/src/Fast-DDS/src/cpp/fastdds/rpc/ReplierImpl.hpp
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1 | | // Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima). |
2 | | // |
3 | | // Licensed under the Apache License, Version 2.0 (the "License"); |
4 | | // you may not use this file except in compliance with the License. |
5 | | // You may obtain a copy of the License at |
6 | | // |
7 | | // http://www.apache.org/licenses/LICENSE-2.0 |
8 | | // |
9 | | // Unless required by applicable law or agreed to in writing, software |
10 | | // distributed under the License is distributed on an "AS IS" BASIS, |
11 | | // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
12 | | // See the License for the specific language governing permissions and |
13 | | // limitations under the License. |
14 | | |
15 | | #ifndef FASTDDS_RPC__REPLIERIMPL_HPP |
16 | | #define FASTDDS_RPC__REPLIERIMPL_HPP |
17 | | |
18 | | #include <fastdds/dds/core/detail/DDSReturnCode.hpp> |
19 | | #include <fastdds/dds/core/LoanableCollection.hpp> |
20 | | #include <fastdds/dds/core/LoanableSequence.hpp> |
21 | | #include <fastdds/dds/domain/qos/ReplierQos.hpp> |
22 | | #include <fastdds/dds/publisher/DataWriter.hpp> |
23 | | #include <fastdds/dds/publisher/Publisher.hpp> |
24 | | #include <fastdds/dds/rpc/Replier.hpp> |
25 | | #include <fastdds/dds/rpc/RequestInfo.hpp> |
26 | | #include <fastdds/dds/subscriber/DataReader.hpp> |
27 | | #include <fastdds/dds/subscriber/Subscriber.hpp> |
28 | | |
29 | | namespace eprosima { |
30 | | namespace fastdds { |
31 | | namespace dds { |
32 | | namespace rpc { |
33 | | |
34 | | class ServiceImpl; |
35 | | |
36 | | /** |
37 | | * @brief Class that represents the implementation of a replier entity |
38 | | */ |
39 | | class ReplierImpl : public Replier |
40 | | { |
41 | | |
42 | | public: |
43 | | |
44 | | /** |
45 | | * @brief Constructor |
46 | | * Don't use it directly, use create_service_replier from DomainParticipant instead |
47 | | */ |
48 | | ReplierImpl( |
49 | | ServiceImpl* service, |
50 | | const ReplierQos& qos); |
51 | | |
52 | | /** |
53 | | * @brief Destructor |
54 | | */ |
55 | | virtual ~ReplierImpl(); |
56 | | |
57 | | /** |
58 | | * @brief Returns the name of the service to which the replier belongs |
59 | | */ |
60 | | const std::string& get_service_name() const override; |
61 | | |
62 | | /** |
63 | | * @brief Send a reply message to a requester |
64 | | * |
65 | | * @param data Data to send |
66 | | * @param info Information about the reply sample. This information is used to match the reply with the request through the SampleIdentity |
67 | | * @return RETCODE_OK if the reply was sent successfully or a ReturnCode related to the specific error otherwise |
68 | | */ |
69 | | ReturnCode_t send_reply( |
70 | | void* data, |
71 | | const RequestInfo& info) override; |
72 | | |
73 | | /** |
74 | | * @brief Take a request message from the Replier DataReader's history. |
75 | | * |
76 | | * @param data Data to receive the request |
77 | | * @param info Information about the request sample |
78 | | * @return RETCODE_OK if the request was taken successfully or a ReturnCode related to the specific error otherwise |
79 | | */ |
80 | | ReturnCode_t take_request( |
81 | | void* data, |
82 | | RequestInfo& info) override; |
83 | | |
84 | | /** |
85 | | * @brief Take all request messages stored in the Replier DataReader's history. |
86 | | * @note This method does not allow to take only the samples associated to a given request. User must implement a zero-copy solution to link request and reply samples. |
87 | | * |
88 | | * @param data Data to receive the request |
89 | | * @param info Information about the request sample |
