Program Listing for File dds.h

↰ Return to documentation for file (dds.h)

/*
 * Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
 *
 * This program and the accompanying materials are made available under the
 * terms of the Eclipse Public License v. 2.0 which is available at
 * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
 * v. 1.0 which is available at
 * http://www.eclipse.org/org/documents/edl-v10.php.
 *
 * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
 */
#ifndef DDS_H
#define DDS_H

#if defined (__cplusplus)
#define restrict
#endif

#include "dds/export.h"
#include "dds/features.h"

#include "dds/ddsc/dds_basic_types.h"

/* Sub components */

#include "dds/ddsrt/time.h"
#include "dds/ddsrt/retcode.h"
#include "dds/ddsrt/log.h"
#include "dds/ddsc/dds_public_impl.h"
#include "dds/ddsc/dds_public_alloc.h"
#include "dds/ddsc/dds_public_qos.h"
#include "dds/ddsc/dds_public_error.h"
#include "dds/ddsc/dds_public_status.h"
#include "dds/ddsc/dds_public_listener.h"

#if defined (__cplusplus)
extern "C" {
#endif

typedef struct ddsi_typeid dds_typeid_t;
typedef struct ddsi_typeobj dds_typeobj_t;

struct dds_rhc;
struct ddsi_plist;
struct ddsi_sertype;
struct ddsi_serdata;
struct ddsi_sertopic; // deprecated, binary compatibility only

#define DDS_HAS_DDSI_SERTYPE 1

#define DDS_BUILTIN_TOPIC_DCPSPARTICIPANT  ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 1))
#define DDS_BUILTIN_TOPIC_DCPSTOPIC        ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 2))
#define DDS_BUILTIN_TOPIC_DCPSPUBLICATION  ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 3))
#define DDS_BUILTIN_TOPIC_DCPSSUBSCRIPTION ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 4))

#define DDS_DATA_ALLOCATOR_ALLOC_ON_HEAP   ((dds_entity_t) (DDS_MIN_PSEUDO_HANDLE + 257))

typedef enum dds_status_id {
  DDS_INCONSISTENT_TOPIC_STATUS_ID,
  DDS_OFFERED_DEADLINE_MISSED_STATUS_ID,
  DDS_REQUESTED_DEADLINE_MISSED_STATUS_ID,
  DDS_OFFERED_INCOMPATIBLE_QOS_STATUS_ID,
  DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS_ID,
  DDS_SAMPLE_LOST_STATUS_ID,
  DDS_SAMPLE_REJECTED_STATUS_ID,
  DDS_DATA_ON_READERS_STATUS_ID,
  DDS_DATA_AVAILABLE_STATUS_ID,
  DDS_LIVELINESS_LOST_STATUS_ID,
  DDS_LIVELINESS_CHANGED_STATUS_ID,
  DDS_PUBLICATION_MATCHED_STATUS_ID,
  DDS_SUBSCRIPTION_MATCHED_STATUS_ID
} dds_status_id_t;
#define DDS_STATUS_ID_MAX (DDS_SUBSCRIPTION_MATCHED_STATUS_ID)

#define DDS_INCONSISTENT_TOPIC_STATUS          (1u << DDS_INCONSISTENT_TOPIC_STATUS_ID)

#define DDS_OFFERED_DEADLINE_MISSED_STATUS     (1u << DDS_OFFERED_DEADLINE_MISSED_STATUS_ID)

#define DDS_REQUESTED_DEADLINE_MISSED_STATUS   (1u << DDS_REQUESTED_DEADLINE_MISSED_STATUS_ID)

#define DDS_OFFERED_INCOMPATIBLE_QOS_STATUS    (1u << DDS_OFFERED_INCOMPATIBLE_QOS_STATUS_ID)

#define DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS  (1u << DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS_ID)

#define DDS_SAMPLE_LOST_STATUS                 (1u << DDS_SAMPLE_LOST_STATUS_ID)

