18.1.3.1. DataWriter

class fastdds.DataWriter(*args, **kwargs)

Class DataWriter, contains the actual implementation of the behaviour of the DataWriter.

assert_liveliness()

This operation manually asserts the liveliness of the DataWriter. This is used in combination with the LivelinessQosPolicy to indicate to the Service that the entity remains active. This operation need only be used if the LIVELINESS setting is either MANUAL_BY_PARTICIPANT or MANUAL_BY_TOPIC. Otherwise, it has no effect.

Notes: Writing data via the write operation on a DataWriter asserts liveliness on the DataWriter itself and its DomainParticipant. Consequently the use of assert_liveliness is only needed if the application is not writing data regularly.

Return type

ReturnCode_t

Returns

RETCODE_OK if asserted, RETCODE_ERROR otherwise

clear_history()
dispose(data, handle)

This operation requests the middleware to delete the data (the actual deletion is postponed until there is no more use for that data in the whole system). In general, applications are made aware of the deletion by means of operations on the DataReader objects that already knew that instance. This operation does not modify the value of the instance. The instance parameter is passed just for the purposes of identifying the instance. When this operation is used, the Service will automatically supply the value of the source_timestamp that is made available to DataReader objects by means of the source_timestamp attribute inside the SampleInfo. The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the unregister_instance operation.

data Sample used to deduce instance’s key in case of handle parameter is HANDLE_NIL. handle InstanceHandle of the data :rtype: ReturnCode_t :return: RETCODE_PRECONDITION_NOT_MET if the handle introduced does not match with the one associated to the data,

RETCODE_OK if the data is correctly sent and RETCODE_ERROR otherwise.

dispose_w_timestamp(instance, handle, timestamp)

This operation performs the same functions as ‘dispose’ except that the application provides the value for the ‘source_timestamp’ that is made available to DataReader objects by means of the ‘source_timestamp’ attribute inside the SampleInfo.

The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the ‘dispose’ operation.

This operation may return RETCODE_PRECONDITION_NOT_MET and RETCODE_BAD_PARAMETER under the same circumstances described for the ‘dispose’ operation.

This operation may return RETCODE_TIMEOUT and RETCODE_OUT_OF_RESOURCES under the same circumstances described for the ‘write’ operation.

Parameters
  • instance (void) – Sample used to deduce instance’s key in case of handle parameter is HANDLE_NIL.

  • handle (InstanceHandle_t) – Instance’s key to be disposed.

  • timestamp (Time_t) – Time_t used to set the source_timestamp.

Return type

ReturnCode_t

Returns

RTPS_DllAPI

enable()

This operation enables the DataWriter

Return type

ReturnCode_t

Returns

RETCODE_OK is successfully enabled. RETCODE_PRECONDITION_NOT_MET if the Publisher creating this DataWriter is not enabled.

get_instance_handle()

Returns the DataWriter’s InstanceHandle

Return type

InstanceHandle_t

Returns

Copy of the DataWriter InstanceHandle

get_key_value(key_holder, handle)

This operation can be used to retrieve the instance key that corresponds to an ‘instance_handle’. The operation will only fill the fields that form the key inside the key_holder instance.

This operation may return BAD_PARAMETER if the InstanceHandle_t handle does not correspond to an existing data-object known to the DataWriter. If the implementation is not able to check invalid handles then the result in this situation is unspecified.

,out] key_holder Sample where the key fields will be returned. handle Handle to the instance to retrieve the key values from.

Return type

ReturnCode_t

Returns

Any of the standard return codes.

get_listener()

Retrieves the listener for this DataWriter.

Return type

DataWriterListener

Returns

Pointer to the DataWriterListener

get_liveliness_lost_status(status)

Returns the liveliness lost status

Parameters

status (LivelinessLostStatus) – Liveliness lost status struct

Return type

ReturnCode_t

Returns

RETCODE_OK

get_matched_subscription_data(subscription_data, subscription_handle)

Retrieves in a subscription associated with the DataWriter

subscription_data subscription data struct :type subscription_handle: InstanceHandle_t :param subscription_handle: InstanceHandle_t of the subscription :rtype: ReturnCode_t :return: RETCODE_OK

get_matched_subscriptions(subscription_handles)

Fills the given vector with the InstanceHandle_t of matched DataReaders

subscription_handles Vector where the InstanceHandle_t are returned :rtype: ReturnCode_t :return: RETCODE_OK

get_offered_deadline_missed_status(status)

Returns the offered deadline missed status

status Deadline missed status struct :rtype: ReturnCode_t :return: RETCODE_OK

get_offered_incompatible_qos_status(status)

Returns the offered incompatible qos status

status Offered incompatible qos status struct :rtype: ReturnCode_t :return: RETCODE_OK

get_publication_matched_status(status)

Returns the publication matched status

status publication matched status struct :rtype: ReturnCode_t :return: RETCODE_OK

get_publisher()

Getter for the Publisher that creates this DataWriter

Return type

Publisher

Returns

Pointer to the Publisher

get_qos(*args)

Overload 1:

Retrieves the DataWriterQos for this DataWriter.

