance. DDS_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 DDS Micro will automatically supply the value of the source_timestamp that is made available to DDS_DataReader objects by means of the source_timestamp attribute inside the DDS_SampleInfo.
The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the FooDataWriter_unregister_instance operation.
The special value DDS_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 DDS_HANDLE_NIL, then it must correspond to an instance that has been registered. If there is no correspondence, the operation will fail with DDS_RETCODE_BAD_PARAMETER.
RTI Connext DDS Micro will not detect the error when the handle is any value other than DDS_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 DDS Micro will treat as if the dispose() operation is for the instance as indicated by the handle.
This operation may block and time out (DDS_RETCODE_TIMEOUT) under the same circumtances described for FooDataWriter_write().
If there are no instance resources left, this operation may fail with DDS_RETCODE_OUT_OF_RESOURCES. Calling FooDataWriter_unregister_instance may help freeing up some resources.
| self | <<in>> Cannot be NULL. |
| instance_data | <<in>> The data to dispose. If Foo has a key and instance_handle is DDS_HANDLE_NIL, only the fields that represent the key are examined by the function. Otherwise, instance_data is not used. If Foo has a key, instance_data can be NULL only if instance_handle is not DDS_HANDLE_NIL. Otherwise, this function will fail with DDS_RETCODE_BAD_PARAMETER. |
| handle | <<in>> Either the handle returned by a previous call to FooDataWriter_register_instance, or else the special value DDS_HANDLE_NIL. If Foo has a key and instance_handle is DDS_HANDLE_NIL, instance_handle is not used and instance is deduced from instance_data. If Foo has no key, instance_handle is not used. If handle is used, it must represent a registered instance of type Foo. Otherwise, this function fail with DDS_RETCODE_BAD_PARAMETER. This function will fail with DDS_RETCODE_BAD_PARAMETER if handle is NULL. If Foo has a key, instance_handle cannot be DDS_HANDLE_NIL if instance_data is NULL. Otherwise, this function will fail with DDS_RETCODE_BAD_PARAMETER. |
| DDS_ReturnCode_t FooDataWriter_dispose_w_timestamp | ( | FooDataWriter * | self, |
| const void * | instance_data, | ||
| const DDS_InstanceHandle_t * | handle, | ||
| const struct DDS_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 DDS_DataReader objects by means of the source_timestamp attribute inside the DDS_SampleInfo.
The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the FooDataWriter_dispose operation.
This operation may block and time out (DDS_RETCODE_TIMEOUT) under the same circumtances described for FooDataWriter_write.
If there are no instance resources left, this operation may fail with DDS_RETCODE_OUT_OF_RESOURCES. Calling FooDataWriter_unregister_instance may help freeing up some resources.
| self | <<in>> Cannot be NULL. |
| instance_data | <<in>> The data to dispose. If Foo has a key and instance_handle is DDS_HANDLE_NIL, only the fields that represent the key are examined by the function. Otherwise, instance_data is not used. If Foo has a key, instance_data can be NULL only if instance_handle is not DDS_HANDLE_NIL. Otherwise, this function will fail with DDS_RETCODE_BAD_PARAMETER. |
| handle | <<in>> Either the handle returned by a previous call to FooDataWriter_register_instance, or else the special value DDS_HANDLE_NIL. If Foo has a key and instance_handle is DDS_HANDLE_NIL, instance_handle is not used and instance is deduced from instance_data. If Foo has no key, instance_handle is not used. If handle is used, it must represent a registered instance of type Foo. Otherwise, this function may fail with DDS_RETCODE_BAD_PARAMETER This function will fail with DDS_RETCODE_BAD_PARAMETER if handle is NULL. If Foo has a key, instance_handle cannot be DDS_HANDLE_NIL if instance_data is NULL. Otherwise, this function will fail with DDS_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 DDS_DataReader objects by means of the source_timestamp attribute inside the DDS_SampleInfo. Cannot be NULL. |
| DDS_ReturnCode_t FooDataWriter_write | ( | FooDataWriter * | self, |
| const void * | instance_data, | ||
| const DDS_InstanceHandle_t * | handle | ||
| ) |
Modifies the value of a data instance.
