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:
    // cppcheck-suppress-begin unusedStructMember
 
    DomainParticipantFactory* m_factory = nullptr;
    DomainParticipant* m_participant = nullptr;
 
    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;
 
    // cppcheck-suppress-end unusedStructMember
 
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;
 
    // cppcheck-suppress-begin unusedStructMember

    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;
 
    // cppcheck-suppress-end unusedStructMember
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_HPP