#define DDS_SAMPLE_REJECTED_STATUS             (1u << DDS_SAMPLE_REJECTED_STATUS_ID)

#define DDS_DATA_ON_READERS_STATUS             (1u << DDS_DATA_ON_READERS_STATUS_ID)

#define DDS_DATA_AVAILABLE_STATUS              (1u << DDS_DATA_AVAILABLE_STATUS_ID)

#define DDS_LIVELINESS_LOST_STATUS             (1u << DDS_LIVELINESS_LOST_STATUS_ID)

#define DDS_LIVELINESS_CHANGED_STATUS          (1u << DDS_LIVELINESS_CHANGED_STATUS_ID)

#define DDS_PUBLICATION_MATCHED_STATUS         (1u << DDS_PUBLICATION_MATCHED_STATUS_ID)

#define DDS_SUBSCRIPTION_MATCHED_STATUS        (1u << DDS_SUBSCRIPTION_MATCHED_STATUS_ID)

typedef enum dds_sample_state
{
  DDS_SST_READ = DDS_READ_SAMPLE_STATE,
  DDS_SST_NOT_READ = DDS_NOT_READ_SAMPLE_STATE
}
dds_sample_state_t;

typedef enum dds_view_state
{
  DDS_VST_NEW = DDS_NEW_VIEW_STATE,
  DDS_VST_OLD = DDS_NOT_NEW_VIEW_STATE
}
dds_view_state_t;

typedef enum dds_instance_state
{
  DDS_IST_ALIVE = DDS_ALIVE_INSTANCE_STATE,
  DDS_IST_NOT_ALIVE_DISPOSED = DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE,
  DDS_IST_NOT_ALIVE_NO_WRITERS = DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE
}
dds_instance_state_t;

typedef struct dds_sample_info
{
  dds_sample_state_t sample_state;
  dds_view_state_t view_state;
  dds_instance_state_t instance_state;
  bool valid_data;
  dds_time_t source_timestamp;
  dds_instance_handle_t instance_handle;
  dds_instance_handle_t publication_handle;
  uint32_t disposed_generation_count;
  uint32_t no_writers_generation_count;
  uint32_t sample_rank;
  uint32_t generation_rank;
  uint32_t absolute_generation_rank;
}
dds_sample_info_t;

typedef struct dds_builtintopic_guid
{
  uint8_t v[16];
}
dds_builtintopic_guid_t;

/* "dds_builtintopic_guid_t" is a bit of a weird name for what everyone just calls a GUID,
   so let us try and switch to using the more logical one */
typedef struct dds_builtintopic_guid dds_guid_t;

typedef struct dds_builtintopic_participant
{
  dds_guid_t key;
  dds_qos_t *qos;
}
dds_builtintopic_participant_t;

typedef struct dds_builtintopic_topic_key {
  unsigned char d[16];
} dds_builtintopic_topic_key_t;

typedef struct dds_builtintopic_topic
{
  dds_builtintopic_topic_key_t key;
  char *topic_name;
  char *type_name;
  dds_qos_t *qos;
}
dds_builtintopic_topic_t;

typedef struct dds_builtintopic_endpoint
{
  dds_guid_t key;
  dds_guid_t participant_key;
  dds_instance_handle_t participant_instance_handle;
  char *topic_name;
  char *type_name;
  dds_qos_t *qos;
}
dds_builtintopic_endpoint_t;

/*
  All entities are represented by a process-private handle, with one
  call to enable an entity when it was created disabled.
  An entity is created enabled by default.
  Note: disabled creation is currently not supported.
*/

DDS_EXPORT dds_return_t
dds_enable(dds_entity_t entity);

/*
  All entities are represented by a process-private handle, with one
  call to delete an entity and all entities it logically contains.
  That is, it is equivalent to combination of
  delete_contained_entities and delete_xxx in the DCPS API.
*/

/* TODO: Link to generic dds entity relations documentation. */
DDS_EXPORT dds_return_t
dds_delete(dds_entity_t entity);