When this operation is used, RTI Connext DDS Micro will automatically supply the value of the source_timestamp that is made available to DDS_DataReader objects by means of the source_timestamp attribute inside the DDS_SampleInfo. (Refer to DDS_SampleInfo details).
As a side effect, this operation asserts liveliness on the DDS_DataWriter itself, the DDS_Publisher and the DDS_DomainParticipant.
Note that the special value DDS_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 DDS_HANDLE_NIL, then it must correspond to an instance that has been registered. If there is no correspondence, the operation will fail with DDS_RETCODE_BAD_PARAMETER.
RTI Connext DDS Micro will not detect the error when the handle is any value other than DDS_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 DDS Micro 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 DDS_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 DDS_HistoryQosPolicyKind is DDS_KEEP_LAST_HISTORY_QOS:
max_samples resource limit is exhausted, RTI Connext DDS Micro 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 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 DDS_DataWriter is able to store the modification without exceeding the limits, the operation will time out (DDS_RETCODE_TIMEOUT).
If there are no instance resources left, this operation may fail with DDS_RETCODE_OUT_OF_RESOURCES. Calling FooDataWriter_unregister_instance may help freeing up some resources.
| self | <<in>> Cannot be NULL. |
| instance_data | <<in>> The data to write. This function will fail with DDS_RETCODE_BAD_PARAMETER if instance_data is NULL. |
| handle | <<in>> Either the handle returned by a previous call to FooDataWriter_register_instance, or else the special value DDS_HANDLE_NIL. If Foo has a key and handle is not DDS_HANDLE_NIL, handle must represent a registered instance of type Foo. Otherwise, this function may fail with DDS_RETCODE_BAD_PARAMETER. This function will fail with DDS_RETCODE_BAD_PARAMETER if handle is NULL. |
| DDS_ReturnCode_t FooDataWriter_write_w_timestamp | ( | FooDataWriter * | self, |
| const void * | instance_data, | ||
| const DDS_InstanceHandle_t * | handle, | ||
| const struct DDS_Time_t * | source_timestamp | ||
| ) |
Performs the same function as FooDataWriter_write except that it also provides the value for the source_timestamp.
Explicitly provides the timestamp that will be available to the DDS_DataReader objects by means of the source_timestamp attribute inside the DDS_SampleInfo. (Refer to DDS_SampleInfo details)
The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the FooDataWriter_write operation.
This operation may block and time out (DDS_RETCODE_TIMEOUT) under the same circumtances described for FooDataWriter_write.
If there are no instance resources left, this operation may fail with DDS_RETCODE_OUT_OF_RESOURCES. Calling FooDataWriter_unregister_instance may help free up some resources.
This operation may fail with DDS_RETCODE_BAD_PARAMETER under the same circumstances described for the write operation.
| self | <<in>> Cannot be NULL. |
| instance_data | <<in>> The data to write. This function will fail with DDS_RETCODE_BAD_PARAMETER if instance_data is NULL. |
| handle | <<in>> Either the handle returned by a previous call to FooDataWriter_register_instance, or else the special value DDS_HANDLE_NIL. If Foo has a key and handle is not DDS_HANDLE_NIL, handle must represent a registered instance of type Foo. Otherwise, this function may fail with DDS_RETCODE_BAD_PARAMETER. This function will fail with DDS_RETCODE_BAD_PARAMETER if handle is 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. This timestamp will be available to the DDS_DataReader objects by means of the source_timestamp attribute inside the DDS_SampleInfo. Cannot be NULL. |
| void* FooDataWriter_create_data | ( | DDS_DataWriter * | self | ) |
Creates a data sample and initializes it.
The behavior of this API is identical to FooTypeSupport_create_data.
| self | <<in>> Cannot be NULL. |
| DDS_Boolean FooDataWriter_delete_data | ( | FooDataWriter * | self, |
| void * | sample | ||
| ) |
Destroys a user data type instance.
The behavior of this API is identical to FooTypeSupport_delete_data.
| DDS_ReturnCode_t FooDataWriter_get_loan | ( | TDataWriter * | self, |
| Foo ** | sample | ||
| ) |
Gets a sample managed by the DataWriter.
