ddsWaitSetIf.hpp

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#ifndef RTCTK_TELSUB_DDSWAITSETIF_HPP
#define RTCTK_TELSUB_DDSWAITSETIF_HPP
#include <optional>
#include <rtctk/config.hpp>
 
#include <chrono>
#include <cstdint>
#include <functional>
#include <string>
#include <system_error>
#include <variant>
#include <vector>
 
#include <rtctk/componentFramework/ddsCommon.hpp>
#include <rtctk/telSub/agnosticDataSamples.hpp>
 
namespace rtctk::telSub {
 
using namespace rtctk::componentFramework;
 
struct DdsTopicOptions {
    // cppcheck-suppress unusedStructMember
    std::string multicast_address;
};
 
struct DdsParams {
    int32_t m_domain_id = Dds::DEFAULT_DOMAIN_ID;
    std::string m_qos_file = Dds::TELEM_DP_QOS_FILE;
    std::string m_qos_profile = Dds::DEFAULT_QOS_PROFILE;
 
    // settings for each topic
    std::map<std::string, DdsTopicOptions> m_topics = {};
 
    // size is the number of network interfaces that we want, not the same as size of
    // m_topics/m_multicast_addresses
    std::vector<std::string> m_interface_white_list = {};
 
    std::string m_component_name = "";
};
 
enum class InternalError : uint8_t { LUT_ENTRY_NOT_FOUND };
 
struct DdsWaitSetError {
    std::string topic;
    std::variant<eprosima::fastdds::dds::ReturnCode_t, InternalError> code;
    std::string Message() const;
    bool operator==(const DdsWaitSetError& b) const {
        return topic == b.topic and code == b.code;
    };
    friend void PrintTo(const DdsWaitSetError& error, std::ostream* os) {
        *os << error.Message();
    }
};
 
class DdsWaitSetIf {
public:
    DdsWaitSetIf() RTCTK_NOEXCEPT {};
    virtual ~DdsWaitSetIf() RTCTK_NOEXCEPT {};
 
    virtual AgnosticDataSamples& GetSamples() RTCTK_NOEXCEPT = 0;
 
    virtual std::optional<DdsWaitSetError>
    Take(std::chrono::nanoseconds timeout) RTCTK_NOEXCEPT = 0;
 
    virtual size_t GetNumberOfTopics() const RTCTK_NOEXCEPT = 0;
 
    virtual void CheckDdsConnections() = 0;
};
 
}  // namespace rtctk::telSub
 
#endif  // RTCTK_TELSUB_DDSWAITSETIF_HPP