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- #ifndef _FASTRTPS_DATAWRITER_HPP_
- #define _FASTRTPS_DATAWRITER_HPP_
- #include <fastdds/rtps/common/Time_t.h>
- #include <fastrtps/qos/DeadlineMissedStatus.h>
- #include <fastdds/dds/core/status/BaseStatus.hpp>
- #include <fastrtps/types/TypesBase.h>
- #include <fastdds/dds/core/Entity.hpp>
- #include <fastdds/dds/core/status/StatusMask.hpp>
- #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
- using eprosima::fastrtps::types::ReturnCode_t;
- namespace eprosima {
- namespace fastrtps {
- class TopicAttributes;
- namespace rtps {
- class WriteParams;
- class WriterAttributes;
- struct InstanceHandle_t;
- struct GUID_t;
- }
- }
- namespace fastdds {
- namespace dds {
- class PublisherListener;
- class PublisherImpl;
- class Publisher;
- class TypeSupport;
- class DataWriterImpl;
- class DataWriterListener;
- class DataWriterQos;
- class Topic;
- class DataWriter : public DomainEntity
- {
- friend class PublisherImpl;
- friend class DataWriterImpl;
-
- RTPS_DllAPI DataWriter(
- DataWriterImpl* impl,
- const StatusMask& mask = StatusMask::all());
- RTPS_DllAPI DataWriter(
- Publisher* pub,
- Topic* topic,
- const DataWriterQos& qos = DATAWRITER_QOS_DEFAULT,
- DataWriterListener* listener = nullptr,
- const StatusMask& mask = StatusMask::all());
- public:
- RTPS_DllAPI virtual ~DataWriter();
-
- RTPS_DllAPI ReturnCode_t enable() override;
-
- RTPS_DllAPI bool write(
- void* data);
-
- RTPS_DllAPI bool write(
- void* data,
- fastrtps::rtps::WriteParams& params);
-
- RTPS_DllAPI ReturnCode_t write(
- void* data,
- const fastrtps::rtps::InstanceHandle_t& handle);
-
- RTPS_DllAPI fastrtps::rtps::InstanceHandle_t register_instance(
- void* instance);
-
- RTPS_DllAPI ReturnCode_t unregister_instance(
- void* instance,
- const fastrtps::rtps::InstanceHandle_t& handle);
-
- RTPS_DllAPI const fastrtps::rtps::GUID_t& guid();
-
- RTPS_DllAPI fastrtps::rtps::InstanceHandle_t get_instance_handle() const;
-
- RTPS_DllAPI TypeSupport get_type() const;
-
- RTPS_DllAPI ReturnCode_t wait_for_acknowledgments(
- const fastrtps::Duration_t& max_wait);
-
- RTPS_DllAPI ReturnCode_t get_offered_deadline_missed_status(
- fastrtps::OfferedDeadlineMissedStatus& status);
-
- RTPS_DllAPI ReturnCode_t set_qos(
- const DataWriterQos& qos);
-
- RTPS_DllAPI const DataWriterQos& get_qos() const;
-
- RTPS_DllAPI ReturnCode_t get_qos(
- DataWriterQos& qos) const;
-
- RTPS_DllAPI Topic* get_topic() const;
-
- RTPS_DllAPI const DataWriterListener* get_listener() const;
-
- RTPS_DllAPI ReturnCode_t set_listener(
- DataWriterListener* listener);
-
-
- RTPS_DllAPI ReturnCode_t dispose(
- void* data,
- const fastrtps::rtps::InstanceHandle_t& handle);
-
- RTPS_DllAPI ReturnCode_t get_liveliness_lost_status(
- LivelinessLostStatus& status);
-
-
- RTPS_DllAPI const Publisher* get_publisher() const;
-
- RTPS_DllAPI ReturnCode_t assert_liveliness();
-
- RTPS_DllAPI ReturnCode_t clear_history(
- size_t* removed);
- private:
- DataWriterImpl* impl_;
- };
- }
- }
- }
- #endif
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