ddsSubscriber.hpp

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#ifndef RTCKT_TELSUB_DDSSUBSCRIBER_HPP
#define RTCKT_TELSUB_DDSSUBSCRIBER_HPP
 
#include <memory>
#include <map>
#include <set>
#include <list>
#include <rtctk/telSub/ddsSubscriberIf.hpp>
#include <rtctk/telSub/ddsReaderListener.hpp>
#include <ndds/ndds_cpp.h>
#include <ndds/ndds_namespace_cpp.h>
 
namespace rtctk::telSub {
 
class DdsSubscriber final : public DdsSubscriberIf {
public:
 
    DdsSubscriber(const DdsParams& params);
    virtual ~DdsSubscriber() noexcept;
 
    DdsSubscriber(DdsSubscriber&& rhs) = default;
    DdsSubscriber& operator=(DdsSubscriber&& rhs) = default;
 
    std::error_code TakeSamples(
            std::vector<std::vector<const rtctk::AgnosticTopic*>>& samples,
            std::chrono::nanoseconds timeout
        ) const noexcept override;
 
    std::error_code ReturnSamples(
            const std::vector<const rtctk::AgnosticTopic*>& samples
        ) const noexcept override;
 
    size_t GetNumberOfTopics() const noexcept override;
    const std::string& GetTopicName(size_t index) const noexcept override;
 
private:
 
    // Do not allow copying of this object.
    DdsSubscriber(const DdsSubscriber& rhs) = delete;
    DdsSubscriber& operator=(const DdsSubscriber& rhs) = delete;
 
    void Initialise(const DdsParams& params);
    void Finalise();
 
    struct ReaderContext {
        ReaderContext() : m_topic_name(""), m_reader(nullptr), m_topic(nullptr) {};
 
        std::string m_topic_name;
 
        rtctk::AgnosticTopicDataReader* m_reader;
 
        DDSTopic* m_topic;
    };
 
    struct SampleMetaData {
        rtctk::AgnosticTopicSeq m_data_seq;
 
        DDS_SampleInfoSeq m_info_seq;
 
        rtctk::AgnosticTopicDataReader* m_reader;
 
        std::set<const rtctk::AgnosticTopic*> m_unreleased;
    };
 
    DDSDomainParticipantFactory* m_factory;
    DDSDomainParticipant* m_participant;
    DDSSubscriber* m_subscriber;
    std::unique_ptr<DdsReaderListener> m_listener;
    std::vector<ReaderContext> m_readers;
    std::map<DDSCondition*, std::vector<ReaderContext>::iterator> m_reader_context_lut;
    std::unique_ptr<DDSWaitSet> m_waitset;
    mutable std::list<SampleMetaData> m_sample_metadata;
    mutable std::map<const rtctk::AgnosticTopic*, std::list<SampleMetaData>::iterator> m_sample_lut;
};
 
} // namespace rtctk::telSub
#endif // RTCKT_TELSUB_DDSSUBSCRIBER_HPP