This operation is supported while using "Zero Copy transfer over shared memory" or "FlatData language binding".
The loaned sample is obtained from a DataWriter-managed sample pool and is uninitialized by default. An initialized sample can be obtained by setting DDS_DataWriterResourceLimitsQosPolicy::initialize_writer_loaned_sample to DDS_BOOLEAN_TRUE. The DDS_DataWriterResourceLimitsQosPolicy::writer_loaned_sample_allocation settings can be used to configure the DataWriter-managed sample pool.
FooDataWriter_get_loan fails with DDS_RETCODE_OUT_OF_RESOURCES if DDS_DataWriterResourceLimitsQosPolicy::writer_loaned_sample_allocation samples have been loaned, and none of those samples has been written with FooDataWriter_write or discarded via FooDataWriter_discard_loan.
Samples returned from FooDataWriter_get_loan have an associated state. Due to the optimized nature of the write operation while using Zero Copy transfer over shared memory or FlatData language binding, this sample state is used to control when a sample is available for reuse after the write operation. The possible sample states are free, allocated, removed or serialized. A sample that has never been allocated is "free". FooDataWriter_get_loan takes a "free" or "removed" sample and makes it "allocated". When a sample is written, its state transitions from "allocated" to "serialized", and the DataWriter takes responsibility for returning the sample back to its sample pool. The sample remains in the "serialized" state until it is removed from the DataWriter queue. For a reliable DataWriter, the sample is removed from the DataWriter's queue when the sample is acknowledged by all DataReaders. For a best-effort DataWriter, the sample is removed from the queue immediately after the write operation. After the sample is removed from the DataWriter queue, the sample is put back into the sample pool, and its state transitions from "serialized" to "removed". At this time, a new call to FooDataWriter_get_loan may return the same sample.
A loaned sample should not be reused to write a new value after the first write operation. Instead, a new sample from FooDataWriter_get_loan should be used to write the new value.
A loaned sample that has not been written can be returned to the DataWriter's sample pool by using FooDataWriter_discard_loan.
If the write operation fails, then the sample can be used again with a write or discard_loan operation. Disposing or unregistering an instance with loaned samples follows the same pattern. A loaned sample used successfully with a dispose or unregister operation cannot be used again. But if the dispose or unregister operation fails, the sample is available for reuse.
A DataWriter writing a type annotated with @transfer_mode(SHMEM_REF) or @language_binding(FLAT_DATA) cannot write unmanaged samples that have not been returned from FooDataWriter_get_loan.
| self | <<in>> Cannot be NULL. |
| sample | <<inout>> address of a user data type pointer. The loaned sample is returned via this sample. |
| DDS_ReturnCode_t FooDataWriter_discard_loan | ( | TDataWriter * | self, |
| Foo * | sample | ||
| ) |
Returns a loaned sample back to the DataWriter.
This operation is supported while using "Zero Copy transfer over shared memory" or the "FlatData language binding".
A loaned sample that hasn't been written can be returned to the DataWriter with this operation.
| DDS_ReturnCode_t DDS_DataWriterQos_initialize | ( | struct DDS_DataWriterQos * | self | ) |
Initializer for new QoS instances.
New DDS_DataWriterQos instances on heap should be initialized with this function before they are passed to any function. This step ensures that those contained QoS policies that use dynamic memory are properly initialized. This function does not allocate memory.
| self | <<in>> Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriterQos_copy | ( | struct DDS_DataWriterQos * | self, |
| const struct DDS_DataWriterQos * | source | ||
| ) |
Copy the contents of the given QoS into this QoS.
DDS_DataWriterQos instances can use dynamic memory because of the sequences contained in some QoS policies. A shallow copy by assignment is therefore unsafe. This function performs a deep-copy, allocating memory if necessary.
| self | <<in>> Cannot be NULL. |
| source | <<in>> The DDS_DataWriterQos to copy from. |
| DDS_ReturnCode_t DDS_DataWriterQos_finalize | ( | struct DDS_DataWriterQos * | self | ) |
Free any dynamic memory allocated by the policies in this DDS_DataWriterQos.
