All functionallty needed to create DDS entities for DDS data publishing is concentrated in this class. More...

#include <rtctk/componentFramework/ddsPub.hpp>

Inheritance diagram for rtctk::componentFramework::DdsPub:

Public Member Functions
	DdsPub (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="")
	DDS Publsiher class that takes care for handling all DDS entities to publish samples.

	~DdsPub () override

void	CreatePublisher ()
	Creates DDS publisher.

void	DestroyPublisher ()
	Destroys DDS publisher.

DataWriter *	CreateDataWriter (Topic topic, DataWriterListener listener=nullptr)
	Creates DDS writer for particular topic for topic of type: rtctk::AgnosticTopic.

void	DestroyDataWriter (DataWriter *dw, bool to_be_removed=true, std::chrono::milliseconds wait_acks_timeout=5000ms)
	Destroys DDS data writer, and also its listener.

void	CreateDataWriters ()
	Creates DDS Data Writer for all DDS topics.

void	DestroyAllDataWriters (std::chrono::milliseconds wait_acks_timeout=5000ms)
	Destroys DDS Data Writer for all DDS topics.

void	CreateManyDataWriters (const std::vector< DdsWriterParams > &)
	create DDS topics and DDS writers for the given list (vector) of topic names and rtctk::componentFramework::DdsWriterListener Internally it calls for each topic name CreateTopic, and on the created topic CreateDataWriter.

void	CreateManyDataWriters (const std::vector< std::string > &topic_names)
	create DDS topics and DDS writers for the given list of topic names Internally it calls for each topic name CreateTopic, and on the created topic CreateDataWriter.

void	DumpDDSstatistics ()
	Dumps / logs varios DDS statistic like NACks, ACKs, ... for each DDS writer.

std::vector< DataWriter * > &	GetDataWriters ()
	returns vector of all DDS Data writers

void	WaitForAcks (DataWriter *dw, std::chrono::milliseconds wait_acks_timeout=5000ms)
	Wait for ACKs for the given DDS Data Writer.

Public Member Functions inherited from rtctk::componentFramework::Dds
	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="")
	Constructor for Base class for both DDS Publisher and DDS Subscriber.

virtual	~Dds () noexcept

	Dds (Dds &&rhs)=delete

Dds &	operator= (Dds &&rhs)=delete

void	SetQosProfile (const std::string &qos_profile)
	Set FastDDS QoS profile after creation.

void	SetInterfaceWhiteList (const std::vector< std::string > &iwl)
	Sets the interfaces that can be used for DDS sample traffic.

void	SetParticipantName (const std::string &name)
	Sets the name of the DDS Participant.

void	CreateParticipant ()
	Creates DDS participant.

void	DestroyParticipant ()
	Destroys DDS participant created in CreateParticipant.

Topic *	CreateTopic (const std::string &topic_name)
	Creates DDS topic.

void	DestroyTopic (Topic *topic, bool to_be_removed=true)
	Destroys DDS topic.

void	CreateManyTopics (std::vector< std::string > &topic_names)
	Creates many DDS topics.

void	DestroyAllTopics ()
	Destroys all DDS topics from internal map.

void	DumpDDSstatistics ()
	Dumps / logs varios DDS statistic like NACks, ACKs, ... for each DDS writer.

size_t	GetNumberOfTopics () const noexcept

const std::string	GetTopicName (size_t index) const noexcept

Additional Inherited Members
Static Public Attributes inherited from rtctk::componentFramework::Dds
static const std::string	TELEM_DP_QOS_FILE = "telemDataPathDdsQos.xml"
	default file name for different DDS QoSs

static const std::string	DEFAULT_QOS_PROFILE = "RtcTk_Default_Profile"
	default profile name for different DDS QoSs

static const DomainId_t	DEFAULT_DOMAIN_ID = 0
	default Domain Id for different DDS

Protected Attributes inherited from rtctk::componentFramework::Dds
DomainParticipantFactory *	m_factory

DomainParticipant *	m_participant

std::string	m_qos_profile

DomainId_t	m_domain_id = 0

std::vector< std::string >	m_interface_white_list

std::string	m_participant_name

std::vector< Topic * >	m_topics

log4cplus::Logger &	m_logger

Detailed Description

All functionallty needed to create DDS entities for DDS data publishing is concentrated in this class.

Note: Please refer to FastDDS documentation for details of DDS

Constructor & Destructor Documentation

◆ DdsPub()

rtctk::componentFramework::DdsPub::DdsPub	(	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 = "" )

explicit

DDS Publsiher class that takes care for handling all DDS entities to publish samples.

Parameters

qos_file	name of QoS XML file. That needs to be located in subfolder: resource/config/rtctk/dds of $CFGPATH.
qos_profile	DDS QoS profile (please refer to DDS documentation for details)
domain_id	DDS domain Id (see FastDDS documentation for details)
participant_name	name of participant

Note: Intended to be used just internally by RTC Toolkit.

