19.1.5.1. TopicDataType

class TopicDataType

Class TopicDataType used to provide the DomainRTPSParticipant with the methods to serialize, deserialize and get the key of a specific data type. The user should created a class that inherits from this one, where Serialize and deserialize methods MUST be implemented.

Subclassed by eprosima::fastdds::dds::DynamicPubSubType, eprosima::fastdds::dds::xtypes::AppliedAnnotationParameterPubSubType, eprosima::fastdds::dds::xtypes::AppliedAnnotationPubSubType, eprosima::fastdds::dds::xtypes::AppliedBuiltinMemberAnnotationsPubSubType, eprosima::fastdds::dds::xtypes::AppliedBuiltinTypeAnnotationsPubSubType, eprosima::fastdds::dds::xtypes::AppliedVerbatimAnnotationPubSubType, eprosima::fastdds::dds::xtypes::CommonAliasBodyPubSubType, eprosima::fastdds::dds::xtypes::CommonAnnotationParameterPubSubType, eprosima::fastdds::dds::xtypes::CommonArrayHeaderPubSubType, eprosima::fastdds::dds::xtypes::CommonBitfieldPubSubType, eprosima::fastdds::dds::xtypes::CommonBitflagPubSubType, eprosima::fastdds::dds::xtypes::CommonBitmaskHeaderPubSubType, eprosima::fastdds::dds::xtypes::CommonCollectionElementPubSubType, eprosima::fastdds::dds::xtypes::CommonCollectionHeaderPubSubType, eprosima::fastdds::dds::xtypes::CommonDiscriminatorMemberPubSubType, eprosima::fastdds::dds::xtypes::CommonEnumeratedHeaderPubSubType, eprosima::fastdds::dds::xtypes::CommonEnumeratedLiteralPubSubType, eprosima::fastdds::dds::xtypes::CommonStructMemberPubSubType, eprosima::fastdds::dds::xtypes::CommonUnionMemberPubSubType, eprosima::fastdds::dds::xtypes::CompleteAliasBodyPubSubType, eprosima::fastdds::dds::xtypes::CompleteAliasHeaderPubSubType, eprosima::fastdds::dds::xtypes::CompleteAliasTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteAnnotationHeaderPubSubType, eprosima::fastdds::dds::xtypes::CompleteAnnotationParameterPubSubType, eprosima::fastdds::dds::xtypes::CompleteAnnotationTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteArrayHeaderPubSubType, eprosima::fastdds::dds::xtypes::CompleteArrayTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteBitfieldPubSubType, eprosima::fastdds::dds::xtypes::CompleteBitflagPubSubType, eprosima::fastdds::dds::xtypes::CompleteBitmaskTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteBitsetHeaderPubSubType, eprosima::fastdds::dds::xtypes::CompleteBitsetTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteCollectionElementPubSubType, eprosima::fastdds::dds::xtypes::CompleteCollectionHeaderPubSubType, eprosima::fastdds::dds::xtypes::CompleteDiscriminatorMemberPubSubType, eprosima::fastdds::dds::xtypes::CompleteElementDetailPubSubType, eprosima::fastdds::dds::xtypes::CompleteEnumeratedHeaderPubSubType, eprosima::fastdds::dds::xtypes::CompleteEnumeratedLiteralPubSubType, eprosima::fastdds::dds::xtypes::CompleteEnumeratedTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteExtendedTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteMapTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteMemberDetailPubSubType, eprosima::fastdds::dds::xtypes::CompleteSequenceTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteStructHeaderPubSubType, eprosima::fastdds::dds::xtypes::CompleteStructMemberPubSubType, eprosima::fastdds::dds::xtypes::CompleteStructTypePubSubType, eprosima::fastdds::dds::xtypes::CompleteTypeDetailPubSubType, eprosima::fastdds::dds::xtypes::CompleteUnionHeaderPubSubType, eprosima::fastdds::dds::xtypes::CompleteUnionMemberPubSubType, eprosima::fastdds::dds::xtypes::CompleteUnionTypePubSubType, eprosima::fastdds::dds::xtypes::DummyPubSubType, eprosima::fastdds::dds::xtypes::ExtendedAnnotationParameterValuePubSubType, eprosima::fastdds::dds::xtypes::ExtendedTypeDefnPubSubType, eprosima::fastdds::dds::xtypes::MinimalAliasBodyPubSubType, eprosima::fastdds::dds::xtypes::MinimalAliasHeaderPubSubType, eprosima::fastdds::dds::xtypes::MinimalAliasTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalAnnotationHeaderPubSubType, eprosima::fastdds::dds::xtypes::MinimalAnnotationParameterPubSubType, eprosima::fastdds::dds::xtypes::MinimalAnnotationTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalArrayHeaderPubSubType, eprosima::fastdds::dds::xtypes::MinimalArrayTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalBitfieldPubSubType, eprosima::fastdds::dds::xtypes::MinimalBitflagPubSubType, eprosima::fastdds::dds::xtypes::MinimalBitmaskTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalBitsetHeaderPubSubType, eprosima::fastdds::dds::xtypes::MinimalBitsetTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalCollectionElementPubSubType, eprosima::fastdds::dds::xtypes::MinimalCollectionHeaderPubSubType, eprosima::fastdds::dds::xtypes::MinimalDiscriminatorMemberPubSubType, eprosima::fastdds::dds::xtypes::MinimalEnumeratedHeaderPubSubType, eprosima::fastdds::dds::xtypes::MinimalEnumeratedLiteralPubSubType, eprosima::fastdds::dds::xtypes::MinimalEnumeratedTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalExtendedTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalMapTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalMemberDetailPubSubType, eprosima::fastdds::dds::xtypes::MinimalSequenceTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalStructHeaderPubSubType, eprosima::fastdds::dds::xtypes::MinimalStructMemberPubSubType, eprosima::fastdds::dds::xtypes::MinimalStructTypePubSubType, eprosima::fastdds::dds::xtypes::MinimalTypeDetailPubSubType, eprosima::fastdds::dds::xtypes::MinimalUnionHeaderPubSubType, eprosima::fastdds::dds::xtypes::MinimalUnionMemberPubSubType, eprosima::fastdds::dds::xtypes::MinimalUnionTypePubSubType, eprosima::fastdds::dds::xtypes::PlainArrayLElemDefnPubSubType, eprosima::fastdds::dds::xtypes::PlainArraySElemDefnPubSubType, eprosima::fastdds::dds::xtypes::PlainCollectionHeaderPubSubType, eprosima::fastdds::dds::xtypes::PlainMapLTypeDefnPubSubType, eprosima::fastdds::dds::xtypes::PlainMapSTypeDefnPubSubType, eprosima::fastdds::dds::xtypes::PlainSequenceLElemDefnPubSubType, eprosima::fastdds::dds::xtypes::PlainSequenceSElemDefnPubSubType, eprosima::fastdds::dds::xtypes::StringLTypeDefnPubSubType, eprosima::fastdds::dds::xtypes::StringSTypeDefnPubSubType, eprosima::fastdds::dds::xtypes::StronglyConnectedComponentIdPubSubType, eprosima::fastdds::dds::xtypes::TypeIdentfierWithSizePubSubType, eprosima::fastdds::dds::xtypes::TypeIdentifierPairPubSubType, eprosima::fastdds::dds::xtypes::TypeIdentifierTypeObjectPairPubSubType, eprosima::fastdds::dds::xtypes::TypeIdentifierWithDependenciesPubSubType, eprosima::fastdds::dds::xtypes::TypeInformationPubSubType

