malDdsEventService.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_MALDDSEVENTSERVICE_HPP
#define RTCTK_COMPONENTFRAMEWORK_MALDDSEVENTSERVICE_HPP
 
#include <Rtctkif.hpp>
#include <rtctk/componentFramework/eventServiceIf.hpp>
#include <rtctk/componentFramework/jsonPayload.hpp>
 
#include <mal/Cii.hpp>
#include <mal/Mal.hpp>
#include <mal/utility/LoadMal.hpp>
 
#include <map>
#include <mutex>
#include <string>
 
namespace rtctk::componentFramework {
 
class MalDdsEventService : public EventServiceIf {
public:
    MalDdsEventService();
 
    std::unique_ptr<EventPublisherIf> MakePublisher(std::string const& topic) override;
 
    std::unique_ptr<EventSubscriberIf> MakeSubscriber(std::string const& topic) override;
 
private:
    elt::mal::Mal::Properties GetMalProperties();
 
    // mal objects
    elt::mal::Mal::Properties const m_props;
    std::shared_ptr<elt::mal::Mal> m_mal;
    elt::mal::CiiFactory& m_factory;
};
 
class MalDdsEventPublisher : public EventPublisherIf {
public:
    // Use factory method from MalDdsEventService to construct publisher objects
    friend MalDdsEventService;
 
    void Publish(JsonPayload const& sample) override;
 
private:
    MalDdsEventPublisher(elt::mal::CiiFactory& factory,
                         std::string const& topic,
                         elt::mal::Mal::Properties const& props);
 
    std::unique_ptr<elt::mal::ps::Publisher<rtctkif::GenericEvent>> m_publisher;
    std::mutex m_mutex;
};
 
class MalDdsEventSubscriber : public EventSubscriberIf {
public:
    // Use factory method from MalDdsEventService to construct subscriber objects
    friend MalDdsEventService;
 
    void Subscribe(std::function<void(JsonPayload const&)> cb) override;
 
    void Unsubscribe() override;
 
    inline static const std::string QOS_FILE = "config/rtctk/dds/eventServiceDdsQos.xml";
 
private:
    MalDdsEventSubscriber(elt::mal::CiiFactory& factory,
                          std::string const& topic,
                          elt::mal::Mal::Properties const& props);
 
    std::unique_ptr<elt::mal::ps::Subscriber<rtctkif::GenericEvent>> m_subscriber;
    std::unique_ptr<elt::mal::ps::Subscription> m_subscription;
    std::mutex m_mutex;
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_MALDDSEVENTSERVICE_HPP