ddsSub.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP
#define RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP
#include <format>
#include <list>
#include <memory>
#include <rtctk/componentFramework/dds.hpp>
 
namespace rtctk::componentFramework {

struct DdsReaderParams {
    std::string topic_name;
    std::shared_ptr<DataReaderListener> listener;
    std::string multicast_address = {};
 
    DdsReaderParams(const std::string& tn,
                    std::shared_ptr<DataReaderListener> l,
                    const std::string& mc)
        : topic_name(tn), listener(std::move(l)), multicast_address(mc) {
    }
 
    DdsReaderParams(const std::string& tn, std::shared_ptr<DataReaderListener> l)
        : topic_name(tn), listener(std::move(l)) {
    }
 
    explicit DdsReaderParams(const std::string& tn) : topic_name(tn) {
    }
};

class DdsSub : public Dds {
    // cppcheck-suppress-begin unusedStructMember
 
    Subscriber* m_subscriber = nullptr;
    std::vector<DataReader*> m_data_readers;
    std::vector<std::shared_ptr<DataReaderListener>> m_listeners;
 
    // cppcheck-suppress-end unusedStructMember
 
public:
    explicit DdsSub(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 = "");
    ~DdsSub() override;

    void CreateSubscriber();

    void DestroySubscriber();

    DataReader* CreateDataReader(Topic* topic,
                                 std::shared_ptr<DataReaderListener> listener = nullptr,
                                 const std::string& multicast_address = "");

    void DestroyDataReader(DataReader* dr, bool to_be_removed = true);

    void CreateDataReaders();
 
    void EnableAllDataReaders();

    void DestroyAllDataReaders();

    void CreateManyDataReaders(const std::vector<DdsReaderParams>& reader_params);

    void CreateManyDataReaders(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<DataReader*>& GetDataReaders() {
        return m_data_readers;
    }
};
 
}  // namespace rtctk::componentFramework
 
namespace std {
 
template <>
struct formatter<eprosima::fastdds::dds::SampleRejectedStatusKind> : formatter<string_view> {
    template <typename FormatContext>
    auto format(eprosima::fastdds::dds::SampleRejectedStatusKind c, FormatContext& ctx) const {
        using eprosima::fastdds::dds::SampleRejectedStatusKind;
        string_view name = "unknown";
        switch (c) {
        case SampleRejectedStatusKind::NOT_REJECTED:
            name = "NOT_REJECTED";
            break;
        case SampleRejectedStatusKind::REJECTED_BY_INSTANCES_LIMIT:
            name = "REJECTED_BY_INSTANCES_LIMIT";
            break;
        case SampleRejectedStatusKind::REJECTED_BY_SAMPLES_LIMIT:
            name = "REJECTED_BY_SAMPLES_LIMIT";
            break;
        case SampleRejectedStatusKind::REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT:
            name = "REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT";
            break;
#if (FASTDDS_VERSION_MAJOR >= 4) || ((FASTDDS_VERSION_MAJOR == 3) && (FASTDDS_VERSION_MINOR >= 5))
        case SampleRejectedStatusKind::REJECTED_BY_UNKNOWN_INSTANCE:
            name = "REJECTED_BY_UNKNOWN_INSTANCE";
            break;
#endif
        }
 
        return formatter<string_view>::format(name, ctx);
    }
};
 
}  // namespace std
 
#endif  // RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP