rtctk::standaloneTools::GenDdsPublisher Class Reference

Generic DDS Publisher Class provides functionally to create one DDS Topic and one DDS DataWriter, and one thread that first waits for a given number of data readers/subscribers and after publishing sampels in a loop. More...

#include <genDdsPublisher.hpp>

Public Member Functions
	GenDdsPublisher (rtctk::componentFramework::DdsPub &dds_pub)
virtual	~GenDdsPublisher ()=default
	GenDdsPublisher ()=delete
	GenDdsPublisher (const GenDdsPublisher &)=delete
	GenDdsPublisher (GenDdsPublisher &&)=delete
void	Initialize (const std::string &topic_name, uint16_t wait_for_n_subs, uint32_t payload_size, std::chrono::microseconds sleep_period, uint32_t sample_id_increment)
	Creates DDS Topic and Data Writer and publishing thread.
void	Finalize ()
	Stops publishing thread, and join it, delete DDS entities.

Static Public Attributes
static std::atomic< uint16_t >	s_idx = 0

Detailed Description

Generic DDS Publisher Class provides functionally to create one DDS Topic and one DDS DataWriter, and one thread that first waits for a given number of data readers/subscribers and after publishing sampels in a loop.

So each object in parallel publishes DDS samples

Note

It is intended to be used just internally in rtctkGenDdsPub

Constructor & Destructor Documentation

GenDdsPublisher() [1/4]

GenDdsPublisher::GenDdsPublisher ( rtctk::componentFramework::DdsPub & dds_pub )

explicit

~GenDdsPublisher()

virtual rtctk::standaloneTools::GenDdsPublisher::~GenDdsPublisher ( )

virtualdefault

GenDdsPublisher() [2/4]

rtctk::standaloneTools::GenDdsPublisher::GenDdsPublisher ( )

delete

GenDdsPublisher() [3/4]

rtctk::standaloneTools::GenDdsPublisher::GenDdsPublisher ( const GenDdsPublisher & )

delete

GenDdsPublisher() [4/4]

rtctk::standaloneTools::GenDdsPublisher::GenDdsPublisher ( GenDdsPublisher && )

delete

Member Function Documentation

Finalize()

void GenDdsPublisher::Finalize

(

)

Stops publishing thread, and join it, delete DDS entities.

Initialize()

void GenDdsPublisher::Initialize	(	const std::string &	topic_name,
		uint16_t	wait_for_n_subs,
		uint32_t	payload_size,
		std::chrono::microseconds	sleep_period,
		uint32_t	sample_id_increment )

Creates DDS Topic and Data Writer and publishing thread.

Parameters

topic_name	topic name
wait_for_n_subs	number of data readers / subscribers that must connect before sending the first sample
payload_size	sample payload size (in# floats)
sleep_period	sleep period after each sample is published
sample_id_increment	sample id increment (to simulate subsampled topics)

Member Data Documentation

s_idx

std::atomic< uint16_t > GenDdsPublisher::s_idx = 0

static

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

• standaloneTools/genDdsPub/src/genDdsPublisher.hpp
• standaloneTools/genDdsPub/src/genDdsPublisher.cpp
• standaloneTools/genDdsPub/src/main.cpp