Some QoS policies may use dynamic memory (regardless of whether the QoS itself is in dynamic memory). This function frees that memory but otherwise leaves this QoS unchanged. It should be called on all instances before they are freed (or, in the case of stack-based instances, before they go out of scope).
This function does not leave this object in an invalid state. It is permissable to clear a QoS and then subsequently allocate new dynamic memory in one or more of its QoS policies.
Note that if this QoS instance is stored in heap memory, calling this function will not call free() on it; the user is responsible for explicitly freeing any heap-based QoS instance after calling this function.
| self | <<in>> Cannot be NULL. |
| DDS_Entity* DDS_DataWriter_as_entity | ( | DDS_DataWriter * | dataWriter | ) |
<<cert>> Access a DDS_DataWriter's supertype instance.
| dataWriter | <<in>> Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_assert_liveliness | ( | DDS_DataWriter * | self | ) |
<<cert>> This operation manually asserts the liveliness of this DDS_DataWriter.
This is used in combination with the LIVELINESS policy to indicate to RTI Connext DDS Micro that the DDS_DataWriter remains active.
You only need to use this operation if the LIVELINESS setting is DDS_MANUAL_BY_TOPIC_LIVELINESS_QOS. Otherwise, it has no effect.
Note: writing data via the FooDataWriter_write or FooDataWriter_write_w_timestamp operation asserts liveliness on the DDS_DataWriter itself, and its DDS_DomainParticipant. Consequently the use of assert_liveliness() is only needed if the application is not writing data regularly.
| self | <<in>> Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_get_matched_subscriptions | ( | DDS_DataWriter * | self, |
| struct DDS_InstanceHandleSeq * | subscription_handles | ||
| ) |
Retrieve the list of subscriptions currently "associated" with this DDS_DataWriter.
Matched subscriptions include all those in the same domain that have a matching DDS_Topic, compatible QoS and common partition .
The handles returned in the subscription_handles list are the ones that are used by the DDS implementation to locally identify the corresponding matched DDS_DataReader entities. These handles match the ones that appear in the DDS_SampleInfo::instance_handle field of the DDS_SampleInfo when reading the DDS_SUBSCRIPTION_TOPIC_NAME builtin topic.
Handles of all the matched subscriptions.
The sequence will be grown if the sequence has ownership and the system has the corresponding resources. Use a sequence without ownership to avoid dynamic memory allocation. If the sequence is too small to store all the matches and the system can not resize the sequence, this function will fail with DDS_RETCODE_OUT_OF_RESOURCES.
The maximum number of matches possible is configured with DDS_DomainParticipantResourceLimitsQosPolicy. You can use a zero-maximum sequence without ownership to quickly check whether there are any matches without allocating any memory. Cannot be NULL. .
| DDS_ReturnCode_t DDS_DataWriter_get_matched_subscription_data | ( | DDS_DataWriter * | self, |
| struct DDS_SubscriptionBuiltinTopicData * | subscription_data, | ||
| const DDS_InstanceHandle_t * | subscription_handle | ||
| ) |
This operation retrieves the information on a subscription that is currently "associated" with the DDS_DataWriter.
The subscription_handle must correspond to a subscription currently associated with the DDS_DataWriter. Otherwise, the operation will fail and fail with DDS_RETCODE_BAD_PARAMETER. Use DDS_DataWriter_get_matched_subscriptions to find the subscriptions that are currently matched with the DDS_DataWriter.
| self | <<in>> Cannot be NULL. |
| subscription_data | <<inout>>. The information to be filled in on the associated subscription. Cannot be NULL. |
| subscription_handle | <<in>>. Handle to a specific subscription associated with the DDS_DataReader. Cannot be NULL. . Must correspond to a subscription currently associated with the DDS_DataWriter. |
| DDS_Topic* DDS_DataWriter_get_topic | ( | DDS_DataWriter * | self | ) |
<<cert>> This operation returns the DDS_Topic associated with the DDS_DataWriter.
