ddsSub.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP
#define RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP
#include <list>
 
#include <rtctk/componentFramework/dds.hpp>
 
namespace rtctk::componentFramework {
 
struct DdsReaderParams {
    std::string topic_name;
    DataReaderListener *listener = nullptr;
    std::string multicast_address = {};
 
    DdsReaderParams(const std::string &tn, DataReaderListener *l, const std::string &mc)
        : topic_name(tn), listener(l), multicast_address(mc) {
    }
 
    DdsReaderParams(const std::string &tn, DataReaderListener *l) : topic_name(tn), listener(l) {
    }
 
    explicit DdsReaderParams(const std::string &tn) : topic_name(tn), listener(nullptr) {
    }
};
 
class DdsSub : public Dds {
    Subscriber *m_subscriber;
 
    std::vector<DataReader *> m_data_readers;
 
public:
    explicit DdsSub(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 ~DdsSub();
 
    void CreateSubscriber();
 
    void DestroySubscriber();
 
    DataReader *CreateDataReader(Topic *topic,
                                 DataReaderListener *listener = nullptr,
                                 const std::string &multicast_address = "");
 
    void DestroyDataReader(DataReader *dr, bool to_be_removed = true);
 
    void CreateDataReaders();
 
    void EnableAllDataReaders();
 
    void DestroyAllDataReaders();
 
    void CreateManyDataReaders(std::vector<DdsReaderParams> const &);
 
    void CreateManyDataReaders(std::vector<std::string> &topic_names);
 
    void DumpDDSstatistics();
 
    std::vector<DataReader *> &GetDataReaders() {
        return m_data_readers;
    }
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP