net.sf.jrtps.builtin.ParticipantData Maven / Gradle / Ivy
Go to download
Show more of this group Show more artifacts with this name
Show all versions of jrtps Show documentation
Show all versions of jrtps Show documentation
jRTPS - An implementation of RTPS protocol by OMG
package net.sf.jrtps.builtin;
import java.util.Iterator;
import java.util.LinkedList;
import java.util.List;
import net.sf.jrtps.QualityOfService;
import net.sf.jrtps.message.parameter.BuiltinEndpointSet;
import net.sf.jrtps.message.parameter.DefaultMulticastLocator;
import net.sf.jrtps.message.parameter.DefaultUnicastLocator;
import net.sf.jrtps.message.parameter.EndpointSet;
import net.sf.jrtps.message.parameter.MetatrafficMulticastLocator;
import net.sf.jrtps.message.parameter.MetatrafficUnicastLocator;
import net.sf.jrtps.message.parameter.Parameter;
import net.sf.jrtps.message.parameter.ParameterList;
import net.sf.jrtps.message.parameter.ParticipantGuid;
import net.sf.jrtps.message.parameter.ParticipantLeaseDuration;
import net.sf.jrtps.message.parameter.ParticipantManualLivelinessCount;
import net.sf.jrtps.message.parameter.ProtocolVersion;
import net.sf.jrtps.message.parameter.QosPolicy;
import net.sf.jrtps.message.parameter.TypeName;
import net.sf.jrtps.message.parameter.VendorId;
import net.sf.jrtps.types.Duration;
import net.sf.jrtps.types.EntityId;
import net.sf.jrtps.types.Guid;
import net.sf.jrtps.types.GuidPrefix;
import net.sf.jrtps.types.Locator;
import net.sf.jrtps.types.ProtocolVersion_t;
import net.sf.jrtps.types.VendorId_t;
import org.slf4j.LoggerFactory;
/**
* see 8.5.3.2 SPDPdiscoveredParticipantData. DDS::ParticipantBuiltinTopicData
*
* @author mcr70
*
*/
public class ParticipantData extends DiscoveredData {
public static final String BUILTIN_TOPIC_NAME = "DCPSParticipant";
public static final String BUILTIN_TYPE_NAME = "PARTICIPANT_BUILT_IN_TOPIC_TYPE";
// TODO: for odds 3.5
private static final org.slf4j.Logger log = LoggerFactory.getLogger(ParticipantData.class);
private ProtocolVersion_t protocolVersion = ProtocolVersion_t.PROTOCOLVERSION_2_1;
private VendorId_t vendorId = VendorId_t.VENDORID_JRTPS;
private GuidPrefix guidPrefix;
private boolean expectsInlineQos = false;
private final List discoveryLocators;
private final List userdataLocators;
private int availableBuiltinEndpoints;
private Duration leaseDuration = new Duration(100, 0);
/**
* Used to implement MANUAL_BY_PARTICIPANT liveliness QoS. When liveliness
* is asserted, the manualLivelinessCount is incremented and a new
* SPDPdiscoveredParticipantData is sent.
*/
private int manualLivelinessCount = 0; // TODO: check this
/**
* Time, that will mark remote participants lease as expired.
*/
private long leaseExpirationTime;
public ParticipantData(GuidPrefix prefix, int endpoints, List discoveryLocators,
List userdataLocators) {
super();
qos = QualityOfService.getSPDPQualityOfService();
this.guidPrefix = prefix;
this.availableBuiltinEndpoints = endpoints;
this.discoveryLocators = discoveryLocators;
this.userdataLocators = userdataLocators;
super.topicName = BUILTIN_TOPIC_NAME;
super.typeName = ParticipantData.class.getName();
renewLease();
}
/**
* Reads SPDPdiscoveredParticipantData. It is expected that inputstream is
* positioned to start of serializedData of Data submessage, aligned at 32
* bit boundary.