/* TODO: Link to generic dds entity relations documentation. */
DDS_EXPORT dds_entity_t
dds_get_publisher(dds_entity_t writer);

/* TODO: Link to generic dds entity relations documentation. */
DDS_EXPORT dds_entity_t
dds_get_subscriber(dds_entity_t entity);

/* TODO: Link to generic dds entity relations documentation. */
DDS_EXPORT dds_entity_t
dds_get_datareader(dds_entity_t condition);

DDS_EXPORT dds_return_t
dds_get_mask(dds_entity_t condition, uint32_t *mask);

/* TODO: Check list of return codes is complete. */
DDS_EXPORT dds_return_t
dds_get_instance_handle(dds_entity_t entity, dds_instance_handle_t *ihdl);

/* TODO: Check list of return codes is complete. */
DDS_EXPORT dds_return_t
dds_get_guid (dds_entity_t entity, dds_guid_t *guid);

/*
  All entities have a set of "status conditions" (following the DCPS
  spec), read peeks, take reads & resets (analogously to read & take
  operations on reader). The "mask" allows operating only on a subset
  of the statuses. Enabled status analogously to DCPS spec.
*/

DDS_EXPORT dds_return_t
dds_read_status(dds_entity_t entity, uint32_t *status, uint32_t mask);

DDS_EXPORT dds_return_t
dds_take_status(dds_entity_t entity, uint32_t *status, uint32_t mask);

DDS_EXPORT dds_return_t
dds_get_status_changes(dds_entity_t entity, uint32_t *status);

DDS_EXPORT dds_return_t
dds_get_status_mask(dds_entity_t entity, uint32_t *mask);

DDS_DEPRECATED_EXPORT dds_return_t
dds_get_enabled_status(dds_entity_t entity, uint32_t *mask);

DDS_EXPORT dds_return_t
dds_set_status_mask(dds_entity_t entity, uint32_t mask);

DDS_DEPRECATED_EXPORT dds_return_t
dds_set_enabled_status(dds_entity_t entity, uint32_t mask);

/*
  Almost all entities have get/set qos operations defined on them,
  again following the DCPS spec. But unlike the DCPS spec, the
  "present" field in qos_t allows one to initialize just the one QoS
  one wants to set & pass it to set_qos.
*/

/* TODO: Link to generic QoS information documentation. */
DDS_EXPORT dds_return_t
dds_get_qos(dds_entity_t entity, dds_qos_t *qos);

/* TODO: Link to generic QoS information documentation. */
DDS_EXPORT dds_return_t
dds_set_qos(dds_entity_t entity, const dds_qos_t * qos);

/*
  Get or set listener associated with an entity, type of listener
  provided much match type of entity.
*/

/* TODO: Link to (generic) Listener and status information. */
DDS_EXPORT dds_return_t
dds_get_listener(dds_entity_t entity, dds_listener_t * listener);

/* TODO: Link to (generic) Listener and status information. */
DDS_EXPORT dds_return_t
dds_set_listener(dds_entity_t entity, const dds_listener_t * listener);

/*
  Creation functions for various entities. Creating a subscriber or
  publisher is optional: if one creates a reader as a descendant of a
  participant, it is as if a subscriber is created specially for
  that reader.

  QoS default values are those of the DDS specification, but the
  inheritance rules are different:

    * publishers and subscribers inherit from the participant QoS
    * readers and writers always inherit from the topic QoS
    * the QoS's present in the "qos" parameter override the inherited values
*/

DDS_EXPORT dds_entity_t
dds_create_participant(
  const dds_domainid_t domain,
  const dds_qos_t *qos,
  const dds_listener_t *listener);

DDS_EXPORT dds_entity_t
dds_create_domain(const dds_domainid_t domain, const char *config);

struct ddsi_config;
DDS_EXPORT dds_entity_t
dds_create_domain_with_rawconfig(const dds_domainid_t domain, const struct ddsi_config *config);

