RTPS Writer implementation. More...

#include <Writer.hpp>

Public Member Functions
	Writer (const GUID &writer_guid, const WriterProperties &properties, ICacheChangeDatabaseQuerier &database_querier, IMessageSink &message_sink, ICacheChangeRelevanceQuerier &relevance_querier, IWriterObserver &writer_observer, memory::IMap< GUID, ProxyReader > &proxy_map) noexcept
	Writer constructor. More...

virtual	~Writer () noexcept=default
	Virtual destructor. More...

	Writer (const Writer &) noexcept=delete
	Copy deleted. More...

	Writer (Writer &&) noexcept=delete
	Movement deleted. More...

Writer &	operator= (const Writer &) noexcept=delete
	Copy operator deleted. More...

Writer &	operator= (Writer &&) noexcept=delete
	Movement operator deleted. More...

virtual void	assert_protocol_liveliness () noexcept
	Trigger manual liveliness assertion. More...

void	process_nackfrag (const ProcessorState &processor_state, const Submessage< NackFrag > &nackfrag) noexcept override

void	process_acknack (const ProcessorState &processor_state, const Submessage< AckNack > &acknack) noexcept override

ReturnCode	set_last_sequence_number (const SequenceNumber &sn) noexcept override

SequenceNumber	get_last_sequence_number () const noexcept override

ReturnCode	matched_reader_add (const GUID &reader_guid, const Reliability &reader_reliability, bool send_historical_data) noexcept override

void	matched_reader_remove (const GUID &reader_guid) noexcept override

bool	matched_reader_exists (const GUID &reader_guid) const noexcept override

void	matched_reader_set_group (const GUID &reader_guid, const EndpointGroup &group) noexcept override

GUID	guid () const noexcept override

Reliability	reliability () const noexcept override

void	request_remote_acknowledgements () noexcept override

void	spin (const execution::TimePoint &timepoint) noexcept override

bool	has_pending_work () const noexcept override

execution::TimePoint	get_next_work_timepoint () const noexcept override

Static Public Attributes
constexpr static uint32_t	MAX_MESSAGE_ELEMENTS = 8
	Writer max submessages for protocol::MessageElement arrays: RTPS Header + HeaderExtension + InfoTimestamp + Data + InlineQoS + Payload + Padding + HeartBeat. More...

Protected Member Functions
void	handle_heartbeat_timer () noexcept
	Handle internal heartbeat timer. More...

void	stop_timer_if_required () noexcept
	Stop internal heartbeat timer if required. More...

ProxyReader *	get_first_proxyreader_with_work () const noexcept
	retrieves a ProxyReader with pending work. More...

void	process_proxyreader (ProxyReader &reader, const execution::TimePoint &timepoint) noexcept
	process communication with a certain ProxyReader. More...

ReturnCode	check_guid (const GUID &target_guid) const noexcept
	Checks GUID target for an incoming submsg. More...

void	notify_acknowledged_sequence_numbers () noexcept
	Notify if corresponds that a sequence number has been acknowledged by all readers. More...

bool	is_reliable_communication (const ProxyReader &proxy_reader) const noexcept
	Checks if communication with a proxy reader is reliable. More...

void	add_data_submsg (const SequenceNumber &sn, const CacheChangeInfo &change_info, const memory::IConstByteArrayView &payload, const memory::IConstByteArrayView &inline_qos, Submessage< Data > &data, MessageHandler< MAX_MESSAGE_ELEMENTS > &message_handler) const noexcept
	Fills and includes a Data submessage into a MessageHandler. More...

void	add_datafrag_submsg (const CacheChangeInfo &change_info, const SequenceNumber &sn, const FragmentNumber &fragment_number, bool is_last_fragment, const memory::IConstByteArrayView &payload, const memory::IConstByteArrayView &inline_qos, Submessage< DataFrag > &datafrag, MessageHandler< MAX_MESSAGE_ELEMENTS > &message_handler) const noexcept
	Fills and includes a Data submessage into a MessageHandler. More...

void	add_heartbeat_submsg (Submessage< Heartbeat > &heartbeat, MessageHandler< MAX_MESSAGE_ELEMENTS > &message_handler, bool final_flag, bool liveliness_flag, const SequenceNumber &first_available_sn) noexcept
	Fills and includes a Heartbeat submessage into a MessageHandler. More...

void	add_gap_submsg (const SequenceNumber &first_irrelevant, const SequenceNumber &first_relevant, Submessage< Gap > &gap, MessageHandler< MAX_MESSAGE_ELEMENTS > &message_handler) const noexcept
	Fills and includes a Gap submessage into a MessageHandler. More...

