net.sf.jrtps.builtin.PublicationData Maven / Gradle / Ivy

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jRTPS - An implementation of RTPS protocol by OMG
There is a newer version: 1.5.1
package net.sf.jrtps.builtin;

import java.util.Iterator;

import net.sf.jrtps.InconsistentPolicy;
import net.sf.jrtps.QualityOfService;
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.QosPolicy;
import net.sf.jrtps.message.parameter.TopicName;
import net.sf.jrtps.message.parameter.TypeName;
import net.sf.jrtps.types.Guid;

import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

/**
 * This class represents DDS::PublicationBuiltinTopicData
 * 
 * @author mcr70
 * 
 */
public class PublicationData extends DiscoveredData {
    public static final String BUILTIN_TOPIC_NAME = "DCPSPublication";
    public static final String BUILTIN_TYPE_NAME = "PUBLICATION_BUILT_IN_TOPIC_TYPE";
    // TODO: for odds 3.5

    private static final Logger log = LoggerFactory.getLogger(PublicationData.class);
    private Guid participantGuid;

    public PublicationData(ParameterList parameterList) throws InconsistentPolicy {
        Iterator iter = parameterList.getParameters().iterator();
        while (iter.hasNext()) {
            Parameter param = iter.next();
            addParameter(param);

            log.trace("{}", param);
            switch (param.getParameterId()) {
            case PID_PROTOCOL_VERSION:
            case PID_VENDORID:
            case PID_VENDOR_SPECIFIC:
                // These parameters get sent by OSPL 5.5. We can ignore these
                break;
            case PID_TOPIC_NAME:
                super.topicName = ((TopicName) param).getName();
                break;
            case PID_PARTICIPANT_GUID:
                participantGuid = ((ParticipantGuid) param).getParticipantGuid();
                break;                
            case PID_TYPE_NAME:
                super.typeName = ((TypeName) param).getTypeName();
                break;
            case PID_BUILTIN_TOPIC_KEY:
            case PID_KEY_HASH:
                super.key = new Guid(param.getBytes());
                break;
            case PID_SENTINEL:
                break;
            case PID_PAD:
                // Ignore
                break;

            default:
                if (param instanceof QosPolicy) {
                    addQosPolicy((QosPolicy) param);
                }
            }
        }

        if (super.typeName == null) { // Other vendors may use different typeName
            super.typeName = PublicationData.class.getName();
        }

        log.debug("Parameters of discovered publication: {}", getParameters());
        
        // Resolve possible inconsistencies
        resolveInconsistencies();
    }

    public PublicationData(String topicName, String typeName, Guid key, QualityOfService qos) {
        super(typeName, topicName, key, qos);
    }

    public Guid getParticipantGuid() {
        return participantGuid;
    }
}