/* TODO: Link to generic dds entity relations documentation. */
DDS_EXPORT dds_entity_t
dds_get_parent(dds_entity_t entity);

DDS_EXPORT dds_entity_t
dds_get_participant(dds_entity_t entity);

/* TODO: Link to generic dds entity relations documentation. */
DDS_EXPORT dds_return_t
dds_get_children(dds_entity_t entity, dds_entity_t *children, size_t size);

DDS_EXPORT dds_return_t
dds_get_domainid(dds_entity_t entity, dds_domainid_t *id);

DDS_EXPORT dds_return_t
dds_lookup_participant(
  dds_domainid_t domain_id,
  dds_entity_t *participants,
  size_t size);

DDS_EXPORT dds_entity_t
dds_create_topic(
  dds_entity_t participant,
  const dds_topic_descriptor_t *descriptor,
  const char *name,
  const dds_qos_t *qos,
  const dds_listener_t *listener);

#define DDS_HAS_CREATE_TOPIC_SERTYPE 1

DDS_EXPORT dds_entity_t
dds_create_topic_sertype (
  dds_entity_t participant,
  const char *name,
  struct ddsi_sertype **sertype,
  const dds_qos_t *qos,
  const dds_listener_t *listener,
  const struct ddsi_plist *sedp_plist);

#define DDS_HAS_CREATE_TOPIC_GENERIC 1

DDS_EXPORT dds_entity_t
dds_create_topic_generic (
  dds_entity_t participant,
  struct ddsi_sertopic **sertopic,
  const dds_qos_t *qos,
  const dds_listener_t *listener,
  const struct ddsi_plist *sedp_plist);

DDS_DEPRECATED_EXPORT dds_entity_t
dds_create_topic_arbitrary (
  dds_entity_t participant,
  struct ddsi_sertopic *sertopic,
  const dds_qos_t *qos,
  const dds_listener_t *listener,
  const struct ddsi_plist *sedp_plist);

DDS_DEPRECATED_EXPORT dds_entity_t
dds_find_topic(dds_entity_t participant, const char *name);

DDS_EXPORT dds_entity_t
dds_find_topic_scoped (dds_find_scope_t scope, dds_entity_t participant, const char *name, dds_duration_t timeout);

DDS_EXPORT dds_return_t
dds_get_name(dds_entity_t topic, char *name, size_t size);

DDS_EXPORT dds_return_t
dds_get_type_name(dds_entity_t topic, char *name, size_t size);

typedef bool (*dds_topic_filter_sample_fn) (const void * sample);
typedef bool (*dds_topic_filter_sample_arg_fn) (const void * sample, void * arg);
typedef bool (*dds_topic_filter_sampleinfo_arg_fn) (const dds_sample_info_t * sampleinfo, void * arg);
typedef bool (*dds_topic_filter_sample_sampleinfo_arg_fn) (const void * sample, const dds_sample_info_t * sampleinfo, void * arg);
typedef dds_topic_filter_sample_fn dds_topic_filter_fn;
typedef dds_topic_filter_sample_arg_fn dds_topic_filter_arg_fn;

enum dds_topic_filter_mode {
  DDS_TOPIC_FILTER_NONE,
  DDS_TOPIC_FILTER_SAMPLE,
  DDS_TOPIC_FILTER_SAMPLE_ARG,
  DDS_TOPIC_FILTER_SAMPLEINFO_ARG,
  DDS_TOPIC_FILTER_SAMPLE_SAMPLEINFO_ARG,
};

union dds_topic_filter_function_union {
  dds_topic_filter_sample_fn sample;
  dds_topic_filter_sample_arg_fn sample_arg;
  dds_topic_filter_sampleinfo_arg_fn sampleinfo_arg;
  dds_topic_filter_sample_sampleinfo_arg_fn sample_sampleinfo_arg;
};

struct dds_topic_filter {
  enum dds_topic_filter_mode mode;
  union dds_topic_filter_function_union f;
  void *arg;
};

