ddsSubscriberIf.hpp

Go to the documentation of this file.

 
#ifndef RTCKT_TELSUB_DDSSUBSCRIBERIF_HPP
#define RTCKT_TELSUB_DDSSUBSCRIBERIF_HPP
 
#include <cstdint>
#include <string>
#include <vector>
#include <chrono>
#include <system_error>
#include <agnostictopicif.h>
 
namespace rtctk::telSub {
 
struct DdsParams {
    DdsParams() : m_domain_id(0), m_qos_library(""), m_qos_profile(""), m_topics() {};
 
    int32_t m_domain_id;
    std::string m_qos_library;
    std::string m_qos_profile;
    std::vector<std::string> m_topics;
};
 
class DdsSubscriberIf {
public:
 
    DdsSubscriberIf() {};
    virtual ~DdsSubscriberIf() noexcept {};
 
    virtual std::error_code TakeSamples(
            std::vector<std::vector<const rtctk::AgnosticTopic*>>& samples,
            std::chrono::nanoseconds timeout
        ) const noexcept = 0;
 
    virtual std::error_code ReturnSamples(
            const std::vector<const rtctk::AgnosticTopic*>& samples
        ) const noexcept = 0;
 
    virtual size_t GetNumberOfTopics() const noexcept = 0;
 
    virtual const std::string& GetTopicName(size_t index) const noexcept = 0;
};
 
} // namespace rtctk::telSub
#endif // RTCKT_TELSUB_DDSSUBSCRIBERIF_HPP