Protected Attributes
GUID	guid_ {}
	Writer guid. More...

WriterProperties	properties_
	Writer properties. More...

memory::IMap< GUID, ProxyReader > &	matched_readers_
	Matched Readers. More...

ICacheChangeDatabaseQuerier &	database_querier_
	CacheChange Database querier. More...

OutputIntegritySink	integrity_sink_
	Output Integrity Sink. More...

IMessageSink &	message_sink_
	Message sink. More...

ICacheChangeRelevanceQuerier &	relevance_querier_
	CacheChange relevance querier. More...

IWriterObserver &	writer_observer_
	WriterObserver to acknowledge sn. More...

SequenceNumber	last_sequence_number_ {0, 0}
	last generated sequence number. More...

SequenceNumber	first_unacknowledged_sn_ {0, 1}
	first acknowledge by all sequence number. More...

uint32_t	payload_max_size_ = 0
	Max allowed DATA payload size. More...

uint16_t	fragment_max_size_ = 0
	Max allowed DATAFRAG payload size. More...

bool	need_confirmation_check_ = false
	Flag to indicate a required confirmation status. More...

int32_t	last_sent_heartbeat_count_ {0}
	Sent heartbeat counter. More...

execution::Timer	heartbeat_timer_ {}
	Heartbeat period timer. More...

ProxyReader *	proxyreader_with_work_ {nullptr}
	ProxyReader with work cache. More...

uint32_t	next_proxyreader_index_ {0}
	Next proxyreader index for round-robin processing. More...

Friends
struct	ProcessProxyReaderStatus
	Friend class. More...

Detailed Description

RTPS Writer implementation.

Constructor & Destructor Documentation

◆ Writer() [1/3]

eprosima::safedds::protocol::rtps::Writer::Writer	(	const GUID &	writer_guid,
		const WriterProperties &	properties,
		ICacheChangeDatabaseQuerier &	database_querier,
		IMessageSink &	message_sink,
		ICacheChangeRelevanceQuerier &	relevance_querier,
		IWriterObserver &	writer_observer,
		memory::IMap< GUID, ProxyReader > &	proxy_map
	)

explicitnoexcept

Writer constructor.

Parameters

[in]	writer_guid	writer GUID.
[in]	properties	writer properties.
[in,out]	database_querier	reference to database querier. Ownership is not taken.
[in,out]	message_sink	sink for messages. Ownership is not taken.
[in,out]	relevance_querier	reference to cache change relevance querier. Ownership is not taken.
[in,out]	writer_observer	reference to writer observer. Ownership is not taken.
[in,out]	proxy_map	storage for ProxyReaders. Ownership is not taken.

◆ ~Writer()

virtual eprosima::safedds::protocol::rtps::Writer::~Writer ( )

virtualdefaultnoexcept

Virtual destructor.

◆ Writer() [2/3]

eprosima::safedds::protocol::rtps::Writer::Writer ( const Writer & )

deletenoexcept

Copy deleted.

◆ Writer() [3/3]

eprosima::safedds::protocol::rtps::Writer::Writer ( Writer && )

deletenoexcept

Movement deleted.

Member Function Documentation

◆ add_data_submsg()

void eprosima::safedds::protocol::rtps::Writer::add_data_submsg	(	const SequenceNumber &	sn,
		const CacheChangeInfo &	change_info,
		const memory::IConstByteArrayView &	payload,
		const memory::IConstByteArrayView &	inline_qos,
		Submessage< Data > &	data,
		MessageHandler< MAX_MESSAGE_ELEMENTS > &	message_handler
	)		const

protectednoexcept

Fills and includes a Data submessage into a MessageHandler.

Parameters

	sn	sequence number of the cache change.
	change_info	cache change information.
	payload	cache change fragmented payload.
	inline_qos	cache change inline qos values.
[out]	data	reference to Data submessage to fill.
[in,out]	message_handler	reference to RTPS message handler.

