Common functionallty needed to create DDS entities like participant and topic that can be later used (extent) for DDS data publishing and subscribing . More...

#include <dds.hpp>

Inheritance diagram for rtctk::componentFramework::Dds:

Public Member Functions
	Dds (std::string qos_library="RtcTk_Default_Library", std::string qos_profile="RtcTk_Default_Profile")

virtual	~Dds () noexcept

	Dds (Dds &&rhs)=delete

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

void	SetQosLibrary (std::string &qos_library)
	Set RTI DDS QoS library after creation. More...

void	SetQosProfile (std::string &qos_profile)
	Set RTI DDS QoS profile after creation. More...

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

void	CreateParticipant ()
	Creates DDS participant. More...

void	DestroyParticipant ()
	Destroys DDS participant created in CreateParticipant. More...

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

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

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

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

virtual void	DumpDDSstatistics ()
	Dumps / logs varios DDS statistic like NACks, ACKs, ... More...

size_t	GetNumberOfTopics () const noexcept

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

Protected Member Functions
int	PrintDDSParticipantQoSProperty (DomainParticipantQos &participant_qos, const char prop, const char sf="")

int	SetDDSParticipantQoSProperty (DomainParticipantQos &participant_qos, const char prop, const char value, const char *sf="")

Protected Attributes
DomainParticipantFactory *	m_factory

DomainParticipant *	m_participant

std::string	m_qos_library

std::string	m_qos_profile

std::vector< std::string >	m_interfaceWhiteList

std::vector< Topic * >	m_topics

Detailed Description

Common functionallty needed to create DDS entities like participant and topic that can be later used (extent) for DDS data publishing and subscribing .

Note: Please refer to FastDDS / RTI DDS documentation for details of DDS

Constructor & Destructor Documentation

◆ Dds() [1/2]

rtctk::componentFramework::Dds::Dds	(	std::string	qos_library = `"RtcTk_Default_Library"`,
		std::string	qos_profile = `"RtcTk_Default_Profile"`
	)

Parameters

qos_library	RTI DDS QoS library (please refer to RTI DDS documentation for details)
qos_profile	RTI DDS QoS profile (please refer to RTI DDS documentation for details)

◆ ~Dds()

rtctk::componentFramework::Dds::~Dds ( )

virtualnoexcept

◆ Dds() [2/2]

rtctk::componentFramework::Dds::Dds ( Dds && rhs )

delete

Member Function Documentation

◆ CreateManyTopics()

void rtctk::componentFramework::Dds::CreateManyTopics ( std::vector< std::string > & topic_names )

Creates many DDS topics.

Internal it calls #createTopic, and add created topic to internal map.

Parameters

topic_names vector of names for topic to be created.

◆ CreateParticipant()

void rtctk::componentFramework::Dds::CreateParticipant ( )

Creates DDS participant.

It is enough to have one particpant, so this shall be called just once.

◆ CreateTopic()

Topic * rtctk::componentFramework::Dds::CreateTopic ( const std::string & topic_name )

Creates DDS topic.

It has to be called after DDS publisher has been created. It checks if the topic with the provided name already exists, and if exists returns it.

Parameters

topic_name name of the DDS topic to be created.

Returns: created or already existing DDS topic

◆ DestroyAllTopics()

void rtctk::componentFramework::Dds::DestroyAllTopics ( )

Destroys all DDS topics from internal map.

Internal it calls #destroyDDSTopic.

◆ DestroyParticipant()

void rtctk::componentFramework::Dds::DestroyParticipant ( )

Destroys DDS participant created in CreateParticipant.

As there should be just one participant this method should be called at most once.

◆ DestroyTopic()

void rtctk::componentFramework::Dds::DestroyTopic	(	Topic *	topic,
		bool	to_be_removed = `true`
	)

Destroys DDS topic.

Parameters

topic	DDS topic to be destroyed
to_be_removed	flag that indicates if the topic should be also removed from internal map. Default is to be removed.

◆ DumpDDSstatistics()

void rtctk::componentFramework::Dds::DumpDDSstatistics ( )

virtual

Dumps / logs varios DDS statistic like NACks, ACKs, ...

for each DDS writer

Reimplemented in rtctk::componentFramework::DdsSub, and rtctk::componentFramework::DdsPub.

◆ GetNumberOfTopics()

size_t rtctk::componentFramework::Dds::GetNumberOfTopics ( ) const

noexcept

◆ GetTopicName()

const std::string rtctk::componentFramework::Dds::GetTopicName ( size_t index ) const

noexcept

◆ operator=()

Dds& rtctk::componentFramework::Dds::operator= ( Dds && rhs )

delete

◆ PrintDDSParticipantQoSProperty()

int rtctk::componentFramework::Dds::PrintDDSParticipantQoSProperty	(	DomainParticipantQos &	participant_qos,
		const char *	prop,
		const char *	sf = `""`
	)

protected

◆ SetDDSParticipantQoSProperty()

int rtctk::componentFramework::Dds::SetDDSParticipantQoSProperty	(	DomainParticipantQos &	participant_qos,
		const char *	prop,
		const char *	value,
		const char *	sf = `""`
	)

protected

◆ SetInterfaceWhiteList()

void rtctk::componentFramework::Dds::SetInterfaceWhiteList ( const std::vector< std::string > & iwl )

Sets the interfaces that can be used for DDS sample traffic i.e.

interface whit list or allowed interfaces.

Note: Method needs to be called before calling CreateParticipant, otherwise the white list want be taken.

Parameters

iwl	list of interfaces that can be used

◆ SetQosLibrary()

void rtctk::componentFramework::Dds::SetQosLibrary ( std::string & qos_library )

inline

Set RTI DDS QoS library after creation.

Parameters

qos_library RTI DDS QoS library (please refer to RTI DDS documentation for details)

◆ SetQosProfile()

void rtctk::componentFramework::Dds::SetQosProfile ( std::string & qos_profile )

inline

Set RTI DDS QoS profile after creation.

Parameters

qos_profile RTI DDS QoS profile (please refer to RTI DDS documentation for details)

Member Data Documentation

◆ m_factory

DomainParticipantFactory* rtctk::componentFramework::Dds::m_factory

protected

◆ m_interfaceWhiteList

std::vector<std::string> rtctk::componentFramework::Dds::m_interfaceWhiteList

protected

◆ m_participant

DomainParticipant* rtctk::componentFramework::Dds::m_participant

protected

◆ m_qos_library

std::string rtctk::componentFramework::Dds::m_qos_library

protected

◆ m_qos_profile

std::string rtctk::componentFramework::Dds::m_qos_profile

protected

◆ m_topics

std::vector<Topic *> rtctk::componentFramework::Dds::m_topics

protected

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Dds() [1/2]

◆ ~Dds()

◆ Dds() [2/2]

Member Function Documentation

◆ CreateManyTopics()

◆ CreateParticipant()

◆ CreateTopic()

◆ DestroyAllTopics()

◆ DestroyParticipant()

◆ DestroyTopic()

◆ DumpDDSstatistics()

◆ GetNumberOfTopics()

◆ GetTopicName()

◆ operator=()

◆ PrintDDSParticipantQoSProperty()

◆ SetDDSParticipantQoSProperty()

◆ SetInterfaceWhiteList()

◆ SetQosLibrary()

◆ SetQosProfile()

Member Data Documentation

◆ m_factory

◆ m_interfaceWhiteList

◆ m_participant

◆ m_qos_library

◆ m_qos_profile

◆ m_topics