repositorySubscriberIf.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_REPOSITORYSUBSCRIBERIF_HPP
#define RTCTK_COMPONENTFRAMEWORK_REPOSITORYSUBSCRIBERIF_HPP
 
#include <rtctk/componentFramework/repositoryIf.hpp>
 
namespace rtctk::componentFramework {

class RTCTK_API RepositorySubscriberIf : virtual public RepositoryIf {
public:
    // TODO: flesh out the details of this error type
    // this likely will map to follwoing dds reader callbacks:
    // - on sample_rejected
    // - on_sample_lost
    // - on_request_deadline_missed
    // - on request_incompatible_qos
    class RTCTK_API SubscriptionError : public RtctkException {
    public:
        using RtctkException::RtctkException;
    };
 
    class RTCTK_API SequenceIdMissmatch : public RtctkException {
    public:
        SequenceIdMissmatch(const DataPointPath& path, RtcUInt64 expected, RtcUInt64 actual);
    };
 
    template <typename T>
    using ValueCallbackType = std::function<void(const DataPointPath&, T&, const MetaData&)>;
 
    using NotifyCallbackType = std::function<void(const DataPointPath&, const MetaData&)>;
    using ErrorCallbackType = std::function<void(std::exception_ptr)>;
 
    using SubscriptionId = size_t;

    class RTCTK_API Subscription final {
    public:
        using UnsubscribeMethod = std::function<void()>;
 
        explicit Subscription(UnsubscribeMethod);
        ~Subscription();
 
        Subscription(const Subscription&) = delete;
        Subscription& operator=(const Subscription&) = delete;
 
        Subscription(Subscription&&) noexcept;
        Subscription& operator=(Subscription&&) noexcept;
 
        void Unsubscribe();
 
    private:
        UnsubscribeMethod m_unsubscribe;
    };
 
    class RTCTK_API BatchRequest : public RepositoryIf::BatchRequest {
    public:
        SubscriptionId Subscribe(const DataPointPath&, NotifyCallbackType, ErrorCallbackType) const;
 
        SubscriptionId Subscribe(CallbackType, CallbackType, ErrorCallbackType) const;
 
        void Unsubscribe(SubscriptionId) const;
    };
 
    RepositorySubscriberIf() = default;

    template <typename T = void, typename F>
    Subscription Subscribe(const DataPointPath& path,
                           const F& cb_value,
                           const ErrorCallbackType& cb_error) const;

    Subscription Subscribe(const CallbackType& cb_created,
                           const CallbackType& cb_deleted,
                           const ErrorCallbackType& cb_error) const;
};
 
}  // namespace rtctk::componentFramework
 
#include <rtctk/componentFramework/repositorySubscriberIf.ipp>
 
#endif  // RTCTK_COMPONENTFRAMEWORK_REPOSITORYSUBSCRIBERIF_HPP