Return type

DataWriterQos

Returns

Reference to the current DataWriterQos


Overload 2:

Fills the DataWriterQos with the values of this DataWriter.

Parameters

qos (DataWriterQos) – DataWriterQos object where the qos is returned.

Return type

ReturnCode_t

Returns

RETCODE_OK

get_sending_locators(locators)

Get the list of locators from which this DataWriter may send data.

Parameters

[out] – locators LocatorList where the list of locators will be stored.

Return type

ReturnCode_t

Returns

NOT_ENABLED if the reader has not been enabled.

Return type

ReturnCode_t

Returns

OK if a list of locators is returned.

get_topic()

Retrieves the topic for this DataWriter.

Return type

Topic

Returns

Pointer to the associated Topic

get_type()

Get data type associated to the DataWriter

Return type

TypeSupport

Returns

Copy of the TypeSupport

guid()

Returns the DataWriter’s GUID

Return type

GUID_t

Returns

Reference to the DataWriter GUID

loan_sample(*args)

Get a pointer to the internal pool where the user could directly write.

This method can only be used on a DataWriter for a plain data type. It will provide the user with a pointer to an internal buffer where the data type can be prepared for sending.

When using NO_LOAN_INITIALIZATION on the initialization parameter, which is the default, no assumptions should be made on the contents where the pointer points to, as it may be an old pointer being reused. See ‘LoanInitializationKind’ for more details.

Once the sample has been prepared, it can then be published by calling ‘write’. After a successful call to ‘write’, the middleware takes ownership of the loaned pointer again, and the user should not access that memory again.

If, for whatever reason, the sample is not published, the loan can be returned by calling ‘discard_loan’.

Parameters
  • [out] – sample Pointer to the sample on the internal pool.

  • [in] – initialization How to initialize the loaned sample.

Return type

ReturnCode_t

Returns

ReturnCode_t::RETCODE_ILLEGAL_OPERATION when the data type does not support loans.

Return type

ReturnCode_t

Returns

ReturnCode_t::RETCODE_NOT_ENABLED if the writer has not been enabled.

Return type

ReturnCode_t

Returns

ReturnCode_t::RETCODE_OUT_OF_RESOURCES if the pool has been exhausted.

Return type

ReturnCode_t

Returns

ReturnCode_t::RETCODE_OK if a pointer to a sample is successfully obtained.

lookup_instance(instance)

NOT YET IMPLEMENTED

Takes as a parameter an instance and returns a handle that can be used in subsequent operations that accept an instance handle as an argument. The instance parameter is only used for the purpose of examining the fields that define the key.

instance Data pointer to the sample

Return type

InstanceHandle_t

Returns

handle of the given instance

register_instance(instance)

Informs that the application will be modifying a particular instance. It gives an opportunity to the middleware to pre-configure itself to improve performance.

instance Sample used to get the instance’s key. :rtype: InstanceHandle_t :return: Handle containing the instance’s key.

This handle could be used in successive write or dispose operations. In case of error, HANDLE_NIL will be returned.

register_instance_w_timestamp(instance, timestamp)

This operation performs the same function as register_instance and can be used instead of ‘register_instance’ in the cases where the application desires to specify the value for the ‘source_timestamp’. The ‘source_timestamp’ potentially affects the relative order in which readers observe events from multiple writers. See the QoS policy ‘DESTINATION_ORDER’.

This operation may block and return RETCODE_TIMEOUT under the same circumstances described for the ‘write’ operation.

This operation may return RETCODE_OUT_OF_RESOURCES under the same circumstances described for the ‘write’ operation.

Parameters
  • instance (void) – Sample used to get the instance’s key.

  • timestamp (Time_t) – Time_t used to set the source_timestamp.

Return type

InstanceHandle_t

Returns

Handle containing the instance’s key.

set_listener(*args)
set_qos(qos)

Establishes the DataWriterQos for this DataWriter.

