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jRTPS - An implementation of RTPS protocol by OMG
package net.sf.jrtps;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Set;
import net.sf.jrtps.message.parameter.DataReaderPolicy;
import net.sf.jrtps.message.parameter.DataWriterPolicy;
import net.sf.jrtps.message.parameter.InlineParameter;
import net.sf.jrtps.message.parameter.QosDeadline;
import net.sf.jrtps.message.parameter.QosDestinationOrder;
import net.sf.jrtps.message.parameter.QosDurability;
import net.sf.jrtps.message.parameter.QosDurabilityService;
import net.sf.jrtps.message.parameter.QosGroupData;
import net.sf.jrtps.message.parameter.QosHistory;
import net.sf.jrtps.message.parameter.QosLatencyBudget;
import net.sf.jrtps.message.parameter.QosLifespan;
import net.sf.jrtps.message.parameter.QosLiveliness;
import net.sf.jrtps.message.parameter.QosOwnership;
import net.sf.jrtps.message.parameter.QosOwnershipStrength;
import net.sf.jrtps.message.parameter.QosPartition;
import net.sf.jrtps.message.parameter.QosPolicy;
import net.sf.jrtps.message.parameter.QosPresentation;
import net.sf.jrtps.message.parameter.QosReliability;
import net.sf.jrtps.message.parameter.QosResourceLimits;
import net.sf.jrtps.message.parameter.QosTimeBasedFilter;
import net.sf.jrtps.message.parameter.QosTopicData;
import net.sf.jrtps.message.parameter.QosTransportPriority;
import net.sf.jrtps.message.parameter.QosUserData;
import net.sf.jrtps.message.parameter.TopicPolicy;
import net.sf.jrtps.types.Duration;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* QualityOfService holds a collection QosPolicies.
*
* @author mcr70
*
*/
@SuppressWarnings("rawtypes")
public class QualityOfService {
private static final Logger log = LoggerFactory.getLogger(QualityOfService.class);
private static final QualityOfService sedpQos = createSEDPQualityOfService();
private static final QualityOfService spdpQos = createSPDPQualityOfService();
private HashMap, QosPolicy> policies = new HashMap<>();
/**
* Constructor with default QosPolicies.
*/
public QualityOfService() {
//createDefaultPolicies();
}
/**
* Sets a given QosPolicy. Old value will be overridden.
*
* @param policy
* QosPolicy to set.
* @throws InconsistentPolicy
* is thrown if there is some inconsistent value with the policy
*/
public void setPolicy(QosPolicy policy) throws InconsistentPolicy {
checkForInconsistencies(policy);
policies.put(policy.getClass(), policy);
}
private void checkForInconsistencies(QosPolicy policy) throws InconsistentPolicy {
if (policy instanceof QosDeadline) { // --- DEADLINE ---
QosTimeBasedFilter tbf = (QosTimeBasedFilter) policies.get(QosTimeBasedFilter.class);
if (tbf == null) {
tbf = QosTimeBasedFilter.defaultTimeBasedFilter();
}
QosDeadline dl = (QosDeadline) policy;
if (dl.getPeriod().asMillis() < tbf.getMinimumSeparation().asMillis()) {
throw new InconsistentPolicy("DEADLINE.period(" + dl.getPeriod()
+ ") must be >= TIME_BASED_FILTER.minimum_separation(" + tbf.getMinimumSeparation() + ")");
}
}
else if (policy instanceof QosTimeBasedFilter) { // --- TIME_BASED_FILTER ---
QosDeadline dl = (QosDeadline) policies.get(QosDeadline.class);
if (dl == null) {
dl = QosDeadline.defaultDeadline();
}
QosTimeBasedFilter tbf = (QosTimeBasedFilter) policy;
if (dl.getPeriod().asMillis() < tbf.getMinimumSeparation().asMillis()) {
