Class WLP

Class Documentation

class WLP

Class WLP that implements the Writer Liveliness Protocol described in the RTPS specification.

Public Functions

WLP(BuiltinProtocols *prot)

Constructor

Parameters:

prot – Pointer to the BuiltinProtocols object.

virtual ~WLP()
bool initWL(RTPSParticipantImpl *p)

Initialize the WLP protocol.

Parameters:

p – Pointer to the RTPS participant implementation.

Returns:

true if the initialziacion was successful.

bool assignRemoteEndpoints(const ParticipantProxyData &pdata, bool assign_secure_endpoints)

Assign the remote endpoints for a newly discovered RTPSParticipant.

Parameters:

  • pdata – Pointer to the RTPSParticipantProxyData object.

  • assign_secure_endpoints – Whether to try assigning secure endpoints.

Returns:

True if correct.

void removeRemoteEndpoints(ParticipantProxyData *pdata)

Remove remote endpoints from the liveliness protocol.

Parameters:

pdata – Pointer to the ParticipantProxyData to remove

bool add_local_writer(RTPSWriter *W, const WriterQos &wqos)

Add a local writer to the liveliness protocol.

Parameters:

  • W – Pointer to the RTPSWriter.

  • wqos – Quality of service policies for the writer.

Returns:

True if correct.

bool remove_local_writer(RTPSWriter *W)

Remove a local writer from the liveliness protocol.

Parameters:

W – Pointer to the RTPSWriter.

Returns:

True if removed.

bool add_local_reader(RTPSReader *reader, const ReaderQos &rqos)

Adds a local reader to the liveliness protocol.

Parameters:

  • reader – Pointer to the RTPS reader

  • rqos – Quality of service policies for the reader

Returns:

True if added successfully

bool remove_local_reader(RTPSReader *reader)

Removes a local reader from the livliness protocol.

Parameters:

reader – Pointer to the reader to remove

Returns:

True if removed successfully

bool assert_liveliness(GUID_t writer, LivelinessQosPolicyKind kind, Duration_t lease_duration)

A method to assert liveliness of a given writer.

Parameters:

  • writer – The writer, specified via its id

  • kind – The writer liveliness kind

  • lease_duration – The writer lease duration

Returns:

True if liveliness was asserted

bool assert_liveliness_manual_by_participant()

A method to assert liveliness of MANUAL_BY_PARTICIPANT writers.

Returns:

True if there were any MANUAL_BY_PARTICIPANT writers

StatefulWriter *builtin_writer()

Get the livelines builtin writer

Returns:

stateful writer

WriterHistory *builtin_writer_history()

Get the livelines builtin writer’s history

Returns:

writer history