/// <summary>
/// Sets a default value of the <see cref="Publisher" /> QoS policies which will be used for newly created <see cref="Publisher" /> entities in the
/// case where the QoS policies are defaulted in the CreatePublisher 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="PublisherQos" /> to be set.</param>
/// <returns>The <see cref="ReturnCode" /> that indicates the operation result.</returns>
public ReturnCode SetDefaultDataWriterQos(DataWriterQos qos)
{
if (qos is null)
{
return(ReturnCode.BadParameter);
}
var qosNative = qos.ToNative();
var ret = UnsafeNativeMethods.SetDefaultDataWriterQos(_native, qosNative);
qos.Release();
return(ret);
}
/// <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);
}
/// <summary>
/// Creates a new <see cref="DataWriter" /> with the desired QoS policies and without listener attached.
/// </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>
/// <returns>The newly created <see cref="DataWriter" /> on success, otherwise <see langword="null"/>.</returns>
public DataWriter CreateDataWriter(Topic topic, DataWriterQos qos)
{
return(CreateDataWriter(topic, qos, null, StatusMask.DefaultStatusMask));
}
/// <summary>
/// Creates a new <see cref="DataWriter" /> with the desired QoS policies and attaches to it the specified <see cref="DataWriterListener" />.
/// The specified <see cref="DataWriterListener" /> will be attached with the default <see cref="StatusMask" />.
/// </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>
/// <returns>The newly created <see cref="DataWriter" /> on success, otherwise <see langword="null"/>.</returns>
public DataWriter CreateDataWriter(Topic topic, DataWriterQos qos, DataWriterListener listener)
{
return(CreateDataWriter(topic, qos, listener, StatusMask.DefaultStatusMask));
}