DDS_DEPRECATED_EXPORT void
dds_set_topic_filter(dds_entity_t topic, dds_topic_filter_fn filter);

DDS_DEPRECATED_EXPORT void
dds_topic_set_filter(dds_entity_t topic, dds_topic_filter_fn filter);

DDS_EXPORT dds_return_t
dds_set_topic_filter_and_arg(
  dds_entity_t topic,
  dds_topic_filter_arg_fn filter,
  void *arg);

DDS_EXPORT dds_return_t
dds_set_topic_filter_extended(
  dds_entity_t topic,
  const struct dds_topic_filter *filter);

DDS_DEPRECATED_EXPORT dds_topic_filter_fn
dds_get_topic_filter(dds_entity_t topic);

DDS_DEPRECATED_EXPORT dds_topic_filter_fn
dds_topic_get_filter(dds_entity_t topic);

DDS_EXPORT dds_return_t
dds_get_topic_filter_and_arg (
  dds_entity_t topic,
  dds_topic_filter_arg_fn *fn,
  void **arg);

DDS_EXPORT dds_return_t
dds_get_topic_filter_extended (
  dds_entity_t topic,
  struct dds_topic_filter *filter);

DDS_EXPORT dds_entity_t
dds_create_subscriber(
  dds_entity_t participant,
  const dds_qos_t *qos,
  const dds_listener_t *listener);

/* TODO: Check list of error codes is complete. */
DDS_EXPORT dds_entity_t
dds_create_publisher(
  dds_entity_t participant,
  const dds_qos_t *qos,
  const dds_listener_t *listener);

DDS_EXPORT dds_return_t
dds_suspend(dds_entity_t publisher);

DDS_EXPORT dds_return_t
dds_resume(dds_entity_t publisher);

DDS_EXPORT dds_return_t
dds_wait_for_acks(dds_entity_t publisher_or_writer, dds_duration_t timeout);

/* TODO: Complete list of error codes */
DDS_EXPORT dds_entity_t
dds_create_reader(
  dds_entity_t participant_or_subscriber,
  dds_entity_t topic,
  const dds_qos_t *qos,
  const dds_listener_t *listener);

/* TODO: Complete list of error codes */
DDS_EXPORT dds_entity_t
dds_create_reader_rhc(
  dds_entity_t participant_or_subscriber,
  dds_entity_t topic,
  const dds_qos_t *qos,
  const dds_listener_t *listener,
  struct dds_rhc *rhc);

/* TODO: Complete list of error codes */
DDS_EXPORT dds_return_t
dds_reader_wait_for_historical_data(
  dds_entity_t reader,
  dds_duration_t max_wait);

/* TODO: Complete list of error codes */
DDS_EXPORT dds_entity_t
dds_create_writer(
  dds_entity_t participant_or_publisher,
  dds_entity_t topic,
  const dds_qos_t *qos,
  const dds_listener_t *listener);

/*
  Writing data (and variants of it) is straightforward. The first set
  is equivalent to the second set with -1 passed for "timestamp",
  meaning, substitute the result of a call to time(). The dispose
  and unregister operations take an object of the topic's type, but
  only touch the key fields; the remained may be undefined.
*/
DDS_EXPORT dds_return_t
dds_register_instance(
  dds_entity_t writer,
  dds_instance_handle_t *handle,
  const void *data);

DDS_EXPORT dds_return_t
dds_unregister_instance(dds_entity_t writer, const void *data);

DDS_EXPORT dds_return_t
dds_unregister_instance_ih(dds_entity_t writer, dds_instance_handle_t handle);

DDS_EXPORT dds_return_t
dds_unregister_instance_ts(
  dds_entity_t writer,
  const void *data,
  dds_time_t timestamp);

DDS_EXPORT dds_return_t
dds_unregister_instance_ih_ts(
  dds_entity_t writer,
  dds_instance_handle_t handle,
  dds_time_t timestamp);

DDS_EXPORT dds_return_t
dds_writedispose(dds_entity_t writer, const void *data);