Parameters

qos (DataWriterQos) – DataWriterQos to be set

Return type

ReturnCode_t

Returns

RETCODE_IMMUTABLE_POLICY if any of the Qos cannot be changed, RETCODE_INCONSISTENT_POLICY if the Qos is not self consistent and RETCODE_OK if the qos is changed correctly.

property thisown

The membership flag

unregister_instance(instance, handle)

This operation reverses the action of register_instance. It should only be called on an instance that is currently registered. Informs the middleware that the DataWriter is not intending to modify any more of that data instance. Also indicates that the middleware can locally remove all information regarding that instance.

instance Sample used to deduce instance’s key in case of handle parameter is HANDLE_NIL. handle Instance’s key to be unregistered. :rtype: ReturnCode_t :return: Returns the operation’s result.

If the operation finishes successfully, ReturnCode_t::RETCODE_OK is returned.

unregister_instance_w_timestamp(instance, handle, timestamp)

This operation performs the same function as ‘unregister_instance’ and can be used instead of ‘unregister_instance’ in the cases where the application desires to specify the value for the ‘source_timestamp’. The ‘source_timestamp’ potentially affects the relative order in which readers observe events from multiple writers. See the QoS policy ‘DESTINATION_ORDER’.

The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the ‘unregister_instance’ operation.

This operation may block and return RETCODE_TIMEOUT under the same circumstances described for the write operation

Parameters
  • instance (void) – Sample used to deduce instance’s key in case of handle parameter is HANDLE_NIL.

  • handle (InstanceHandle_t) – Instance’s key to be unregistered.

  • timestamp (Time_t) – Time_t used to set the source_timestamp.

Return type

ReturnCode_t

Returns

Handle containing the instance’s key.

wait_for_acknowledgments(*args)

Overload 1:

Waits the current thread until all writers have received their acknowledgments.

Parameters

max_wait (Duration_t) – Maximum blocking time for this operation

Return type

ReturnCode_t

Returns

RETCODE_OK if the DataWriter receive the acknowledgments before the time expires and RETCODE_ERROR otherwise


Overload 2:

Block the current thread until the writer has received the acknowledgment corresponding to the given instance. Operations performed on the same instance while the current thread is waiting will not be taken into consideration, i.e. this method may return RETCODE_OK with those operations unacknowledged.

Parameters
  • instance (void) – Sample used to deduce instance’s key in case of handle parameter is HANDLE_NIL.

  • handle (InstanceHandle_t) – Instance handle of the data.

  • max_wait (Duration_t) – Maximum blocking time for this operation.

Return type

ReturnCode_t

Returns

RETCODE_NOT_ENABLED if the writer has not been enabled.

Return type

ReturnCode_t

Returns

RETCODE_BAD_PARAMETER if instance is not a valid pointer.

Return type

ReturnCode_t

Returns

RETCODE_PRECONDITION_NOT_MET if the topic does not have a key, the key is unknown to the writer, or the key is not consistent with handle.

Return type

ReturnCode_t

Returns

RETCODE_OK if the DataWriter received the acknowledgments before the time expired.

Return type

ReturnCode_t

Returns

RETCODE_TIMEOUT otherwise.

write(*args)

Overload 1:

Write data to the topic.

Parameters

data (void) – Pointer to the data

Return type

boolean

Returns

True if correct, false otherwise


Overload 2:

Write data with params to the topic.

Parameters
  • data (void) – Pointer to the data

  • params (WriteParams) – Extra write parameters.

Return type

boolean

Returns

True if correct, false otherwise


Overload 3:

Write data with handle.

The special value HANDLE_NIL can be used for the parameter handle.This indicates that the identity of the instance should be automatically deduced from the instance_data (by means of the key).

Parameters
  • data (void) – Pointer to the data

  • handle (InstanceHandle_t) – InstanceHandle_t.

Return type

ReturnCode_t

Returns

RETCODE_PRECONDITION_NOT_MET if the handle introduced does not match with the one associated to the data, RETCODE_OK if the data is correctly sent and RETCODE_ERROR otherwise.

write_w_timestamp(data, handle, timestamp)

This operation performs the same function as write except that it also provides the value for the ‘source_timestamp’ that is made available to DataReader objects by means of the ‘eprosima::fastdds::dds::SampleInfo::source_timestamp’ attribute “source_timestamp” inside the SampleInfo. The constraints on the values of the handle parameter and the corresponding error behavior are the same specified for the ‘write’ operation. This operation may block and return RETCODE_TIMEOUT under the same circumstances described for the ‘write’ operation. This operation may return RETCODE_OUT_OF_RESOURCES, RETCODE_PRECONDITION_NOT_MET or RETCODE_BAD_PARAMETER under the same circumstances described for the write operation.

Parameters
  • data (void) – Pointer to the data

  • handle (InstanceHandle_t) – InstanceHandle_t

  • timestamp (Time_t) – Time_t used to set the source_timestamp.

Return type

ReturnCode_t

Returns

Any of the standard return codes.