ddsWaitSet.hpp

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#ifndef RTCKT_TELSUB_DDSWAITSET_HPP
#define RTCKT_TELSUB_DDSWAITSET_HPP
 
#include <cstdint>
#include <list>
#include <map>
#include <memory>
#include <optional>
#include <set>
#include <variant>
 
#include <rtctk/componentFramework/ddsSub.hpp>
#include <rtctk/telSub/ddsWaitSetIf.hpp>
 
namespace rtctk::telSub {
 
class DdsWaitSet final : public DdsWaitSetIf, SeqLoanerIf {
public:
    using Alloc = std::pmr::polymorphic_allocator<std::byte>;
 
    explicit DdsWaitSet(const DdsParams& params, const Alloc& alloc = {});
 
    ~DdsWaitSet() noexcept override;
 
    // Do not allow copying or moving of this object.
    DdsWaitSet(const DdsWaitSet& rhs) = delete;
    DdsWaitSet& operator=(const DdsWaitSet& rhs) = delete;
    DdsWaitSet(DdsWaitSet&& rhs) = delete;
    DdsWaitSet& operator=(DdsWaitSet&& rhs) = delete;
 
    AgnosticDataSamples& GetSamples() noexcept override;
    std::optional<DdsWaitSetError> Take(std::chrono::nanoseconds timeout) noexcept override;
 
    size_t GetNumberOfTopics() const noexcept override;
 
    void CheckDdsConnections() override;
 
    std::error_code ReturnLoan(const std::string& topic,
                               DdsSampleSeq& samples,
                               DdsInfoSeq& infos) noexcept override;
 
private:
    void Initialise(const DdsParams& params);
 
    void Finalise();
 
    // cppcheck-suppress-begin unusedStructMember
 
    log4cplus::Logger& m_logger;
 
    std::unique_ptr<rtctk::componentFramework::DdsSub> m_dds_sub;
 
    std::map<std::string, rtctk::componentFramework::DataReader*> m_readers;
    std::map<Condition*, std::string> m_reader_context_lut;
    std::unique_ptr<WaitSet> m_waitset;
    AgnosticDataSamples m_samples;
 
    // cppcheck-suppress-end unusedStructMember
};
 
}  // namespace rtctk::telSub
 
#endif  // RTCKT_TELSUB_DDSWAITSET_HPP