◆ add_datafrag_submsg()

void eprosima::safedds::protocol::rtps::Writer::add_datafrag_submsg	(	const CacheChangeInfo &	change_info,
		const SequenceNumber &	sn,
		const FragmentNumber &	fragment_number,
		bool	is_last_fragment,
		const memory::IConstByteArrayView &	payload,
		const memory::IConstByteArrayView &	inline_qos,
		Submessage< DataFrag > &	datafrag,
		MessageHandler< MAX_MESSAGE_ELEMENTS > &	message_handler
	)		const

protectednoexcept

Fills and includes a Data submessage into a MessageHandler.

Parameters

	change_info	cache change information.
	sn	sequence number of the cache change.
	fragment_number	cache change information.
	is_last_fragment	is last fragment flag.
	payload	cache change complete payload.
	inline_qos	cache change inline qos values.
[out]	datafrag	reference to DataFrag submessage to fill.
[in,out]	message_handler	reference to RTPS message handler.

◆ add_gap_submsg()

void eprosima::safedds::protocol::rtps::Writer::add_gap_submsg	(	const SequenceNumber &	first_irrelevant,
		const SequenceNumber &	first_relevant,
		Submessage< Gap > &	gap,
		MessageHandler< MAX_MESSAGE_ELEMENTS > &	message_handler
	)		const

protectednoexcept

Fills and includes a Gap submessage into a MessageHandler.

Parameters

	first_irrelevant	first sequence number of the irrelevant cache changes.
	first_relevant	first relevant change found after first_irrelevant.
[out]	gap	reference to Gap submessage to fill.
[in,out]	message_handler	reference to RTPS message handler.

◆ add_heartbeat_submsg()

void eprosima::safedds::protocol::rtps::Writer::add_heartbeat_submsg	(	Submessage< Heartbeat > &	heartbeat,
		MessageHandler< MAX_MESSAGE_ELEMENTS > &	message_handler,
		bool	final_flag,
		bool	liveliness_flag,
		const SequenceNumber &	first_available_sn
	)

protectednoexcept

Fills and includes a Heartbeat submessage into a MessageHandler.

Parameters

[out]	heartbeat	reference to Heartbeat submessage to fill.
[in,out]	message_handler	reference to RTPS message handler.
	final_flag	Heartbeat final flag.
	liveliness_flag	Heartbeat liveliness flag.
[in]	first_available_sn	First available sequence number in database.

◆ assert_protocol_liveliness()

virtual void eprosima::safedds::protocol::rtps::Writer::assert_protocol_liveliness ( )

virtualnoexcept

Trigger manual liveliness assertion.

This method will trigger output liveliness heartbeats to matched readers on the next spin

◆ check_guid()

ReturnCode eprosima::safedds::protocol::rtps::Writer::check_guid ( const GUID & target_guid ) const

protectednoexcept

Checks GUID target for an incoming submsg.

Parameters

target_guid message target guid.

Returns: ReturnCode.

◆ get_first_proxyreader_with_work()

ProxyReader* eprosima::safedds::protocol::rtps::Writer::get_first_proxyreader_with_work ( ) const

protectednoexcept

retrieves a ProxyReader with pending work.

Returns: ProxyReader*.

◆ get_last_sequence_number()

SequenceNumber eprosima::safedds::protocol::rtps::Writer::get_last_sequence_number ( ) const

overridenoexcept

◆ get_next_work_timepoint()

execution::TimePoint eprosima::safedds::protocol::rtps::Writer::get_next_work_timepoint ( ) const

overridenoexcept

◆ guid()

GUID eprosima::safedds::protocol::rtps::Writer::guid ( ) const

overridenoexcept

◆ handle_heartbeat_timer()

void eprosima::safedds::protocol::rtps::Writer::handle_heartbeat_timer ( )

protectednoexcept

Handle internal heartbeat timer.

◆ has_pending_work()

bool eprosima::safedds::protocol::rtps::Writer::has_pending_work ( ) const

overridenoexcept

◆ is_reliable_communication()

bool eprosima::safedds::protocol::rtps::Writer::is_reliable_communication ( const ProxyReader & proxy_reader ) const

protectednoexcept

Checks if communication with a proxy reader is reliable.

