19.2.8.2. RTPSReader

class RTPSReader : public eprosima::fastdds::rtps::Endpoint

Class RTPSReader, manages the reception of data from its matched writers. Needs to be constructed using the createRTPSReader method from the RTPSDomain.

Public Functions

virtual bool matched_writer_add(const PublicationBuiltinTopicData &info) = 0

Add a matched writer represented by its publication info.

Parameters:

info – Publication info of the writer being matched.

Returns:

True if correctly added.

virtual bool matched_writer_remove(const GUID_t &writer_guid, bool removed_by_lease = false) = 0

Remove a writer from the matched writers.

Parameters:

• writer_guid – GUID of the writer to remove.

• removed_by_lease – Whether the writer is being unmatched due to a participant drop.

Returns:

True if correctly removed.

virtual bool matched_writer_is_matched(const GUID_t &writer_guid) = 0

Check if a specific writer is matched against this reader.

Parameters:

writer_guid – GUID of the writer to check.

Returns:

True if the specified writer is matched with this reader.

virtual void assert_writer_liveliness(const GUID_t &writer) = 0

Assert the liveliness of a matched writer.

Parameters:

writer – GUID of the writer on which to assert liveliness.

virtual bool is_in_clean_state() = 0

Check if this reader is in a clean state with all its matched writers. This will happen when the reader has received all samples announced by all its matched writers.

Returns:

Whether the reader is in a clean state with all its matched writers.

virtual ReaderListener *get_listener() const = 0

Get the associated listener.

Returns:

Pointer to the associated reader listener.

virtual void set_listener(ReaderListener *listener) = 0

Change the listener associated to this reader.

Parameters:

listener – The new listener to associate to this reader.

virtual bool expects_inline_qos() const = 0

Returns:

True if the reader expects Inline QoS.

virtual ReaderHistory *get_history() const = 0

Returns:

a pointer to the associated History.

virtual eprosima::fastdds::rtps::IReaderDataFilter *get_content_filter() const = 0

Returns:

The content filter associated to this reader.

virtual void set_content_filter(eprosima::fastdds::rtps::IReaderDataFilter *filter) = 0

Set the content filter associated to this reader.

Parameters:

filter – Pointer to the content filter to associate to this reader.

virtual bool matched_writers_guids(std::vector<GUID_t> &guids) const = 0

Fills the provided vector with the GUIDs of the matched writers.

Parameters:

guids – [out] Vector to be filled with the GUIDs of the matched writers.

Returns:

True if the operation was successful.

virtual CacheChange_t *next_unread_cache() = 0

Read the next unread CacheChange_t from the history.

Returns:

A pointer to the first unread CacheChange_t from the history.

virtual CacheChange_t *next_untaken_cache() = 0

Get the next CacheChange_t from the history to take.

Returns:

A pointer to the first CacheChange_t in the history.

virtual bool wait_for_unread_cache(const eprosima::fastdds::dds::Duration_t &timeout) = 0

Wait until there is an unread CacheChange_t in the history.

Parameters:

timeout – Maximum time to wait.

Returns:

true if there is an unread CacheChange_t in the history.

virtual uint64_t get_unread_count() const = 0

Get the number of unread CacheChange_t in the history.

Returns:

The number of unread CacheChange_t in the history.

virtual uint64_t get_unread_count(bool mark_as_read) = 0

Get the number of unread CacheChange_t in the history and optionally mark them as read.

Parameters:

mark_as_read – Whether to mark the unread CacheChange_t as read.

Returns:

The number of previously unread CacheChange_t in the history.

virtual bool is_sample_valid(const void *data, const GUID_t &writer, const SequenceNumber_t &sn) const = 0

Checks whether the sample is still valid or is corrupted.

Parameters:

• data – Pointer to the sample data to check. If it does not belong to the payload pool passed to the reader on construction, it yields undefined behavior.

• writer – GUID of the writer that sent data.

• sn – Sequence number related to data.

Returns:

true if the sample is valid