DDS_EXPORT dds_return_t
dds_writedispose_ts(
  dds_entity_t writer,
  const void *data,
  dds_time_t timestamp);

DDS_EXPORT dds_return_t
dds_dispose(dds_entity_t writer, const void *data);

DDS_EXPORT dds_return_t
dds_dispose_ts(
  dds_entity_t writer,
  const void *data,
  dds_time_t timestamp);

DDS_EXPORT dds_return_t
dds_dispose_ih(dds_entity_t writer, dds_instance_handle_t handle);

DDS_EXPORT dds_return_t
dds_dispose_ih_ts(
  dds_entity_t writer,
  dds_instance_handle_t handle,
  dds_time_t timestamp);

DDS_EXPORT dds_return_t
dds_write(dds_entity_t writer, const void *data);

/*TODO: What is it for and is it really needed? */
DDS_EXPORT void
dds_write_flush(dds_entity_t writer);

DDS_EXPORT dds_return_t
dds_writecdr(dds_entity_t writer, struct ddsi_serdata *serdata);

DDS_EXPORT dds_return_t
dds_forwardcdr(dds_entity_t writer, struct ddsi_serdata *serdata);

DDS_EXPORT dds_return_t
dds_write_ts(
  dds_entity_t writer,
  const void *data,
  dds_time_t timestamp);

DDS_EXPORT dds_entity_t
dds_create_readcondition(dds_entity_t reader, uint32_t mask);

typedef bool (*dds_querycondition_filter_fn) (const void * sample);

/* TODO: Explain the filter (aka expression & parameters) of the (to be
 *       implemented) new querycondition implementation.
 * TODO: Update parameters when new querycondition is introduced.
 */
DDS_EXPORT dds_entity_t
dds_create_querycondition(
  dds_entity_t reader,
  uint32_t mask,
  dds_querycondition_filter_fn filter);

DDS_EXPORT dds_entity_t
dds_create_guardcondition(dds_entity_t participant);

DDS_EXPORT dds_return_t
dds_set_guardcondition(dds_entity_t guardcond, bool triggered);

DDS_EXPORT dds_return_t
dds_read_guardcondition(dds_entity_t guardcond, bool *triggered);

DDS_EXPORT dds_return_t
dds_take_guardcondition(dds_entity_t guardcond, bool *triggered);

typedef intptr_t dds_attach_t;

DDS_EXPORT dds_entity_t
dds_create_waitset(dds_entity_t participant);

DDS_EXPORT dds_return_t
dds_waitset_get_entities(
  dds_entity_t waitset,
  dds_entity_t *entities,
  size_t size);

DDS_EXPORT dds_return_t
dds_waitset_attach(
  dds_entity_t waitset,
  dds_entity_t entity,
  dds_attach_t x);

DDS_EXPORT dds_return_t
dds_waitset_detach(
  dds_entity_t waitset,
  dds_entity_t entity);

DDS_EXPORT dds_return_t
dds_waitset_set_trigger(
  dds_entity_t waitset,
  bool trigger);

DDS_EXPORT dds_return_t
dds_waitset_wait(
  dds_entity_t waitset,
  dds_attach_t *xs,
  size_t nxs,
  dds_duration_t reltimeout);

DDS_EXPORT dds_return_t
dds_waitset_wait_until(
  dds_entity_t waitset,
  dds_attach_t *xs,
  size_t nxs,
  dds_time_t abstimeout);

/*
  There are a number of read and take variations.

  Return value is the number of elements returned. "max_samples"
  should have the same type, as one can't return more than MAX_INT
  this way, anyway. X, Y, CX, CY return to the various filtering
  options, see the DCPS spec.