Parameters

proxy_reader reference to proxyreader.

Returns: true if reliable, false otherwise.

◆ matched_reader_add()

ReturnCode eprosima::safedds::protocol::rtps::Writer::matched_reader_add	(	const GUID &	reader_guid,
		const Reliability &	reader_reliability,
		bool	send_historical_data
	)

overridenoexcept

◆ matched_reader_exists()

bool eprosima::safedds::protocol::rtps::Writer::matched_reader_exists ( const GUID & reader_guid ) const

overridenoexcept

◆ matched_reader_remove()

void eprosima::safedds::protocol::rtps::Writer::matched_reader_remove ( const GUID & reader_guid )

overridenoexcept

◆ matched_reader_set_group()

void eprosima::safedds::protocol::rtps::Writer::matched_reader_set_group	(	const GUID &	reader_guid,
		const EndpointGroup &	group
	)

overridenoexcept

◆ notify_acknowledged_sequence_numbers()

void eprosima::safedds::protocol::rtps::Writer::notify_acknowledged_sequence_numbers ( )

protectednoexcept

Notify if corresponds that a sequence number has been acknowledged by all readers.

◆ operator=() [1/2]

Writer& eprosima::safedds::protocol::rtps::Writer::operator= ( const Writer & )

deletenoexcept

Copy operator deleted.

◆ operator=() [2/2]

Writer& eprosima::safedds::protocol::rtps::Writer::operator= ( Writer && )

deletenoexcept

Movement operator deleted.

◆ process_acknack()

void eprosima::safedds::protocol::rtps::Writer::process_acknack	(	const ProcessorState &	processor_state,
		const Submessage< AckNack > &	acknack
	)

overridenoexcept

◆ process_nackfrag()

void eprosima::safedds::protocol::rtps::Writer::process_nackfrag	(	const ProcessorState &	processor_state,
		const Submessage< NackFrag > &	nackfrag
	)

overridenoexcept

◆ process_proxyreader()

void eprosima::safedds::protocol::rtps::Writer::process_proxyreader	(	ProxyReader &	reader,
		const execution::TimePoint &	timepoint
	)

protectednoexcept

process communication with a certain ProxyReader.

Parameters

reader	SequenceNumberSet to update.
timepoint	Maximum TimePoint to execute this method.

◆ reliability()

Reliability eprosima::safedds::protocol::rtps::Writer::reliability ( ) const

overridenoexcept

◆ request_remote_acknowledgements()

void eprosima::safedds::protocol::rtps::Writer::request_remote_acknowledgements ( )

overridenoexcept

◆ set_last_sequence_number()

ReturnCode eprosima::safedds::protocol::rtps::Writer::set_last_sequence_number ( const SequenceNumber & sn )

overridenoexcept

◆ spin()

void eprosima::safedds::protocol::rtps::Writer::spin ( const execution::TimePoint & timepoint )

overridenoexcept

◆ stop_timer_if_required()

void eprosima::safedds::protocol::rtps::Writer::stop_timer_if_required ( )

protectednoexcept

Stop internal heartbeat timer if required.

Friends And Related Function Documentation

◆ ProcessProxyReaderStatus

friend struct ProcessProxyReaderStatus

friend

Friend class.

Member Data Documentation

◆ database_querier_

ICacheChangeDatabaseQuerier& eprosima::safedds::protocol::rtps::Writer::database_querier_

protected

CacheChange Database querier.

◆ first_unacknowledged_sn_

SequenceNumber eprosima::safedds::protocol::rtps::Writer::first_unacknowledged_sn_ {0, 1}

protected

first acknowledge by all sequence number.

◆ fragment_max_size_

uint16_t eprosima::safedds::protocol::rtps::Writer::fragment_max_size_ = 0

protected

Max allowed DATAFRAG payload size.

◆ guid_

GUID eprosima::safedds::protocol::rtps::Writer::guid_ {}

protected

Writer guid.

◆ heartbeat_timer_

execution::Timer eprosima::safedds::protocol::rtps::Writer::heartbeat_timer_ {}

protected

Heartbeat period timer.

