All functionality needed to create DDS entities for DDS data subscribing is concentrated in this class. More...

#include <rtctk/componentFramework/ddsSub.hpp>

Inheritance diagram for rtctk::componentFramework::DdsSub:

Public Member Functions
	DdsSub (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="")

	~DdsSub () override

void	CreateSubscriber ()
	Creates DDS subscriber.

void	DestroySubscriber ()
	Destroys DDS subscriber.

DataReader *	CreateDataReader (Topic topic, DataReaderListener listener=nullptr, const std::string &multicast_address="")
	Creates DDS data reader for particular topic for topic of type: rtctk::AgnosticTopic.

void	DestroyDataReader (DataReader *dr, bool to_be_removed=true)
	Destroys DDS data reader.

void	CreateDataReaders ()
	Creates DDS Data Reader for all DDS topics.

void	EnableAllDataReaders ()

void	DestroyAllDataReaders ()
	Destroys DDS Data Reader for all DDS topics.

void	CreateManyDataReaders (const std::vector< DdsReaderParams > &)
	create DDS topics and DDS readers for the given list (vector) of topic names and rtctk::componentFramework::DdsReaderListener Internally it calls for each topic name CreateTopic, and on the created topic CreateDataReader.

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

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

std::vector< DataReader * > &	GetDataReaders ()
	returns vector of all DDS Data writers

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 functionality needed to create DDS entities for DDS data subscribing is concentrated in this class.

Note: Please refer to FastDDS documentation for details of DDS

Constructor & Destructor Documentation

◆ DdsSub()

rtctk::componentFramework::DdsSub::DdsSub	(	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

Parameters

qos_file	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 FastDDS documentation for details)
domain_id	DDS domain Id (see FastDDS documentation for details)
participant_name	name of participant

Note: : To be used just RTC Toolkit internally.

◆ ~DdsSub()

rtctk::componentFramework::DdsSub::~DdsSub ( )

override

Member Function Documentation

◆ CreateDataReader()

DataReader * rtctk::componentFramework::DdsSub::CreateDataReader	(	Topic *	topic,
		DataReaderListener *	listener = nullptr,
		const std::string &	multicast_address = "" )

Creates DDS data reader for particular topic for topic of type: rtctk::AgnosticTopic.

Parameters

topic	DDS topic for which DDS reader shall be created
listener	pointer to DDS Reader Listener (optional). If not specified a default one is created/used: rtctk::componentFramework::DdsReaderListener
multicast_address	multicast address to be used for listening

Returns: created DDS data reader

◆ CreateDataReaders()

void rtctk::componentFramework::DdsSub::CreateDataReaders ( )

Creates DDS Data Reader for all DDS topics.

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

◆ CreateManyDataReaders() [1/2]

void rtctk::componentFramework::DdsSub::CreateManyDataReaders ( const std::vector< DdsReaderParams > & topics_listeners )

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

◆ CreateManyDataReaders() [2/2]

void rtctk::componentFramework::DdsSub::CreateManyDataReaders ( std::vector< std::string > & topic_names )

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

◆ CreateSubscriber()

void rtctk::componentFramework::DdsSub::CreateSubscriber ( )

Creates DDS subscriber.

It is enough to have one subscriber, so this shall be called just once. It has to be called after DDS participant has been created.

◆ DestroyAllDataReaders()

void rtctk::componentFramework::DdsSub::DestroyAllDataReaders ( )

Destroys DDS Data Reader for all DDS topics.

Internal it calls DestroyDataReader for each data reader for each topic from the internal topic map.

◆ DestroyDataReader()

void rtctk::componentFramework::DdsSub::DestroyDataReader	(	DataReader *	dr,
		bool	to_be_removed = true )

Destroys DDS data reader.

Parameters

dr	DDS Data reader to be destroyed
to_be_removed	flag that indicates if the data reader should be also removed from internal map. Default is to be removed.

◆ DestroySubscriber()

void rtctk::componentFramework::DdsSub::DestroySubscriber ( )

Destroys DDS subscriber.

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

◆ DumpDDSstatistics()

void rtctk::componentFramework::DdsSub::DumpDDSstatistics ( )

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

◆ EnableAllDataReaders()

void rtctk::componentFramework::DdsSub::EnableAllDataReaders ( )

◆ GetDataReaders()

std::vector< DataReader * > & rtctk::componentFramework::DdsSub::GetDataReaders ( )

inline

returns vector of all DDS Data writers

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DdsSub()

◆ ~DdsSub()

Member Function Documentation

◆ CreateDataReader()

◆ CreateDataReaders()

◆ CreateManyDataReaders() [1/2]

◆ CreateManyDataReaders() [2/2]

◆ CreateSubscriber()

◆ DestroyAllDataReaders()

◆ DestroyDataReader()

◆ DestroySubscriber()

◆ DumpDDSstatistics()

◆ EnableAllDataReaders()

◆ GetDataReaders()