main.hpp

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#ifndef RTCTK_TELSUB_MAIN_HPP
#define RTCTK_TELSUB_MAIN_HPP
 
#include <memory>
#include <rtctk/componentFramework/rtcComponent.hpp>
#include <rtctk/telSub/businessLogic.hpp>
#include <rtctk/telSub/correlator.hpp>
#include <rtctk/telSub/ddsSubscriber.hpp>
#include <rtctk/telSub/shmPublisher.hpp>
 
namespace rtctk::telSub {
 
template <class UserTopicType, class DataBlender>
void Main(const rtctk::componentFramework::Args& args, DataBlender&& blender ) noexcept {
    auto factory =
        [blender = std::forward<DataBlender>(blender)](
            std::string const& name,
            componentFramework::ServiceContainer& services) -> std::unique_ptr<BusinessLogic> {
        // Operational Logic factory.
        // This takes ownership of `blender` and instances created from factory will only receive a
        // reference. (TBD) (this requires a stateless DataBlender).
        // If DataBlender is stateful with configuration params then this means that new instances
        // should be created for each new instance of OperationalLogic?
        auto op_logic_factory =
            [blender = std::move(blender)](OperationalLogicFactoryParams const& params)
            -> std::unique_ptr<OperationalLogicIf> {
            auto dds_subscriber = std::make_unique<DdsSubscriber>(params.dds_params);
            auto correlator = std::make_unique<Correlator>(std::move(dds_subscriber));
            auto writer = ipcq::Writer<UserTopicType>(params.shm_params.topic_name.c_str(),
                                                      params.shm_params.capacity,
                                                      params.shm_params.mem_policy);
            auto shm_publisher = MakeShmPublisher<UserTopicType>(std::move(writer), blender);
            return std::make_unique<OperationalLogic>(
                params.operational_params, std::move(correlator), std::move(shm_publisher));
        };
 
        return std::make_unique<BusinessLogic>(name, services, std::move(op_logic_factory));
    };
    componentFramework::RunAsRtcComponent<BusinessLogic>(args, std::move(factory));
}
 
}  // namespace rtctk::telSub
#endif  // #ifndef RTCTK_TELSUB_MAIN_HPP