90 | | * @return RETCODE_OK if the request was taken successfully or a ReturnCode related to the specific error otherwise |
91 | | */ |
92 | | ReturnCode_t take_request( |
93 | | LoanableCollection& data, |
94 | | LoanableSequence<RequestInfo>& info) override; |
95 | | |
96 | | /** |
97 | | * @brief This operation indicates to the Replier's DataReader that |
98 | | * the application is done accessing the collection of Request @c datas and @c infos obtained by |
99 | | * some earlier invocation of @ref take_request. |
100 | | * |
101 | | * @param [in,out] data A LoanableCollection object where the received data samples were obtained from |
102 | | * an earlier invocation of take_request on this Replier. |
103 | | * @param [in,out] sample A LoanableSequence where the received request infos were obtained from |
104 | | * an earlier invocation of take_request on this Replier. |
105 | | */ |
106 | | ReturnCode_t return_loan( |
107 | | LoanableCollection& data, |
108 | | LoanableSequence<RequestInfo>& info) override; |
109 | | |
110 | | /** |
111 | | * @brief Enable the Replier |
112 | | */ |
113 | | ReturnCode_t enable() override; |
114 | | |
115 | | /** |
116 | | * @brief Disable the Replier |
117 | | */ |
118 | | ReturnCode_t close() override; |
119 | | |
120 | | /** |
121 | | * @brief Check if the replier is enabled (i.e: all DDS entities are correctly created) |
122 | | */ |
123 | | inline bool is_enabled() const override |
124 | 0 | { |
125 | 0 | return enabled_; |
126 | 0 | } |
127 | | |
128 | | // Getters for DDS Endpoints |
129 | | inline DataWriter* get_replier_writer() const override |
130 | 0 | { |
131 | 0 | return replier_writer_; |
132 | 0 | } |
133 | | |
134 | | inline DataReader* get_replier_reader() const override |
135 | 0 | { |
136 | 0 | return replier_reader_; |
137 | 0 | } |
138 | | |
139 | | private: |
140 | | |
141 | | /** |
142 | | * @brief Create required DDS entities to enable communication with the requester |
143 | | * |
144 | | * @param qos Replier QoS to configure the DDS entities |
145 | | * |
146 | | * @return RETCODE_OK if all DDS entities were created successfully, RETCODE_ERROR otherwise |
147 | | */ |
148 | | ReturnCode_t create_dds_entities( |
149 | | const ReplierQos& qos); |
150 | | |
151 | | /** |
152 | | * @brief Delete all internal DDS Entities |
153 | | * |
154 | | * @return RETCODE_OK if all entities were deleted successfully, RETCODE_PRECONDITION_NOT_MET |
155 | | * if any entity cannot be deleted |
156 | | */ |
157 | | ReturnCode_t delete_contained_entities(); |
158 | | |
159 | | /** |
160 | | * @brief Possible states of the replier with respect to a requester |
161 | | */ |
162 | | enum class RequesterMatchStatus |
163 | | { |
164 | | UNMATCHED, // Request topic not matched |
165 | | PARTIALLY_MATCHED, // Request topic matched but Reply topic not matched |
166 | | MATCHED // Both topics matched |
167 | | }; |
168 | | |
169 | | /** |
170 | | * @brief Check the matched status of the replier with respect to a requester |
171 | | * |
172 | | * @param info Information about the request for which to check the status |
173 | | * |
174 | | * @return The matched status of the replier with respect to the requester that sent the request |
175 | | */ |
176 | | RequesterMatchStatus requester_match_status( |
177 | | const RequestInfo& info) const; |
178 | | |
179 | | bool is_fully_matched() const; |
180 | | |
181 | | DataReader* replier_reader_; |
182 | | DataWriter* replier_writer_; |
183 | | ReplierQos qos_; |
184 | | ServiceImpl* service_; |
185 | | bool enabled_; |
186 | | |
187 | | }; |
188 | | |
189 | | } // namespace rpc |
190 | | } // namespace dds |
191 | | } // namespace fastdds |
192 | | } // namespace eprosima |
193 | | |
194 | | #endif // FASTDDS_RPC__REPLIERIMPL_HPP |