throw new InconsistentPolicy("DEADLINE.period(" + dl.getPeriod()
+ ") must be >= TIME_BASED_FILTER.minimum_separation(" + tbf.getMinimumSeparation() + ")");
}
}
else if (policy instanceof QosHistory) { // --- HISTORY ---
QosResourceLimits rl = (QosResourceLimits) policies.get(QosResourceLimits.class);
if (rl == null) {
rl = QosResourceLimits.defaultResourceLimits();
}
QosHistory h = (QosHistory) policy;
if (rl.getMaxSamplesPerInstance() != -1 && rl.getMaxSamplesPerInstance() < h.getDepth()) {
throw new InconsistentPolicy("HISTORY.depth must be <= RESOURCE_LIMITS.max_samples_per_instance");
}
}
else if (policy instanceof QosResourceLimits) { // --- RESOURCE_LIMITS ---
QosResourceLimits rl = (QosResourceLimits) policy;
if (rl.getMaxSamples() < rl.getMaxSamplesPerInstance()) {
throw new InconsistentPolicy(
"RESOURCE_LIMITS.max_samples must be >= RESOURCE_LIMITS.max_samples_per_instance");
}
QosHistory h = (QosHistory) policies.get(QosHistory.class);
if (h == null) {
h = QosHistory.defaultHistory();
}
if (rl.getMaxSamplesPerInstance() != -1 && rl.getMaxSamplesPerInstance() < h.getDepth()) {
throw new InconsistentPolicy("HISTORY.depth must be <= RESOURCE_LIMITS.max_samples_per_instance");
}
}
}
/**
* Gets all the DataReaderPolicies from this QualityOfService. A new Set is
* always created when calling this method. Changes to returned Set is not
* reflected back to this QualityOfService.
*
* @return Set
*/
public Set getReaderPolicies() {
Set readerPolicies = new HashSet<>();
for (QosPolicy qp : policies.values()) {
if (qp instanceof DataReaderPolicy) {
readerPolicies.add((DataReaderPolicy) qp);
}
}
return readerPolicies;
}
/**
* Gets all the DataWriterPolicies from this QualityOfService. A new Set is
* always created when calling this method. Changes to returned Set is not
* reflected back to this QualityOfService.
*
* @return Set
*/
public Set getWriterPolicies() {
Set writerPolicies = new HashSet<>();
for (QosPolicy qp : policies.values()) {
if (qp instanceof DataWriterPolicy) {
writerPolicies.add((DataWriterPolicy) qp);
}
}
return writerPolicies;
}
/**
* Gets all the TopicPolicies from this QualityOfService. A new Set is
* always created when calling this method. Changes to returned Set is not
* reflected back to this QualityOfService.
*
* @return Set
*/
public Set getTopicPolicies() {
Set topicPolicies = new HashSet<>();
for (QosPolicy qp : policies.values()) {
if (qp instanceof TopicPolicy) {
topicPolicies.add((TopicPolicy) qp);
}
}
return topicPolicies;
}
/**
* Gets all the inlineable QosPolicies from this QualityOfService. A new Set
* is always created when calling this method. Changes to returned Set is
* not reflected back to this QualityOfService.
*
* @return Set
*/
public Set> getInlinePolicies() {
Set> inlinePolicies = new HashSet<>();
for (QosPolicy qp : policies.values()) {
if (qp instanceof InlineParameter) {
inlinePolicies.add(qp);
}
}
return inlinePolicies;
}
@SuppressWarnings("unchecked")
public boolean isCompatibleWith(QualityOfService other) {
boolean compatible = true;
for (QosPolicy qp : policies.values()) {
QosPolicy qpOther = other.policies.get(qp.getClass());
if (!qp.isCompatible(qpOther)) {
compatible = false;
log.warn("Offered QosPolicy {} is not compatible with requested {}", qp, qpOther);
// Don't break from the loop. Report every incompatible QoS
// policy.