Public Functions

TopicDataType() = default

Constructor.

virtual ~TopicDataType() = default

Destructor.

virtual bool serialize(const void *const data, rtps::SerializedPayload_t &payload, eprosima::fastdds::dds::DataRepresentationId_t data_representation) = 0

Serialize method, it should be implemented by the user, since it is abstract. If not implemented, this method will call the serialize method in which the topic data representation is not considered. It is VERY IMPORTANT that the user sets the SerializedPayload length correctly.

Parameters:

  • data – [in] Pointer to the data

  • payload – [out] Pointer to the payload

  • data_representation – [in] Representation that should be used to encode the data into the payload.

Returns:

True if correct.

virtual bool deserialize(rtps::SerializedPayload_t &payload, void *data) = 0

Deserialize method, it should be implemented by the user, since it is abstract.

Parameters:

  • payload – [in] Pointer to the payload

  • data – [out] Pointer to the data

Returns:

True if correct.

virtual uint32_t calculate_serialized_size(const void *const data, eprosima::fastdds::dds::DataRepresentationId_t data_representation) = 0

Calculates the serialized size of the provided data.

Parameters:

  • data – [in] Pointer to data.

  • data_representation – [in] Representation that should be used for calculating the serialized size.

Returns:

Serialized size of the data.

virtual void *create_data() = 0

Create a Data Type.

Returns:

Void pointer to the created object.

virtual void delete_data(void *data) = 0

Remove a previously created object.

Parameters:

data – Pointer to the created Data.

virtual bool compute_key(rtps::SerializedPayload_t &payload, rtps::InstanceHandle_t &ihandle, bool force_md5 = false) = 0

Get the key associated with the data.

Parameters:

  • payload – [in] Pointer to the payload containing the data.

  • ihandle – [out] Pointer to the Handle.

  • force_md5 – [in] Force MD5 checking.

Returns:

True if correct.

virtual bool compute_key(const void *const data, rtps::InstanceHandle_t &ihandle, bool force_md5 = false) = 0

Get the key associated with the data.

Parameters:

  • data – [in] Pointer to the data.

  • ihandle – [out] Pointer to the Handle.

  • force_md5 – [in] Force MD5 checking.

Returns:

True if correct.

inline void set_name(const std::string &nam)

Set topic data type name

Parameters:

nam – Topic data type name

inline void set_name(std::string &&nam)

Set topic data type name

Parameters:

nam – Topic data type name

inline const std::string &get_name() const

Get topic data type name

Returns:

Topic data type name

inline const xtypes::TypeIdentifierPair &type_identifiers() const

Get the type identifiers

Returns:

xtypes::TypeIdentifierPair

inline virtual bool is_bounded() const

Checks if the type is bounded.

inline virtual bool is_plain(DataRepresentationId_t) const

Checks if the type is plain when using a specific encoding.

inline virtual bool construct_sample(void *memory) const

Construct a sample on a memory location.

Parameters:

memory – Pointer to the memory location where the sample should be constructed.

Returns:

whether this type supports in-place construction or not.

inline virtual void register_type_object_representation()

Register TypeObject type representation.

Public Members

uint32_t max_serialized_type_size = {0}

Maximum serialized size of the type in bytes. If the type has unbounded fields, and therefore cannot have a maximum size, use 0.

bool is_compute_key_provided = {false}

Indicates whether the method to obtain the key has been implemented.