/// <summary>
/// Sets a default value of the <see cref="DomainParticipant" /> QoS policies which will be used for newly created
/// <see cref="DomainParticipant" /> entities in the case where the QoS policies are defaulted in the CreateParticipant operation.
/// </summary>
/// <remarks>
/// This operation will check that the resulting policies are self consistent; if they are not,
/// the operation will have no effect and return <see cref="ReturnCode.InconsistentPolicy" />.
/// </remarks>
/// <param name="qos">The default <see cref="DomainParticipantQos" /> to be set.</param>
/// <returns>The <see cref="ReturnCode" /> that indicates the operation result.</returns>
public ReturnCode SetDefaultDomainParticipantQos(DomainParticipantQos qos)
{
if (qos is null)
{
return(ReturnCode.BadParameter);
}
var qosNative = qos.ToNative();
var ret = UnsafeNativeMethods.SetDefaultDomainParticipantQos(_native, qosNative);
qos.Release();
return(ret);
}
/// <summary>
/// Creates a new <see cref="DomainParticipant" /> with the desired QoS policies and attaches to it the specified <see cref="DomainParticipantListener" />.
/// </summary>
/// <remarks>
/// If the specified QoS policies are not consistent, the operation will fail and no <see cref="DomainParticipant" /> will be created.
/// </remarks>
/// <param name="domainId">Domain ID that the application intends to join.</param>
/// <param name="qos">The <see cref="DomainParticipantQos" /> policies to be used for creating the new <see cref="DomainParticipant" />.</param>
/// <param name="listener">The <see cref="DomainParticipantListener" /> to be attached to the newly created <see cref="DomainParticipant" />.</param>
/// <param name="statusMask">The <see cref="StatusMask" /> of which status changes the listener should be notified.</param>
/// <returns> The newly created <see cref="DomainParticipant" /> on success, otherwise <see langword="null"/>.</returns>
public DomainParticipant CreateParticipant(int domainId, DomainParticipantQos qos, DomainParticipantListener listener, StatusMask statusMask)
{
DomainParticipantQosWrapper qosWrapper = default;
if (qos is null)
{
qos = new DomainParticipantQos();
var ret = GetDefaultDomainParticipantQos(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.CreateParticipant(_native, domainId, qosWrapper, nativeListener, statusMask);
qos.Release();
if (native.Equals(IntPtr.Zero))
{
return(null);
}
var p = new DomainParticipant(native)
{
Listener = listener,
};
EntityManager.Instance.Add((p as Entity).ToNative(), p);
return(p);
}
/// <summary>
/// Gets the default value of the <see cref="DomainParticipant" /> QoS, that is, the QoS policies which will be used for
/// newly created <see cref="DomainParticipant" /> entities in the case where the QoS policies are defaulted in the CreateParticipant operation.
/// </summary>
/// <remarks>
/// The values retrieved <see cref="GetDefaultDomainParticipantQos(DomainParticipantQos)" /> will match the set of values specified on the last successful call to
/// <see cref="SetDefaultDomainParticipantQos(DomainParticipantQos)" />, or else, if the call was never made, the default values defined by the DDS standard.
/// </remarks>
/// <param name="qos">The <see cref="DomainParticipantQos" /> to be filled up.</param>
/// <returns>The <see cref="ReturnCode" /> that indicates the operation result.</returns>
public ReturnCode GetDefaultDomainParticipantQos(DomainParticipantQos qos)
{
if (qos is null)
{
return(ReturnCode.BadParameter);
}
DomainParticipantQosWrapper qosWrapper = default;
var ret = UnsafeNativeMethods.GetDefaultDomainParticipantQos(_native, ref qosWrapper);
if (ret == ReturnCode.Ok)
{
qos.FromNative(qosWrapper);
}
qos.Release();
return(ret);
}
/// <summary>
/// Creates a new <see cref="DomainParticipant" /> with the desired QoS policies and attaches to it the specified <see cref="DomainParticipantListener" />.
/// The specified <see cref="DomainParticipantListener" /> will be attached with the default <see cref="StatusMask" />.
/// </summary>
/// <remarks>
/// If the specified QoS policies are not consistent, the operation will fail and no <see cref="DomainParticipant" /> will be created.
/// </remarks>
/// <param name="domainId">Domain ID that the application intends to join.</param>
/// <param name="qos">The <see cref="DomainParticipantQos" /> policies to be used for creating the new <see cref="DomainParticipant" />.</param>
/// <param name="listener">The <see cref="DomainParticipantListener" /> to be attached to the newly created <see cref="DomainParticipant" />.</param>
/// <returns> The newly created <see cref="DomainParticipant" /> on success, otherwise <see langword="null"/>.</returns>
public DomainParticipant CreateParticipant(int domainId, DomainParticipantQos qos, DomainParticipantListener listener)
{
return(CreateParticipant(domainId, qos, listener, StatusMask.DefaultStatusMask));
}
/// <summary>
/// Creates a <see cref="DomainParticipant" /> with the desired QoS policies and without listener attached.
/// </summary>
/// <remarks>
/// If the specified QoS policies are not consistent, the operation will fail and no <see cref="DomainParticipant" /> will be created.
/// </remarks>
/// <param name="domainId">Domain ID that the application intends to join.</param>
/// <param name="qos">The <see cref="DomainParticipantQos" /> policies to be used for creating the new <see cref="DomainParticipant" />.</param>
/// <returns> The newly created <see cref="DomainParticipant" /> on success, otherwise <see langword="null"/>.</returns>
public DomainParticipant CreateParticipant(int domainId, DomainParticipantQos qos)
{
return(CreateParticipant(domainId, qos, null, StatusMask.DefaultStatusMask));
}