modularization/thirdpartylib/FastRTPS/include/fastdds/rtps/attributes/WriterAttributes.h

// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/**
 * @file WriterAttributes.h
 *
 */
#ifndef _FASTDDS_WRITERATTRIBUTES_H_
#define _FASTDDS_WRITERATTRIBUTES_H_

#include <fastdds/rtps/common/Time_t.h>
#include <fastdds/rtps/common/Guid.h>
#include <fastdds/rtps/flowcontrol/ThroughputControllerDescriptor.h>
#include <fastdds/rtps/attributes/EndpointAttributes.h>
#include <fastrtps/utils/collections/ResourceLimitedContainerConfig.hpp>
#include <fastrtps/qos/QosPolicies.h>

#include <functional>

namespace eprosima {
namespace fastrtps {
namespace rtps {

class ReaderProxyData;

typedef enum RTPSWriterPublishMode : octet
{
    SYNCHRONOUS_WRITER,
    ASYNCHRONOUS_WRITER
} RTPSWriterPublishMode;


/**
 * Struct WriterTimes, defining the times associated with the Reliable Writers events.
 * @ingroup RTPS_ATTRIBUTES_MODULE
 */
struct WriterTimes
{
    //! Initial heartbeat delay. Default value ~11ms.
    Duration_t initialHeartbeatDelay;
    //! Periodic HB period, default value 3s.
    Duration_t heartbeatPeriod;
    //!Delay to apply to the response of a ACKNACK message, default value ~5ms.
    Duration_t nackResponseDelay;
    //!This time allows the RTPSWriter to ignore nack messages too soon after the data as sent, default value 0s.
    Duration_t nackSupressionDuration;

    WriterTimes()
    {
        //initialHeartbeatDelay.fraction = 50*1000*1000;
        initialHeartbeatDelay.nanosec = 12 * 1000 * 1000;
        heartbeatPeriod.seconds = 3;
        //nackResponseDelay.fraction = 20*1000*1000;
        nackResponseDelay.nanosec = 5 * 1000 * 1000;
    }

    virtual ~WriterTimes()
    {
    }

    bool operator ==(
            const WriterTimes& b) const
    {
        return (this->initialHeartbeatDelay == b.initialHeartbeatDelay) &&
               (this->heartbeatPeriod == b.heartbeatPeriod) &&
               (this->nackResponseDelay == b.nackResponseDelay) &&
               (this->nackSupressionDuration == b.nackSupressionDuration);
    }

};

/**
 * Class WriterAttributes, defining the attributes of a RTPSWriter.
 * @ingroup RTPS_ATTRIBUTES_MODULE
 */
class WriterAttributes
{
public:

    WriterAttributes()
        : liveliness_kind(AUTOMATIC_LIVELINESS_QOS)
        , liveliness_lease_duration(TIME_T_INFINITE_SECONDS, TIME_T_INFINITE_NANOSECONDS)
        , liveliness_announcement_period(TIME_T_INFINITE_SECONDS, TIME_T_INFINITE_NANOSECONDS)
        , mode(SYNCHRONOUS_WRITER)
        , disable_heartbeat_piggyback(false)
        , disable_positive_acks(false)
        , keep_duration(TIME_T_INFINITE_SECONDS, TIME_T_INFINITE_NANOSECONDS)
    {
        endpoint.endpointKind = WRITER;
        endpoint.durabilityKind = TRANSIENT_LOCAL;
        endpoint.reliabilityKind = RELIABLE;
    }

    virtual ~WriterAttributes()
    {
    }

    //!Attributes of the associated endpoint.
    EndpointAttributes endpoint;

    //!Writer Times (only used for RELIABLE).
    WriterTimes times;

    //! Liveliness kind
    fastrtps::LivelinessQosPolicyKind liveliness_kind;

    //! Liveliness lease duration
    Duration_t liveliness_lease_duration;

    //! Liveliness announcement period
    Duration_t liveliness_announcement_period;

    //!Indicates if the Writer is synchronous or asynchronous
    RTPSWriterPublishMode mode;

    // Throughput controller, always the last one to apply
    ThroughputControllerDescriptor throughputController;

    //! Disable the sending of heartbeat piggybacks.
    bool disable_heartbeat_piggyback;

    //! Define the allocation behaviour for matched-reader-dependent collections.
    ResourceLimitedContainerConfig matched_readers_allocation;

    //! Disable the sending of positive ACKs
    bool disable_positive_acks;

    //! Keep duration to keep a sample before considering it has been acked
    Duration_t keep_duration;
};

} /* namespace rtps */
} /* namespace fastrtps */
} /* namespace eprosima */

#endif /* _FASTDDS_WRITERATTRIBUTES_H_ */