dds.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_HPP
#define RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_HPP
 
#include <string>
#include <vector>
 
#include <log4cplus/logger.h>
#include <rtctk/componentFramework/ddsCommon.hpp>
 
namespace rtctk::componentFramework {
 
class Dds {
protected:
    DomainParticipantFactory *m_factory;
    DomainParticipant *m_participant;
 
    std::string m_qos_profile;
 
    DomainId_t m_domain_id = 0;
 
    std::vector<std::string> m_interface_white_list;
 
    std::string m_participant_name;
 
    // list of DDS topics
    std::vector<Topic *> m_topics;
    log4cplus::Logger &m_logger;
 
public:
    explicit Dds(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 ~Dds() noexcept;
 
    Dds(Dds &&rhs) = delete;
    Dds &operator=(Dds &&rhs) = delete;
 
    void SetQosProfile(const std::string &qos_profile) {
        m_qos_profile = qos_profile;
    }
 
    void SetInterfaceWhiteList(const std::vector<std::string> &iwl);
 
    void SetParticipantName(const std::string &name) {
        m_participant_name = name;
    }
 
    void CreateParticipant();
 
    void DestroyParticipant();
 
    Topic *CreateTopic(const std::string &topic_name);
 
    void DestroyTopic(Topic *topic, bool to_be_removed = true);
 
    void CreateManyTopics(std::vector<std::string> &topic_names);
 
    void DestroyAllTopics();
 
    void DumpDDSstatistics();
 
    size_t GetNumberOfTopics() const noexcept;
 
    const std::string GetTopicName(size_t index) const noexcept;
 
    inline static const std::string TELEM_DP_QOS_FILE = "telemDataPathDdsQos.xml";
 
    inline static const std::string DEFAULT_QOS_PROFILE = "RtcTk_Default_Profile";
 
    inline static const DomainId_t DEFAULT_DOMAIN_ID = 0;
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_HPP