internal void FromNative(DataWriterQosWrapper wrapper)
{
Durability = wrapper.Durability;
DurabilityService = wrapper.DurabilityService;
Deadline = wrapper.Deadline;
LatencyBudget = wrapper.LatencyBudget;
Liveliness = wrapper.Liveliness;
Reliability = wrapper.Reliability;
DestinationOrder = wrapper.DestinationOrder;
History = wrapper.History;
ResourceLimits = wrapper.ResourceLimits;
TransportPriority = wrapper.TransportPriority;
Lifespan = wrapper.Lifespan;
Ownership = wrapper.Ownership;
OwnershipStrength = wrapper.OwnershipStrength;
WriterDataLifecycle = wrapper.WriterDataLifecycle;
if (UserData == null)
{
UserData = new UserDataQosPolicy();
}
UserData.FromNative(wrapper.UserData);
if (Representation == null)
{
Representation = new DataRepresentationQosPolicy();
}
Representation.FromNative(wrapper.Representation);
}
internal DataWriterQosWrapper ToNative()
{
var data = new DataWriterQosWrapper
{
Durability = Durability,
DurabilityService = DurabilityService,
Deadline = Deadline,
LatencyBudget = LatencyBudget,
Liveliness = Liveliness,
Reliability = Reliability,
DestinationOrder = DestinationOrder,
History = History,
ResourceLimits = ResourceLimits,
TransportPriority = TransportPriority,
Lifespan = Lifespan,
Ownership = Ownership,
OwnershipStrength = OwnershipStrength,
WriterDataLifecycle = WriterDataLifecycle,
};
if (UserData != null)
{
data.UserData = UserData.ToNative();
}
if (Representation != null)
{
data.Representation = Representation.ToNative();
}
return(data);
}
/// <summary>
/// Creates a new <see cref="DataWriter" /> with the desired QoS policies and attaches to it the specified <see cref="DataWriterListener" />
/// </summary>
/// <remarks>
/// <para>The created <see cref="DataWriter" /> will be attached and belongs to the <see cref="Publisher" /> that is its factory.</para>
/// <para>The <see cref="Topic" /> passed to this operation must have been created from the same <see cref="DomainParticipant" /> that was used to create this
/// <see cref="Publisher" />. If the <see cref="Topic" /> was created from a different <see cref="DomainParticipant" />,
/// the operation will fail and return a <see langword="null"/> result.</para>
/// </remarks>
/// <param name="topic">The <see cref="Topic" /> that the <see cref="DataWriter" /> will be associated with.</param>
/// <param name="qos">The <see cref="DataWriterQos" /> policies to be used for creating the new <see cref="DataWriter" />.</param>
/// <param name="listener">The <see cref="DataWriterListener" /> to be attached to the newly created <see cref="DataWriter" />.</param>
/// <param name="statusMask">The <see cref="StatusMask" /> of which status changes the listener should be notified.</param>
/// <returns>The newly created <see cref="DataWriter" /> on success, otherwise <see langword="null"/>.</returns>
public DataWriter CreateDataWriter(Topic topic, DataWriterQos qos, DataWriterListener listener, StatusMask statusMask)
{
if (topic is null)
{
throw new ArgumentNullException(nameof(topic));
}
DataWriterQosWrapper qosWrapper = default;
if (qos is null)
{
qos = new DataWriterQos();
var ret = GetDefaultDataWriterQos(qos);
if (ret == ReturnCode.Ok)
{
qosWrapper = qos.ToNative();
}
}
else
{
qosWrapper = qos.ToNative();
}
IntPtr nativeListener = IntPtr.Zero;
if (listener != null)
{
nativeListener = listener.ToNative();
}
IntPtr native = UnsafeNativeMethods.CreateDataWriter(_native, topic.ToNative(), qosWrapper, nativeListener, statusMask);
if (native.Equals(IntPtr.Zero))
{
return(null);
}
qos.Release();
var dw = new DataWriter(native)
{
Listener = listener,
};
EntityManager.Instance.Add((dw as Entity).ToNative(), dw);
ContainedEntities.Add(dw);
return(dw);
}
/// <summary>
/// Gets the <see cref="DataWriter" /> QoS policies.
/// </summary>
/// <param name="qos">The <see cref="DataWriterQos" /> to be filled up.</param>
/// <returns>The <see cref="ReturnCode" /> that indicates the operation result.</returns>
public ReturnCode GetQos(DataWriterQos qos)
{
if (qos == null)
{
return(ReturnCode.BadParameter);
}
DataWriterQosWrapper qosWrapper = default;
var ret = UnsafeNativeMethods.GetQos64(_native, ref qosWrapper);
if (ret == ReturnCode.Ok)
{
qos.FromNative(qosWrapper);
}
qos.Release();
return(ret);
}
public static extern ReturnCode SetQos(IntPtr dw, [MarshalAs(UnmanagedType.Struct), In] DataWriterQosWrapper qos);
public static extern ReturnCode GetQos64(IntPtr dw, [MarshalAs(UnmanagedType.Struct), In, Out] ref DataWriterQosWrapper qos);
public static extern IntPtr CreateDataWriter(IntPtr pub, IntPtr topic, [MarshalAs(UnmanagedType.Struct), In] DataWriterQosWrapper qos, IntPtr a_listener, uint mask);
