genDdsPublisher.hpp

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#ifndef RTCTK_GENDDSPUBLISHER_HPP
#define RTCTK_GENDDSPUBLISHER_HPP
 
#include "rtctk/componentFramework/ddsPub.hpp"
#include "rtctk/componentFramework/ddsWriterListener.hpp"
 
#include <thread>
 
namespace rtctk::standaloneTools {
 
namespace rtctk_cfw = rtctk::componentFramework;

class GenDdsPublisher {
    log4cplus::Logger& m_logger;
    uint16_t m_idx = 0;
    rtctk_cfw::DdsPub& m_dds_pub;
    std::shared_ptr<rtctk_cfw::DdsWriterListener> m_writer_listener;
    rtctk_cfw::Topic* m_topic = nullptr;
    std::string m_topic_name = "";
    rtctk_cfw::DataWriter* m_data_writer = nullptr;
    uint16_t m_wait_for_n_subs = 0;
    uint16_t m_subs_so_far = 0;
    std::chrono::microseconds m_sleep_period = {};
 
    rtctk::componentFramework::AgnosticTopic m_sample;
    uint32_t m_payload_length = 0;
    uint32_t m_sample_id_increment = 1;
 
    std::thread m_thread;
    std::atomic<bool> m_thread_running = true;

    void PublishSamples();
    bool WaitForSubs();
 
public:
    explicit GenDdsPublisher(rtctk::componentFramework::DdsPub& dds_pub);
    virtual ~GenDdsPublisher() = default;
 
    GenDdsPublisher() = delete;
    GenDdsPublisher(const GenDdsPublisher&) = delete;
    GenDdsPublisher(GenDdsPublisher&&) = delete;

    void Initialize(const std::string& topic_name,
                    uint16_t wait_for_n_subs,
                    uint32_t payload_size,
                    std::chrono::microseconds sleep_period,
                    uint32_t sample_id_increment);

    void Finalize();
 
    // index of Generic DDS Publsiher
    static std::atomic<uint16_t> s_idx;
};  // GenDdsPublisher
 
}  // namespace rtctk::standaloneTools
 
#endif  // RTCTK_GENDDSPUBLISHER_HPP