ddsPub.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSPUB_HPP
#define RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSPUB_HPP
 
#include <list>
#include <rtctk/componentFramework/dds.hpp>
 
namespace rtctk::componentFramework {
 
using namespace std::chrono_literals;
 
struct DdsWriterParams {
    std::string topic_name;
    DataWriterListener *listener = nullptr;
 
    DdsWriterParams(const std::string &tn, DataWriterListener *l) : topic_name(tn), listener(l) {
    }
 
    explicit DdsWriterParams(const std::string &tn) : topic_name(tn), listener(nullptr) {
    }
};
 
class DdsPub : public Dds {
    Publisher *m_publisher;
 
    std::vector<DataWriter *> m_data_writers;
 
public:
    explicit DdsPub(const std::string &qos_file,
                    const std::string &qos_profile = DEFAULT_QOS_PROFILE,
                    DomainId_t domain_id = DEFAULT_DOMAIN_ID,
                    const std::string &participant_name = "");
    virtual ~DdsPub();
 
    void CreatePublisher();
 
    void DestroyPublisher();
 
    DataWriter *CreateDataWriter(Topic *topic, DataWriterListener *listener = nullptr);
 
    void DestroyDataWriter(DataWriter *dw,
                           bool to_be_removed = true,
                           std::chrono::milliseconds wait_acks_timeout = 5000ms);
 
    void CreateDataWriters();
 
    void DestroyAllDataWriters(std::chrono::milliseconds wait_acks_timeout = 5000ms);
 
    void CreateManyDataWriters(std::vector<DdsWriterParams> const &);
 
    void CreateManyDataWriters(std::vector<std::string> const &topic_names);
 
    void DumpDDSstatistics();
 
    std::vector<DataWriter *> &GetDataWriters() {
        return m_data_writers;
    }
 
    void WaitForAcks(DataWriter *dw, std::chrono::milliseconds wait_acks_timeout = 5000ms);
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSPUB_HPP