ddsCommon.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_DDSCOMMON_HPP
#define RTCTK_COMPONENTFRAMEWORK_DDSCOMMON_HPP
 
#include <agnostictopicifPubSubTypes.hpp>
 
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/PublisherListener.hpp>
 
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/SubscriberListener.hpp>
 
#include <fastdds/dds/core/LoanableSequence.hpp>
#include <fastdds/dds/core/Types.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
 
#include <fastdds/dds/core/condition/WaitSet.hpp>
#include <fastdds/dds/core/status/StatusMask.hpp>
 
#include <fastdds/dds/domain/qos/DomainParticipantFactoryQos.hpp>
 
#include <fastdds/rtps/transport/UDPv4TransportDescriptor.hpp>
 
namespace rtctk::componentFramework {
using namespace eprosima::fastdds::dds;
 
FASTDDS_SEQUENCE(AgnosticTopicSeq, AgnosticTopic);
 
// Compile-time check to ensure that type of sample_id defined in IDL results in uint32_t.
// Suppressing the cppcheck warning because it looks like the tool's parsing is broken.
// cppcheck-suppress preprocessorErrorDirective
static_assert(
    std::is_same_v<std::decay_t<decltype(std::declval<AgnosticTopic>().sample_id())>, uint32_t>,
    "AgnosticTopic::sample_id has wrong type!");
 
FASTDDS_SEQUENCE(SampleInfoSeq, SampleInfo);
 
std::string RetcodeToString(ReturnCode_t retcode);
 
const char* GetTopicName(const DataWriter* writer);
const char* GetTopicName(const DataReader* reader);
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_DDSCOMMON_HPP