This is the same DDS_Topic that was used to create the DDS_DataWriter.
| self | <<in>> Cannot be NULL. |
| DDS_Publisher* DDS_DataWriter_get_publisher | ( | DDS_DataWriter * | self | ) |
<<cert>> This operation returns the DDS_Publisher to which the DDS_DataWriter belongs.
| self | <<in>> Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_get_liveliness_lost_status | ( | DDS_DataWriter * | self, |
| struct DDS_LivelinessLostStatus * | status | ||
| ) |
<<cert>> Accesses the DDS_LIVELINESS_LOST_STATUS communication status.
| self | <<in>> Cannot be NULL. |
| status | <<inout>> DDS_LivelinessLostStatus to be filled in. Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_get_offered_deadline_missed_status | ( | DDS_DataWriter * | self, |
| struct DDS_OfferedDeadlineMissedStatus * | status | ||
| ) |
<<cert>> Accesses the DDS_OFFERED_DEADLINE_MISSED_STATUS communication status.
| self | <<in>> Cannot be NULL. |
| status | <<inout>> DDS_OfferedDeadlineMissedStatus to be filled in. Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_get_offered_incompatible_qos_status | ( | DDS_DataWriter * | self, |
| struct DDS_OfferedIncompatibleQosStatus * | status | ||
| ) |
<<cert>> Accesses the DDS_OFFERED_INCOMPATIBLE_QOS_STATUS communication status.
| self | <<in>> Cannot be NULL. |
| status | <<inout>> DDS_OfferedIncompatibleQosStatus to be filled in. Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_get_publication_matched_status | ( | DDS_DataWriter * | self, |
| struct DDS_PublicationMatchedStatus * | status | ||
| ) |
<<cert>> Accesses the DDS_PUBLICATION_MATCHED_STATUS communication status.
| self | <<in>> Cannot be NULL. |
| status | <<inout>> DDS_PublicationMatchedStatus to be filled in. Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_get_reliable_reader_activity_changed_status | ( | DDS_DataWriter * | self, |
| struct DDS_ReliableReaderActivityChangedStatus * | status | ||
| ) |
<<cert>> Get the reliable reader activity changed status for this writer.
| self | <<in>> Cannot be NULL. |
| status | <<inout>> DDS_ReliableReaderActivityChangedStatus to be filled in. Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_set_qos | ( | DDS_DataWriter * | self, |
| const struct DDS_DataWriterQos * | qos | ||
| ) |
Sets the writer QoS.
This operation modifies the QoS of the DDS_DataWriter.
The DDS_DataWriterQos::deadline and DDS_DataWriterQos::ownership_strength, can be changed. The other policies are immutable.
| self | <<in>> Cannot be NULL. |
| qos | <<in>> The DDS_DataWriterQos to be set to. Policies must be consistent. Policies cannot be changed after DDS_DataWriter is enabled. The special value DDS_DATAWRITER_QOS_DEFAULT can be used to indicate that the QoS of the DDS_DataWriter should be changed to match the current default DDS_DataWriterQos set in the DDS_Publisher. Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_get_qos | ( | DDS_DataWriter * | self, |
| struct DDS_DataWriterQos * | qos | ||
| ) |
Gets the writer QoS.
This function may potentially allocate memory depending on the sequences contained in some QoS policies.
| self | <<in>> Cannot be NULL. |
| qos | <<inout>> The DDS_DataWriterQos to be filled up. Cannot be NULL. |
| DDS_ReturnCode_t DDS_DataWriter_set_listener | ( | DDS_DataWriter * | self, |
| const struct DDS_DataWriterListener * | listener, | ||
| DDS_StatusMask | mask | ||
| ) |
Sets the writer listener.
| self | <<in>> Cannot be NULL. |
| listener | <<in>> DDS_DataWriterListener to set to |
| mask | <<in>> DDS_StatusMask associated with the DDS_DataWriterListener. The callback function on the listener cannot be NULL if the corresponding status is turned on in the mask. |
|
read |
Get the writer listener.
| self | <<in>> Cannot be NULL. |
RTI Connext DDS Micro C API Version 3.0.3
Copyright © Wed Jun 24 2020
Real-Time Innovations, Inc