}
}
return compatible;
}
/**
* Gets the QualityOfService used in Simple Endpoint Discovery
* Protocol(SEDP)
*
* @return QualityOfService for SEDP
*/
public static QualityOfService getSEDPQualityOfService() {
return sedpQos;
}
/**
* Gets the QualityOfService used in Simple Participant Discovery
* Protocol(SPDP)
*
* @return QualityOfService for SPDP
*/
public static QualityOfService getSPDPQualityOfService() {
return spdpQos;
}
/**
* Gets the Deadline QosPolicy
* @return QosDeadline
*/
public QosDeadline getDeadline() {
QosPolicy policy = policies.get(QosDeadline.class);
if (policy != null) {
return (QosDeadline) policy;
}
return QosDeadline.defaultDeadline();
}
/**
* Gets the Deadline QosPolicy
* @return QosDeadline
*/
public QosDestinationOrder getDestinationOrder() {
QosPolicy policy = policies.get(QosDestinationOrder.class);
if (policy != null) {
return (QosDestinationOrder) policy;
}
return QosDestinationOrder.defaultDestinationOrder();
}
/**
* Gets the Durability QosPolicy
* @return QosDurability
*/
public QosDurability getDurability() {
QosPolicy policy = policies.get(QosDurability.class);
if (policy != null) {
return (QosDurability) policy;
}
return QosDurability.defaultDurability();
}
/**
* Gets the DurabilityService QosPolicy
* @return QosDurability
*/
public QosDurabilityService getDurabilityService() {
QosPolicy policy = policies.get(QosDurabilityService.class);
if (policy != null) {
return (QosDurabilityService) policy;
}
return QosDurabilityService.defaultDurabilityService();
}
/**
* Gets the GroupData QosPolicy
* @return QosGroupData
*/
public QosGroupData getGroupData() {
QosPolicy policy = policies.get(QosGroupData.class);
if (policy != null) {
return (QosGroupData) policy;
}
return QosGroupData.defaultGroupData();
}
/**
* Gets the History QosPolicy
* @return QosHistory
*/
public QosHistory getHistory() {
QosPolicy policy = policies.get(QosHistory.class);
if (policy != null) {
return (QosHistory) policy;
}
return QosHistory.defaultHistory();
}
/**
* Gets the LatencyBudget QosPolicy
* @return QosLatencyBudget
*/
public QosLatencyBudget getLatencyBudget() {
QosPolicy policy = policies.get(QosLatencyBudget.class);
if (policy != null) {
return (QosLatencyBudget) policy;
}
return QosLatencyBudget.defaultLatencyBudget();
}
/**
* Gets the Lifespan QosPolicy
* @return QosLifespan
*/
public QosLifespan getLifespan() {
QosPolicy policy = policies.get(QosLifespan.class);
if (policy != null) {
return (QosLifespan) policy;
}
return QosLifespan.defaultLifespan();
}
/**
* Gets the Liveliness QosPolicy
* @return QosLiveliness
*/
public QosLiveliness getLiveliness() {
QosPolicy policy = policies.get(QosLiveliness.class);
if (policy != null) {
return (QosLiveliness) policy;
}
return QosLiveliness.defaultLiveliness();
}
/**
* Gets the Ownership QosPolicy
* @return QosOwnership
*/
public QosOwnership getOwnership() {
QosPolicy policy = policies.get(QosOwnership.class);
if (policy != null) {
return (QosOwnership) policy;
}
return QosOwnership.defaultOwnership();
}
/**
* Gets the OwnershipStrength QosPolicy
* @return QosOwnershipStrength
*/
public QosOwnershipStrength getOwnershipStrength() {
QosPolicy policy = policies.get(QosOwnershipStrength.class);
if (policy != null) {
return (QosOwnershipStrength) policy;
}
return QosOwnershipStrength.defaultOwnershipStrength();
}
/**
* Gets the Partition QosPolicy
* @return QosPartition
*/
public QosPartition getPartition() {
QosPolicy policy = policies.get(QosPartition.class);
if (policy != null) {