*
* @param parameterList
*/
public ParticipantData(ParameterList parameterList) {
this.discoveryLocators = new LinkedList<>();
this.userdataLocators = new LinkedList<>();
super.qos = QualityOfService.getSPDPQualityOfService();
Iterator iterator = parameterList.getParameters().iterator();
while (iterator.hasNext()) {
Parameter param = iterator.next();
addParameter(param);
switch (param.getParameterId()) {
case PID_PARTICIPANT_GUID:
this.guidPrefix = ((ParticipantGuid) param).getParticipantGuid().getPrefix();
break;
case PID_PARTICIPANT_BUILTIN_ENDPOINTS: // Handle PARTICIPANT_BUILTIN_ENDPOINTS (opendds)
case PID_BUILTIN_ENDPOINT_SET: // BUILTIN_ENDPOINT_SET (ospl) the same way
availableBuiltinEndpoints = ((EndpointSet) param).getEndpointSet();
break;
case PID_PROTOCOL_VERSION:
protocolVersion = ((ProtocolVersion) param).getProtocolVersion();
break;
case PID_VENDORID:
vendorId = ((VendorId) param).getVendorId();
break;
case PID_DEFAULT_UNICAST_LOCATOR:
userdataLocators.add(((DefaultUnicastLocator) param).getLocator());
break;
case PID_DEFAULT_MULTICAST_LOCATOR:
userdataLocators.add(((DefaultMulticastLocator) param).getLocator());
break;
case PID_METATRAFFIC_UNICAST_LOCATOR:
discoveryLocators.add(((MetatrafficUnicastLocator) param).getLocator());
break;
case PID_METATRAFFIC_MULTICAST_LOCATOR:
discoveryLocators.add(((MetatrafficMulticastLocator) param).getLocator());
break;
case PID_PARTICIPANT_LEASE_DURATION:
this.leaseDuration = ((ParticipantLeaseDuration) param).getDuration();
break;
case PID_PARTICIPANT_MANUAL_LIVELINESS_COUNT:
this.manualLivelinessCount = ((ParticipantManualLivelinessCount) param).getCount();
break;
case PID_TYPE_NAME:
super.typeName = ((TypeName) param).getTypeName();
break;
case PID_SENTINEL:
break;
default:
if (param instanceof QosPolicy) {
addQosPolicy((QosPolicy) param);
}
}
}
if (super.typeName == null) { // Other vendors may use different typeName
super.typeName = ParticipantData.class.getName();
}
log.debug("Parameters of discovered participant: {}", getParameters());
renewLease();
}
public ProtocolVersion_t getProtocolVersion() {
return protocolVersion;
}
public GuidPrefix getGuidPrefix() {
return guidPrefix;
}
/**
* Gets the guid of the partcipant.
*
* @return Guid
*/
public Guid getGuid() {
return new Guid(guidPrefix, EntityId.PARTICIPANT);
}
public VendorId_t getVendorId() {
return vendorId;
}
public boolean expectsInlineQos() {
return expectsInlineQos;
}
public int getBuiltinEndpoints() {
return availableBuiltinEndpoints;
}
/**
* Lease duration associated with remote participant represented by this
* ParticipantData. Remote participant is expected to renew its lease during
* its lease duration.
*
* @return Lease duration
*/
public Duration getLeaseDuration() {
return leaseDuration;
}
public int getManualLivelinessCount() {
return manualLivelinessCount;
}
/**
* Renews lease time that has been associated with this ParticipantData
*
* @see #getLeaseDuration()
*/
public void renewLease() {
this.leaseExpirationTime = System.currentTimeMillis() + leaseDuration.asMillis();
}
public void setLeaseDuration(Duration duration) {
this.leaseDuration = duration;
renewLease();
}
/**
* Checks, if the lease has been expired or not.
*
* @return true, if lease has been expired
*/
public boolean isLeaseExpired() {
long currentTimeMillis = System.currentTimeMillis();
return currentTimeMillis > leaseExpirationTime;
}
/**
* Gets the time when the lease will be expired.
*
* @return the time lease will expire
*/
public long getLeaseExpirationTime() {
return leaseExpirationTime;
}
/**
* Gets the list of Locators that can be used for discovery(metadata).
* @return List of Locators for discovery
*/
public List getDiscoveryLocators() {
return discoveryLocators;
}
/**
* Gets the list of Locators that can be used for user data
* @return List of Locators for user data
*/
public List getUserdataLocators() {
return userdataLocators;
}
public String toString() {
return getGuidPrefix() + ": " + new BuiltinEndpointSet(getBuiltinEndpoints()) + ", lease duration "
+ getLeaseDuration() + ", userdata locators: " + userdataLocators +
", discovery locators: " + discoveryLocators + ", " + qos;
}
}
© 2015 - 2025 Weber Informatics LLC | Privacy Policy