◆ ~DdsPub()

rtctk::componentFramework::DdsPub::~DdsPub ( )

override

Member Function Documentation

◆ CreateDataWriter()

DataWriter * rtctk::componentFramework::DdsPub::CreateDataWriter	(	Topic *	topic,
		DataWriterListener *	listener = nullptr )

Creates DDS writer for particular topic for topic of type: rtctk::AgnosticTopic.

Parameters

topic	DDS topic for which DDS writer shall be created
listener	pointer to DDS Writer Listener (optional). If not specified a default one is created/used: rtctk::componentFramework::DdsWriterListener

Returns: created DDS data writer

◆ CreateDataWriters()

void rtctk::componentFramework::DdsPub::CreateDataWriters ( )

Creates DDS Data Writer for all DDS topics.

Internal it calls CreateDataWriter for each topic from the internal topic map.

◆ CreateManyDataWriters() [1/2]

void rtctk::componentFramework::DdsPub::CreateManyDataWriters ( const std::vector< DdsWriterParams > & topics_listeners )

create DDS topics and DDS writers for the given list (vector) of topic names and rtctk::componentFramework::DdsWriterListener Internally it calls for each topic name CreateTopic, and on the created topic CreateDataWriter.

◆ CreateManyDataWriters() [2/2]

void rtctk::componentFramework::DdsPub::CreateManyDataWriters ( const std::vector< std::string > & topic_names )

create DDS topics and DDS writers for the given list of topic names Internally it calls for each topic name CreateTopic, and on the created topic CreateDataWriter.

◆ CreatePublisher()

void rtctk::componentFramework::DdsPub::CreatePublisher ( )

Creates DDS publisher.

It is enough to have one publisher, so this shall be called just once. It has to be called after DS particpant has been created.

◆ DestroyAllDataWriters()

void rtctk::componentFramework::DdsPub::DestroyAllDataWriters ( std::chrono::milliseconds wait_acks_timeout = 5000ms )

Destroys DDS Data Writer for all DDS topics.

Internal it calls DestroyDataWriter for each data write for each topic from the internal topic map.

Parameters

wait_acks_timeout timeout for wait_for_acknowledgments in milliseconds - it makes sure that all reliable subscribers ACKs samples before deleting each DataWriter. Default is 5000ms. Parameter is passed to DestroyDataWriter method.

◆ DestroyDataWriter()

void rtctk::componentFramework::DdsPub::DestroyDataWriter	(	DataWriter *	dw,
		bool	to_be_removed = true,
		std::chrono::milliseconds	wait_acks_timeout = 5000ms )

Destroys DDS data writer, and also its listener.

Parameters

dw	DDS Data writter to be destroyed
to_be_removed	flag that indicates if the data writer should be also removed from internal vector. Default is to be removed.
wait_acks_timeout	timeout for wait_for_acknowledgments in miliseconds - it makes sure that all reliable subscribers ACKs samples before deleting each DAtaWriter. Default is 5000ms. If 0 wait_for_acknowledgments is not called.

◆ DestroyPublisher()

void rtctk::componentFramework::DdsPub::DestroyPublisher ( )

Destroys DDS publisher.

As there is just one publisher is should be called at most once.

◆ DumpDDSstatistics()

void rtctk::componentFramework::DdsPub::DumpDDSstatistics ( )

Dumps / logs varios DDS statistic like NACks, ACKs, ... for each DDS writer.

◆ GetDataWriters()

std::vector< DataWriter * > & rtctk::componentFramework::DdsPub::GetDataWriters ( )

inline

returns vector of all DDS Data writers

◆ WaitForAcks()

void rtctk::componentFramework::DdsPub::WaitForAcks	(	DataWriter *	dw,
		std::chrono::milliseconds	wait_acks_timeout = 5000ms )

Wait for ACKs for the given DDS Data Writer.

Parameters

dw	DDS Data writer where wait for ACKs is perfromed.
wait_acks_timeout	timeout in ms

The documentation for this class was generated from the following files:

componentFramework/services/dataPath/dds/src/include/rtctk/componentFramework/ddsPub.hpp
componentFramework/services/dataPath/dds/src/ddsPub.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DdsPub()

◆ ~DdsPub()

Member Function Documentation

◆ CreateDataWriter()

◆ CreateDataWriters()

◆ CreateManyDataWriters() [1/2]

◆ CreateManyDataWriters() [2/2]

◆ CreatePublisher()

◆ DestroyAllDataWriters()

◆ DestroyDataWriter()

◆ DestroyPublisher()

◆ DumpDDSstatistics()

◆ GetDataWriters()

◆ WaitForAcks()