net.sf.jrtps.udds.BuiltinParticipantMessageListener Maven / Gradle / Ivy

package net.sf.jrtps.udds;

import java.util.Collection;
import java.util.List;

import net.sf.jrtps.QualityOfService;
import net.sf.jrtps.builtin.ParticipantMessage;
import net.sf.jrtps.message.parameter.QosLiveliness;
import net.sf.jrtps.message.parameter.QosLiveliness.Kind;
import net.sf.jrtps.rtps.Sample;
import net.sf.jrtps.rtps.WriterProxy;
import net.sf.jrtps.types.GuidPrefix;

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

/**
 * BuiltinParticipantMessageListener handles incoming ParticipantMessages.
 * ParticipantMessages are used to implement writer liveliness protocol.
 * 
 * @see ParticipantMessage
 * @author mcr70
 */
class BuiltinParticipantMessageListener extends BuiltinListener implements SampleListener {
    private static final Logger logger = LoggerFactory.getLogger(BuiltinParticipantMessageListener.class);
    private final List> localReaders;

    BuiltinParticipantMessageListener(Participant p, List> localReaders) {
        super(p);
        this.localReaders = localReaders;
    }

    @Override
    public void onSamples(List> samples) {
        for (Sample pmSample : samples) {
            ParticipantMessage pm = pmSample.getData();
            GuidPrefix guidPrefix = pm.getGuidPrefix();

            for (DataReader dr : localReaders) {
                Collection matchedWriters = dr.getRTPSReader().getMatchedWriters(guidPrefix);
                for (WriterProxy wp : matchedWriters) {
                    QualityOfService qos = wp.getPublicationData().getQualityOfService();
                    QosLiveliness qosLiveliness = qos.getLiveliness();

                    if (qosLiveliness.getKind() == Kind.AUTOMATIC && pm.isAutomaticLivelinessKind()) {
                        logger.trace("Asserting automatic liveliness of {}", wp.getGuid());
                        wp.assertLiveliness();
                    } else if (qosLiveliness.getKind() == Kind.MANUAL_BY_PARTICIPANT && pm.isManualLivelinessKind()) {
                        logger.trace("Asserting manual liveliness of {}", wp.getGuid());
                        wp.assertLiveliness();
                    }
                }
            }
        }
    }
}