◆ integrity_sink_

OutputIntegritySink eprosima::safedds::protocol::rtps::Writer::integrity_sink_

protected

Output Integrity Sink.

◆ last_sent_heartbeat_count_

int32_t eprosima::safedds::protocol::rtps::Writer::last_sent_heartbeat_count_ {0}

protected

Sent heartbeat counter.

◆ last_sequence_number_

SequenceNumber eprosima::safedds::protocol::rtps::Writer::last_sequence_number_ {0, 0}

protected

last generated sequence number.

◆ matched_readers_

memory::IMap<GUID, ProxyReader>& eprosima::safedds::protocol::rtps::Writer::matched_readers_

protected

Matched Readers.

◆ MAX_MESSAGE_ELEMENTS

constexpr static uint32_t eprosima::safedds::protocol::rtps::Writer::MAX_MESSAGE_ELEMENTS = 8

staticconstexpr

Writer max submessages for protocol::MessageElement arrays: RTPS Header + HeaderExtension + InfoTimestamp + Data + InlineQoS + Payload + Padding + HeartBeat.

◆ message_sink_

IMessageSink& eprosima::safedds::protocol::rtps::Writer::message_sink_

protected

Message sink.

◆ need_confirmation_check_

bool eprosima::safedds::protocol::rtps::Writer::need_confirmation_check_ = false

protected

Flag to indicate a required confirmation status.

◆ next_proxyreader_index_

uint32_t eprosima::safedds::protocol::rtps::Writer::next_proxyreader_index_ {0}

mutableprotected

Next proxyreader index for round-robin processing.

◆ payload_max_size_

uint32_t eprosima::safedds::protocol::rtps::Writer::payload_max_size_ = 0

protected

Max allowed DATA payload size.

◆ properties_

WriterProperties eprosima::safedds::protocol::rtps::Writer::properties_

protected

Writer properties.

◆ proxyreader_with_work_

ProxyReader* eprosima::safedds::protocol::rtps::Writer::proxyreader_with_work_ {nullptr}

mutableprotected

ProxyReader with work cache.

Note: mutable justification: Used for optimization of proxy readers with work

◆ relevance_querier_

ICacheChangeRelevanceQuerier& eprosima::safedds::protocol::rtps::Writer::relevance_querier_

protected

CacheChange relevance querier.

◆ writer_observer_

IWriterObserver& eprosima::safedds::protocol::rtps::Writer::writer_observer_

protected

WriterObserver to acknowledge sn.

The documentation for this class was generated from the following file:

build/docs/user_manual/main/tmp/include/safedds/protocol/rtps/Writer.hpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Writer() [1/3]

◆ ~Writer()

◆ Writer() [2/3]

◆ Writer() [3/3]

Member Function Documentation

◆ add_data_submsg()

◆ add_datafrag_submsg()

◆ add_gap_submsg()

◆ add_heartbeat_submsg()

◆ assert_protocol_liveliness()

◆ check_guid()

◆ get_first_proxyreader_with_work()

◆ get_last_sequence_number()

◆ get_next_work_timepoint()

◆ guid()

◆ handle_heartbeat_timer()

◆ has_pending_work()

◆ is_reliable_communication()

◆ matched_reader_add()

◆ matched_reader_exists()

◆ matched_reader_remove()

◆ matched_reader_set_group()

◆ notify_acknowledged_sequence_numbers()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ process_acknack()

◆ process_nackfrag()

◆ process_proxyreader()

◆ reliability()

◆ request_remote_acknowledgements()

◆ set_last_sequence_number()

◆ spin()

◆ stop_timer_if_required()

Friends And Related Function Documentation

◆ ProcessProxyReaderStatus

Member Data Documentation

◆ database_querier_

◆ first_unacknowledged_sn_

◆ fragment_max_size_

◆ guid_

◆ heartbeat_timer_

◆ integrity_sink_

◆ last_sent_heartbeat_count_

◆ last_sequence_number_

◆ matched_readers_

◆ MAX_MESSAGE_ELEMENTS

◆ message_sink_

◆ need_confirmation_check_

◆ next_proxyreader_index_

◆ payload_max_size_

◆ properties_

◆ proxyreader_with_work_

◆ relevance_querier_

◆ writer_observer_