rtctk::telSub Namespace Reference

Namespaces
namespace	CorrelationStatus

Classes
class	AgnosticDataSamples
	Container of DDS samples and associated sample information. More...
class	BlenderErrorCategory
	Error category for blender errors. More...
class	BusinessLogic
	Implements the Telemetry Subscriber business logic. More...
struct	CorrelationFailedError
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...
struct	DdsTopicOptions
	Options for a single topic. More...
class	DdsWaitSet
	Implements DDS communication using FastDDS. More...
struct	DdsWaitSetError
	Error reporting struct, contains the return code and topic where the error occurred. 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>
using	CorrelationError = std::variant<CorrelationFailedError, DdsWaitSetError>

Enumerations
enum class	GenericBlenderError : std::uint8_t {   Success = 0 , MissingTopic , SizeMismatch , InvalidFormat ,   UnknownError }
	Error codes for blender-related errors. More...
enum class	InternalError : uint8_t { LUT_ENTRY_NOT_FOUND }
	For internal errors. More...

Functions
const std::error_category &	GetBlenderErrorCategory () noexcept
	Returns a reference to the global blender error category instance.
std::error_code	MakeBlenderError (GenericBlenderError e) noexcept
	Creates an error_code for a blender error.
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)
	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

CorrelationError

using rtctk::telSub::CorrelationError = std::variant<CorrelationFailedError, DdsWaitSetError>

DdsInfoSeq

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

DdsSample

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

DdsSampleSeq

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

LifeCycle

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

Enumeration Type Documentation

GenericBlenderError

enum class rtctk::telSub::GenericBlenderError : std::uint8_t

strong

Error codes for blender-related errors.

These are generic error codes that cover the most common error scenarios in blender functions. Users can define their own more specific error codes by creating custom error categories.

Enumerator
Success	No error, operation successful.
MissingTopic	Required topic was not found in the input data.
SizeMismatch	Data size does not match expected size.
InvalidFormat	Data format is invalid or corrupted.
UnknownError	Generic unknown error.

InternalError

enum class rtctk::telSub::InternalError : uint8_t

strong

For internal errors.

Enumerator
LUT_ENTRY_NOT_FOUND

Function Documentation

GetBlenderErrorCategory()

const std::error_category & rtctk::telSub::GetBlenderErrorCategory ( )

noexcept

Returns a reference to the global blender error category instance.

This function provides access to the singleton error category used for blender errors.

Returns

A reference to the global BlenderErrorCategory instance.

Example:

// Direct usage
const std::error_category& cat = GetBlenderErrorCategory();
 
// Creating an error code
std::error_code ec(static_cast<int>(BlenderError::SizeMismatch), GetBlenderErrorCategory());

Main()

template<class UserTopicType, class DataBlender>

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

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(const rtctk::telSub::DataSamplesView& 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 synchronisation.

MakeBlenderError()

std::error_code rtctk::telSub::MakeBlenderError ( GenericBlenderError e )

noexcept

Creates an error_code for a blender error.

This is a convenient wrapper that uses the global error category.

This is a convenient helper function to create error codes for blender errors. It is the preferred way to create blender error codes.

Parameters

e	The BlenderError to convert.

Returns

An error_code representing the error.

Example:

// Use the helper function to create error codes
return MakeBlenderError(BlenderError::MissingTopic);
 
// In a blender function:
if (topic_ptr == samples.end()) {
    return MakeBlenderError(BlenderError::MissingTopic);
}

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.