net.sf.jrtps.message.parameter.QosDeadline Maven / Gradle / Ivy

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package net.sf.jrtps.message.parameter;

import net.sf.jrtps.transport.RTPSByteBuffer;
import net.sf.jrtps.types.Duration;

/**
 * This policy is useful for cases where a Topic is expected to have each
 * instance updated periodically. On the publishing side this setting
 * establishes a contract that the application must meet. On the subscribing
 * side the setting establishes a minimum requirement for the remote publishers
 * that are expected to supply the data values.
 * 
 * 
 * This policy must be consistent with QosTimeBasedFilter, so that period <=
 * minimum_separation.
 * 
 * See 7.1.3.7 DEADLINE
 * 
 * @author mcr70
 * 
 */
public class QosDeadline extends Parameter implements DataReaderPolicy, DataWriterPolicy,
        TopicPolicy, InlineParameter {
    private Duration period;

    QosDeadline() {
        super(ParameterEnum.PID_DEADLINE);
    }

    public QosDeadline(Duration period) {
        super(ParameterEnum.PID_DEADLINE);
        this.period = period;
    }

    @Override
    public void read(RTPSByteBuffer bb, int length) {
        period = new Duration(bb);
    }

    @Override
    public void writeTo(RTPSByteBuffer bb) {
        period.writeTo(bb);
    }

    /**
     * Get the period of this DEADLINE policy.
     * 
     * @return deadline
     */
    public Duration getPeriod() {
        return period;
    }

    /**
     * Checks, if this QosDeadline is compatible with the other QosPolicy.
     * 
     * @return true, if this.period <= other.period
     */
    @Override
    public boolean isCompatible(QosDeadline other) {
        QosDeadline qOther = (QosDeadline) other;
        return period.asMillis() <= qOther.period.asMillis();
    }

    /**
     * Gets a default QosDeadline with period Duration_t.INFINITE
     * 
     * @return default QosDeadline
     */
    public static QosDeadline defaultDeadline() {
        return new QosDeadline(Duration.INFINITE);
    }

    public String toString() {
        return super.toString() + "(" + period + ")";
    }
}