ddsPub.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSPUB_HPP
#define RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSPUB_HPP
 
#include <list>
#include <memory>
#include <rtctk/componentFramework/dds.hpp>
 
namespace rtctk::componentFramework {
 
using namespace std::chrono_literals;

struct DdsWriterParams {
    std::string topic_name;
    std::shared_ptr<DataWriterListener> listener;
 
    DdsWriterParams(const std::string& tn, std::shared_ptr<DataWriterListener> l)
        : topic_name(tn), listener(std::move(l)) {
    }
 
    explicit DdsWriterParams(const std::string& tn) : topic_name(tn) {
    }
};

class DdsPub : public Dds {
    // cppcheck-suppress-begin unusedStructMember
 
    Publisher* m_publisher = nullptr;
    std::vector<DataWriter*> m_data_writers;
    std::vector<std::shared_ptr<DataWriterListener>> m_listeners;
 
    // cppcheck-suppress-end unusedStructMember
 
public:
    explicit DdsPub(const std::string& qos_file,
                    const std::string& qos_profile = DEFAULT_QOS_PROFILE,
                    DomainId_t domain_id = DEFAULT_DOMAIN_ID,
                    const std::string& participant_name = "");
    ~DdsPub() override;

    void CreatePublisher();

    void DestroyPublisher();

    DataWriter*
    CreateDataWriter(Topic* topic, std::shared_ptr<DataWriterListener> listener = nullptr);

    void DestroyDataWriter(DataWriter* dw,
                           bool to_be_removed = true,
                           std::chrono::milliseconds wait_acks_timeout = 5000ms);

    void CreateDataWriters();

    void DestroyAllDataWriters(std::chrono::milliseconds wait_acks_timeout = 5000ms);

    void CreateManyDataWriters(const std::vector<DdsWriterParams>& topics_listeners);

    void CreateManyDataWriters(const std::vector<std::string>& topic_names);

    // Not using virtual methods on purpose because DumpDDSstatistics is called in the destructor.
    // cppcheck-suppress duplInheritedMember
    void DumpDDSstatistics();

    std::vector<DataWriter*>& GetDataWriters() {
        return m_data_writers;
    }

    void WaitForAcks(DataWriter* dw, std::chrono::milliseconds wait_acks_timeout = 5000ms);
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSPUB_HPP