rtctk::telSub::DdsWaitSetIf Class Reference

Base class abstracting DDS communication code. More...

#include <rtctk/telSub/ddsWaitSetIf.hpp>

Inheritance diagram for rtctk::telSub::DdsWaitSetIf:

Public Member Functions
	DdsWaitSetIf () RTCTK_NOEXCEPT
virtual	~DdsWaitSetIf () RTCTK_NOEXCEPT
virtual AgnosticDataSamples &	GetSamples () RTCTK_NOEXCEPT=0
	Returns reference to data structure holding taken data samples.
virtual std::optional< DdsWaitSetError >	Take (std::chrono::nanoseconds timeout) RTCTK_NOEXCEPT=0
	Takes new samples from DDS readers and updates data structure accessable from GetSamples()
virtual size_t	GetNumberOfTopics () const RTCTK_NOEXCEPT=0
	Returns the number of configured topics.
virtual void	CheckDdsConnections ()=0

Detailed Description

Base class abstracting DDS communication code.

Constructor & Destructor Documentation

DdsWaitSetIf()

rtctk::telSub::DdsWaitSetIf::DdsWaitSetIf ( )

inline

~DdsWaitSetIf()

virtual rtctk::telSub::DdsWaitSetIf::~DdsWaitSetIf ( )

inlinevirtual

Member Function Documentation

CheckDdsConnections()

virtual void rtctk::telSub::DdsWaitSetIf::CheckDdsConnections ( )

pure virtual

Implemented in rtctk::telSub::FakeDdsSubscriber, and rtctk::telSub::DdsWaitSet.

GetNumberOfTopics()

virtual size_t rtctk::telSub::DdsWaitSetIf::GetNumberOfTopics ( ) const

pure virtual

Returns the number of configured topics.

This returns the number of topics that were configured during construction of the subscriber object. This corresponds to the size of the DdsParams::m_topics vector passed to the constructor.

Returns

The number of configured topics.

Implemented in rtctk::telSub::FakeDdsSubscriber, and rtctk::telSub::DdsWaitSet.

GetSamples()

virtual AgnosticDataSamples & rtctk::telSub::DdsWaitSetIf::GetSamples ( )

pure virtual

Returns reference to data structure holding taken data samples.

To update structure with new samples TakeSamples() must be used.

See also

TakeSamples()

Implemented in rtctk::telSub::FakeDdsSubscriber, and rtctk::telSub::DdsWaitSet.

Take()

virtual std::optional< DdsWaitSetError > rtctk::telSub::DdsWaitSetIf::Take ( std::chrono::nanoseconds timeout )

pure virtual

Takes new samples from DDS readers and updates data structure accessable from GetSamples()

The method waits for new DDS samples to become available on one or more of the DDS topic readers as needed to fill up AgnosticDataSamples from GetSamples() with a non-empty sample sequence for each topic.

An empty / zero error code is returned if the operation completed successfully, meaning at least one non-empty sample sequence was taken.

If no samples were available within the timeout period then a std::errc::timed_out error code is returned. If some other error occurred, an appropriate error code is returned.

It is expected that the caller processes the samples and when done with them calls AgnosticAgnosticDataSamples::Clear() to return the samples to DDS. It is not required that all sample sequences are cleared at the same time.

Parameters

[in]

timeout

The maximum amount of time to wait for this operation to complete, measured in nanoseconds.

Returns

An error code indicating success, failure or timeout of the operation.

The following is the list of possible error codes returned:

0

At least one samples was successfully returned.

std::errc::timed_out

The operation timed out while waiting for DDS samples.

std::errc::protocol_error

A call to the DDS API failed.

std::errc::bad_address

Could not identify the associated topic reader for a sample.

See also

GetSamples()

Implemented in rtctk::telSub::FakeDdsSubscriber, and rtctk::telSub::DdsWaitSet.

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

• reusableComponents/telSub/lib/src/include/rtctk/telSub/ddsWaitSetIf.hpp