return (QosPartition) policy;
}
return QosPartition.defaultPartition();
}
/**
* Gets the Presentation QosPolicy
* @return QosPresentation
*/
public QosPresentation getPresentation() {
QosPolicy policy = policies.get(QosPresentation.class);
if (policy != null) {
return (QosPresentation) policy;
}
return QosPresentation.defaultPresentation();
}
/**
* Gets the Reliability QosPolicy
* @return QosReliability
*/
public QosReliability getReliability() {
QosPolicy policy = policies.get(QosReliability.class);
if (policy != null) {
return (QosReliability) policy;
}
return QosReliability.defaultReliability();
}
/**
* Gets the ResourceLimits QosPolicy
* @return QosResourceLimits
*/
public QosResourceLimits getResourceLimits() {
QosPolicy policy = policies.get(QosResourceLimits.class);
if (policy != null) {
return (QosResourceLimits) policy;
}
return QosResourceLimits.defaultResourceLimits();
}
/**
* Gets the TopicData QosPolicy
* @return QosTopicData
*/
public QosTopicData getTopicData() {
QosPolicy policy = policies.get(QosTopicData.class);
if (policy != null) {
return (QosTopicData) policy;
}
return QosTopicData.defaultTopicData();
}
/**
* Gets the TransportPriority QosPolicy
* @return QosTransportPriority
*/
public QosTransportPriority getTransportPriority() {
QosPolicy policy = policies.get(QosTransportPriority.class);
if (policy != null) {
return (QosTransportPriority) policy;
}
return QosTransportPriority.defaultTransportPriority();
}
/**
* Gets the TimeBasedFilter QosPolicy
* @return QosTimeBasedFilter
*/
public QosTimeBasedFilter getTimeBasedFilter() {
QosPolicy policy = policies.get(QosTimeBasedFilter.class);
if (policy != null) {
return (QosTimeBasedFilter) policy;
}
return QosTimeBasedFilter.defaultTimeBasedFilter();
}
/**
* Gets the TransportPriority QosPolicy
* @return QosTransportPriority
*/
public QosUserData getUserData() {
QosPolicy policy = policies.get(QosUserData.class);
if (policy != null) {
return (QosUserData) policy;
}
return QosUserData.defaultUserData();
}
private static QualityOfService createSEDPQualityOfService() {
QualityOfService qos = new QualityOfService();
try {
qos.setPolicy(new QosDurability(QosDurability.Kind.TRANSIENT));
// TODO: OSPL uses TRANSIENT, while TRANSIENT_LOCAL would be correct
qos.setPolicy(new QosPresentation(QosPresentation.Kind.TOPIC, false, false));
qos.setPolicy(new QosDeadline(Duration.INFINITE));
qos.setPolicy(new QosOwnership(QosOwnership.Kind.SHARED));
qos.setPolicy(new QosLiveliness(QosLiveliness.Kind.AUTOMATIC, new Duration(0, 0)));
qos.setPolicy(new QosTimeBasedFilter(new Duration(0)));
qos.setPolicy(new QosReliability(QosReliability.Kind.RELIABLE, new Duration(100)));
qos.setPolicy(new QosDestinationOrder(QosDestinationOrder.Kind.BY_RECEPTION_TIMESTAMP));
qos.setPolicy(new QosHistory(QosHistory.Kind.KEEP_LAST, 1));
qos.setPolicy(new QosResourceLimits(Integer.MAX_VALUE, Integer.MAX_VALUE, Integer.MAX_VALUE));
} catch (InconsistentPolicy e) {
throw new RuntimeException("Internal error", e);
}
return qos;
}
private static QualityOfService createSPDPQualityOfService() {
QualityOfService qos = new QualityOfService();
try {
qos.setPolicy(new QosDurability(QosDurability.Kind.TRANSIENT_LOCAL));
qos.setPolicy(new QosReliability(QosReliability.Kind.BEST_EFFORT, new Duration(0)));
} catch (InconsistentPolicy e) {
throw new RuntimeException("Internal error", e);
}
return qos;
}
public String toString() {
return policies.values().toString();
}
}
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