public AbstractConnectedDevice(
final Subscriber subscriber, final Publisher publisher, final EventLoop eventLoop) {
super(subscriber, publisher, eventLoop);
DeviceConnectivityTypeSupport.register_type(
domainParticipant, DeviceConnectivityTypeSupport.get_type_name());
deviceConnectivityTopic =
TopicUtil.findOrCreateTopic(
domainParticipant, DeviceConnectivityTopic.VALUE, DeviceConnectivityTypeSupport.class);
deviceConnectivityWriter =
(DeviceConnectivityDataWriter)
publisher.create_datawriter_with_profile(
deviceConnectivityTopic,
QosProfiles.ice_library,
QosProfiles.state,
null,
StatusKind.STATUS_MASK_NONE);
if (null == deviceConnectivityWriter) {
throw new RuntimeException("unable to create writer");
}
deviceConnectivity = new DeviceConnectivity();
deviceConnectivity.type = getConnectionType();
deviceConnectivity.state = getState();
}
@Override
public void start(final Publisher publisher, final EventLoop eventLoop) {
this.eventLoop = eventLoop;
VitalModelImpl.this.publisher = publisher;
DomainParticipant participant = publisher.get_participant();
ice.GlobalAlarmLimitObjectiveTypeSupport.register_type(
participant, ice.GlobalAlarmLimitObjectiveTypeSupport.get_type_name());
globalAlarmLimitTopic =
TopicUtil.findOrCreateTopic(
participant,
ice.GlobalAlarmLimitObjectiveTopic.VALUE,
ice.GlobalAlarmLimitObjectiveTypeSupport.class);
writer =
(ice.GlobalAlarmLimitObjectiveDataWriter)
publisher.create_datawriter_with_profile(
globalAlarmLimitTopic,
QosProfiles.ice_library,
QosProfiles.state,
null,
StatusKind.STATUS_MASK_NONE);
}
/**
* Create abstract data writer and check for errors
*
* @param publisher Publisher to build data writer from
* @param topic Topic to write to
* @return DDS DataWriter
* @throws IOException
*/
public DataWriter createWriter(final Publisher publisher, final Topic topic) throws IOException {
DataWriterQos dataWriterQos;
if (System.getProperty("dds.batch") != null) {
int batchMicros = Integer.parseInt(System.getProperty("dds.batch"));
dataWriterQos = new DataWriterQos();
participant.get_default_datawriter_qos(dataWriterQos);
dataWriterQos.batch.enable = true;
dataWriterQos.batch.max_flush_delay.sec = 0; // = new Duration_t(0, 5000000);
dataWriterQos.batch.max_flush_delay.nanosec = batchMicros * 1000;
if (System.getProperty("dds.batch.data") != null) {
dataWriterQos.batch.max_data_bytes = Integer.parseInt(System.getProperty("dds.batch.data"));
}
if (System.getProperty("dds.batch.samples") != null) {
dataWriterQos.batch.max_samples = Integer.parseInt(System.getProperty("dds.batch.samples"));
}
dataWriterQos.history.kind = HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
System.err.println("Flush delay: " + dataWriterQos.batch.max_flush_delay);
} else {
dataWriterQos = Publisher.DATAWRITER_QOS_USE_TOPIC_QOS;
}
final DataWriter parentWriter =
publisher.create_datawriter(topic, dataWriterQos, null, StatusKind.STATUS_MASK_NONE);
if (parentWriter == null) {
throw new IOException("Could not create DataWriter");
}
return parentWriter;
}
@Override
public void stop() {
publisher.delete_datawriter(writer);
publisher.get_participant().delete_topic(globalAlarmLimitTopic);
}
