ddsPub.hpp

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#ifndef RTCTK_REUSABLECOMPONENT_TELREPUB_DDSPUB_HPP_
#define RTCTK_REUSABLECOMPONENT_TELREPUB_DDSPUB_HPP_
 
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wregister"
 
#include "agnostictopicifSupport.h"
#include "agnostictopicif.h"
#include <ndds/ndds_cpp.h>
#include <ndds/ndds_namespace_cpp.h>
 
#pragma GCC diagnostic pop
 
#include <string>
#include <iostream>
#include <list>
#include <vector>
 
using namespace std;
 
namespace rtctk::telRepub  {
 
class DdsPub
{
    DDSDomainParticipantFactory *m_factory;
    DDS::DomainParticipant* m_participant;
    DDS::Publisher *m_publisher;
 
    string m_qosLibrary;
    string m_qosProfile;
 
    // list of DDS topics
    std::list<DDS::Topic*> m_topics;
    std::list<rtctk::AgnosticTopic::DataWriter*> m_dataWriters;
 
    int printDDSParticipantQoSProperty(DDS::DomainParticipantQos &participant_qos, const char *prop, const char *sf = ""); 
    int setDDSParticipantQoSProperty(DDS::DomainParticipantQos &participant_qos,  const char *prop, const char *value, const char *sf = "");
 
public:
    DdsPub(string qos_library="RtcTk_Default_Library", string qos_profile="RtcTk_Default_Profile");
    ~DdsPub(){};
 
    void SetQosLibrary(string &qos_library){ m_qosLibrary=qos_library; } 
 
    void SetQosProfile(string &qos_profile){ m_qosProfile=qos_profile; }
    
    void  createParticipant();
    void  createPublisher();
 
    DDS::Topic* createTopic(const std::string& topicName);
 
    void destroyDDSTopic(DDS::Topic *topic, bool toBeRemoved=true);
 
    rtctk::AgnosticTopic::DataWriter* createDataWriter(DDS::Topic *topic);
 
    void destroyDDSWriter (rtctk::AgnosticTopic::DataWriter* dw,bool toBeRemoved=true);
 
    void  createManyTopics(std::vector<string> &topicNames);
 
    void  destroyAllTopics();
 
    void createDataWriters();
 
    void  destroyAllDataWriters();
 
    void createManyDataWriters(std::vector<string> &topicNames);
 
    void dumpDDSstatistics();
 
    std::list<rtctk::AgnosticTopic::DataWriter*> &getDataWriters(){ return m_dataWriters; }
 
};
 
} // closing namespace
 
#endif //RTCTK_REUSABLECOMPONENT_TELREPUB_DDSPUB_HPP_