  O ::= read | take

  X             => CX
  (empty)          (empty)
  _next_instance   instance_handle_t prev

  Y             => CY
  (empty)          uint32_t mask
  _cond            cond_t cond -- refers to a read condition (or query if implemented)
 */

DDS_EXPORT dds_return_t
dds_read(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  size_t bufsz,
  uint32_t maxs);

DDS_EXPORT dds_return_t
dds_read_wl(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  uint32_t maxs);

DDS_EXPORT dds_return_t
dds_read_mask(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  size_t bufsz,
  uint32_t maxs,
  uint32_t mask);

DDS_EXPORT dds_return_t
dds_read_mask_wl(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  uint32_t maxs,
  uint32_t mask);

DDS_EXPORT dds_return_t
dds_read_instance(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  size_t bufsz,
  uint32_t maxs,
  dds_instance_handle_t handle);

DDS_EXPORT dds_return_t
dds_read_instance_wl(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  uint32_t maxs,
  dds_instance_handle_t handle);

DDS_EXPORT dds_return_t
dds_read_instance_mask(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  size_t bufsz,
  uint32_t maxs,
  dds_instance_handle_t handle,
  uint32_t mask);

DDS_EXPORT dds_return_t
dds_read_instance_mask_wl(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  uint32_t maxs,
  dds_instance_handle_t handle,
  uint32_t mask);

DDS_EXPORT dds_return_t
dds_take(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  size_t bufsz,
  uint32_t maxs);

DDS_EXPORT dds_return_t
dds_take_wl(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  uint32_t maxs);

DDS_EXPORT dds_return_t
dds_take_mask(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  size_t bufsz,
  uint32_t maxs,
  uint32_t mask);

DDS_EXPORT dds_return_t
dds_take_mask_wl(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  uint32_t maxs,
  uint32_t mask);

#define DDS_HAS_READCDR 1

DDS_EXPORT dds_return_t
dds_readcdr(
  dds_entity_t reader_or_condition,
  struct ddsi_serdata **buf,
  uint32_t maxs,
  dds_sample_info_t *si,
  uint32_t mask);

DDS_EXPORT dds_return_t
dds_readcdr_instance (
    dds_entity_t reader_or_condition,
    struct ddsi_serdata **buf,
    uint32_t maxs,
    dds_sample_info_t *si,
    dds_instance_handle_t handle,
    uint32_t mask);

DDS_EXPORT dds_return_t
dds_takecdr(
  dds_entity_t reader_or_condition,
  struct ddsi_serdata **buf,
  uint32_t maxs,
  dds_sample_info_t *si,
  uint32_t mask);

DDS_EXPORT dds_return_t
dds_takecdr_instance (
    dds_entity_t reader_or_condition,
    struct ddsi_serdata **buf,
    uint32_t maxs,
    dds_sample_info_t *si,
    dds_instance_handle_t handle,
    uint32_t mask);


DDS_EXPORT dds_return_t
dds_take_instance(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  size_t bufsz,
  uint32_t maxs,
  dds_instance_handle_t handle);

DDS_EXPORT dds_return_t
dds_take_instance_wl(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  uint32_t maxs,
  dds_instance_handle_t handle);

DDS_EXPORT dds_return_t
dds_take_instance_mask(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  size_t bufsz,
  uint32_t maxs,
  dds_instance_handle_t handle,
  uint32_t mask);

DDS_EXPORT dds_return_t
dds_take_instance_mask_wl(
  dds_entity_t reader_or_condition,
  void **buf,
  dds_sample_info_t *si,
  uint32_t maxs,
  dds_instance_handle_t handle,
  uint32_t mask);

/*
  The read/take next functions return a single sample. The returned sample
  has a sample state of NOT_READ, a view state of ANY_VIEW_STATE and an
  instance state of ANY_INSTANCE_STATE.
*/

DDS_EXPORT dds_return_t
dds_take_next(
  dds_entity_t reader,
  void **buf,
  dds_sample_info_t *si);

DDS_EXPORT dds_return_t
dds_take_next_wl(
  dds_entity_t reader,
  void **buf,
  dds_sample_info_t *si);

DDS_EXPORT dds_return_t
dds_read_next(
  dds_entity_t reader,
  void **buf,
  dds_sample_info_t *si);

DDS_EXPORT dds_return_t
dds_read_next_wl(
  dds_entity_t reader,
  void **buf,
  dds_sample_info_t *si);

DDS_EXPORT dds_return_t
dds_return_loan(
  dds_entity_t entity,
  void **buf,
  int32_t bufsz);

/*
  Instance handle <=> key value mapping.
  Functions exactly as read w.r.t. treatment of data
  parameter. On output, only key values set.

