rtctk::telSub Namespace Reference

Classes
class	AgnosticDataSamples
	Container of DDS samples and associated sample information. More...
class	BusinessLogic
	Implements the Telemetry Subscriber business logic. More...
class	Correlator
	Implements a correlator. More...
class	CorrelatorIf
	Interface for correlator implemementations that takes new data samples from DDS and performs correlation on them. More...
struct	CorrelatorParams
	Placeholder for correlator parameters. More...
struct	DataSamplesView
	A set of correlated agnostic non-owning data samples references. More...
struct	DataSampleView
	Agnostic data sample non-owning reference type. More...
struct	DdsParams
	Parameter set to be passed to classes deriving from DdsWaitSetIf. More...
class	DdsReaderListener
	Listener class for different DDS events. More...
class	DdsWaitSet
	Implements DDS communication using FastDDS. More...
class	DdsWaitSetIf
	Base class abstracting DDS communication code. More...
class	FakeDdsSubscriber
	Fake DDS subscriber. More...
struct	MockCorrelatorIf
struct	MockDdsWaitSet
struct	MockShmPublisherIf
class	OperationalLogic
	Implements the behaviour for Operational state. More...
struct	OperationalLogicFactoryParams
	Set of all parameters needed when constructing the OperationalLogic object. More...
class	OperationalLogicIf
	Interface to the operational logic implementation. More...
struct	OperationalParams
	Configuration parameters needed for operational logic. More...
class	SeqLoanerIf
	Loaner interface. More...
struct	ShmParams
	Shared memory configuration parameters. More...
class	ShmPublisher
class	ShmPublisherIf
	Simple interface to class that owns the shared memory queue. More...

Typedefs
using	DdsSample = rtctk::componentFramework::AgnosticTopic
using	DdsSampleSeq = rtctk::componentFramework::AgnosticTopicSeq
using	DdsInfoSeq = rtctk::componentFramework::SampleInfoSeq
using	LifeCycle = rtctk::componentFramework::Runnable< rtctk::componentFramework::RtcComponent >

Functions
std::ostream &	operator<< (std::ostream &stream, const std::vector< std::string > &data)
	A specialisation of the stream output operator to handle vectors of strings.
template<class UserTopicType , class DataBlender >
void	Main (const rtctk::componentFramework::Args &args, DataBlender &&blender) noexcept
	Main entrypoint for running telemetry subscriber.
template<class UserTopicType , class DataBlender , class ShmWriter >
auto	MakeShmPublisher (ShmWriter &&shm_writer, DataBlender &blender) -> std::unique_ptr< ShmPublisher< UserTopicType, DataBlender, ShmWriter > >
	Helper that can deduce DataBlender class template argument.

Typedef Documentation

DdsInfoSeq

using rtctk::telSub::DdsInfoSeq = typedef rtctk::componentFramework::SampleInfoSeq

DdsSample

using rtctk::telSub::DdsSample = typedef rtctk::componentFramework::AgnosticTopic

DdsSampleSeq

using rtctk::telSub::DdsSampleSeq = typedef rtctk::componentFramework::AgnosticTopicSeq

LifeCycle

using rtctk::telSub::LifeCycle = typedef rtctk::componentFramework::Runnable<rtctk::componentFramework::RtcComponent>

Function Documentation

Main()

template<class UserTopicType , class DataBlender >

void rtctk::telSub::Main ( const rtctk::componentFramework::Args &  args, DataBlender &&  blender  )

noexcept

Main entrypoint for running telemetry subscriber.

It is meant to be invoked by delegation from a RtcComponentMain implementation (see Telemetry Subscriber).

Template Parameters

UserTopicType	User defined topic used in shared memory queue.
DataBlender	Type for the blender function. It must be callable with the following signature: std::error_code(rtctk::telSub::DataSamplesView const& dds_samples, UserTopicType& shm_sample). In addition it must be movable (or copyable).

Parameters

args	Command line arguments as received in RtcComponentMain.
blender	The callable used to convert DDS agnostic topic samples into the user defined topic in shared memory. This is invoked for each set of correlated data samples and should do absolutely minimal processing and avoid thread synchronization.

MakeShmPublisher()

template<class UserTopicType , class DataBlender , class ShmWriter >

auto rtctk::telSub::MakeShmPublisher	(	ShmWriter &&	shm_writer,
		DataBlender &	blender
	)		-> std::unique_ptr<ShmPublisher<UserTopicType, DataBlender, ShmWriter>>

Helper that can deduce DataBlender class template argument.

operator<<()

std::ostream & rtctk::telSub::operator<<	(	std::ostream &	stream,
		const std::vector< std::string > &	data
	)

A specialisation of the stream output operator to handle vectors of strings.

This is used by methods such as BusinessLogic::GetParam.

Note

this needs to be in the same namespace as BusinessLogic, i.e. rtctk::telSub, otherwise the compiler is not able to match this function as the appropriate one to use.