| 117 | } |
| 118 | |
| 119 | DDS::DataReader_var |
| 120 | createDataReader( |
| 121 | DDS::Subscriber_var subscriber, |
| 122 | DDS::Topic_var topic, |
| 123 | DDS::DataReaderListener_var listener) |
| 124 | { |
| 125 | // Set qos |
| 126 | DDS::DataReaderQos dr_qos; |
| 127 | // RELIABLE/KEEP_LAST/10 works |
| 128 | subscriber->get_default_datareader_qos(dr_qos); |
| 129 | dr_qos.reliability.kind = DDS::RELIABLE_RELIABILITY_QOS; |
| 130 | dr_qos.history.kind = DDS::KEEP_LAST_HISTORY_QOS; |
| 131 | dr_qos.history.depth = 10; |
| 132 | |
| 133 | // Create DataReader |
| 134 | DDS::DataReader_var reader = subscriber->create_datareader( |
| 135 | topic, dr_qos, listener, OpenDDS::DCPS::DEFAULT_STATUS_MASK); |
| 136 | if (!reader) { |
| 137 | throw std::string("failed to create data reader"); |
| 138 | } |
| 139 | return reader; |
| 140 | } |
| 141 | |
| 142 | Reliability::MessageDataWriter_var |
| 143 | narrow(DDS::DataWriter_var writer) |
no test coverage detected