    T x = { ... };
    T y;
    dds_instance_handle_t ih;
    ih = dds_lookup_instance (e, &x);
    dds_instance_get_key (e, ih, &y);
*/

DDS_EXPORT dds_instance_handle_t
dds_lookup_instance(dds_entity_t entity, const void *data);

DDS_DEPRECATED_EXPORT dds_instance_handle_t
dds_instance_lookup(dds_entity_t entity, const void *data);

/* TODO: Check return codes for completeness */
DDS_EXPORT dds_return_t
dds_instance_get_key(
  dds_entity_t entity,
  dds_instance_handle_t inst,
  void *data);

DDS_EXPORT dds_return_t
dds_begin_coherent(dds_entity_t entity);

DDS_EXPORT dds_return_t
dds_end_coherent(dds_entity_t entity);

DDS_EXPORT dds_return_t
dds_notify_readers(dds_entity_t subscriber);

DDS_EXPORT dds_return_t
dds_triggered(dds_entity_t entity);

DDS_EXPORT dds_entity_t
dds_get_topic(dds_entity_t entity);

DDS_EXPORT dds_return_t
dds_get_matched_subscriptions (
  dds_entity_t writer,
  dds_instance_handle_t *rds,
  size_t nrds);

DDS_EXPORT dds_builtintopic_endpoint_t *
dds_get_matched_subscription_data (
  dds_entity_t writer,
  dds_instance_handle_t ih);

DDS_EXPORT dds_return_t
dds_get_matched_publications (
  dds_entity_t reader,
  dds_instance_handle_t *wrs,
  size_t nwrs);

DDS_EXPORT dds_builtintopic_endpoint_t *
dds_get_matched_publication_data (
  dds_entity_t reader,
  dds_instance_handle_t ih);

#ifdef DDS_HAS_TYPE_DISCOVERY

DDS_EXPORT dds_return_t
dds_builtintopic_get_endpoint_typeid (
  dds_builtintopic_endpoint_t * builtintopic_endpoint,
  dds_typeid_kind_t kind,
  dds_typeid_t **type_identifier);
#endif

DDS_EXPORT void
dds_builtintopic_free_endpoint (
  dds_builtintopic_endpoint_t * builtintopic_endpoint);

DDS_EXPORT void
dds_builtintopic_free_topic (
  dds_builtintopic_topic_t * builtintopic_topic);

DDS_EXPORT void
dds_builtintopic_free_participant (
  dds_builtintopic_participant_t * builtintopic_participant);

DDS_EXPORT dds_return_t
dds_assert_liveliness (
  dds_entity_t entity);

DDS_EXPORT dds_return_t
dds_domain_set_deafmute (
  dds_entity_t entity,
  bool deaf,
  bool mute,
  dds_duration_t reset_after);


#ifdef DDS_HAS_TYPE_DISCOVERY

DDS_EXPORT dds_return_t
dds_resolve_type (
  dds_entity_t entity,
  const dds_typeid_t *type_id,
  dds_duration_t timeout,
  struct ddsi_sertype **sertype);

DDS_EXPORT dds_return_t
dds_get_typeobj (
  dds_entity_t entity,
  const dds_typeid_t *type_id,
  dds_duration_t timeout,
  dds_typeobj_t **type_obj);

DDS_EXPORT dds_return_t
dds_free_typeobj (
  dds_typeobj_t *type_obj);


#endif /* DDS_HAS_TYPE_DISCOVERY */

#if defined (__cplusplus)
}
#endif
#endif /* DDS_H */