Base class abstracting DDS communication code. More...
#include <ddsSubscriberIf.hpp>
Public Member Functions | |
| DdsSubscriberIf () RTCTK_NOEXCEPT | |
| virtual | ~DdsSubscriberIf () RTCTK_NOEXCEPT |
| virtual AgnosticDataSamples & | GetSamples () RTCTK_NOEXCEPT=0 |
| Returns reference to data structure holding taken data samples. More... | |
| virtual std::error_code | Take (std::chrono::nanoseconds timeout) RTCTK_NOEXCEPT=0 |
| Takes new samples from DDS readers and updates data structure accessable from GetSamples() More... | |
| virtual size_t | GetNumberOfTopics () const RTCTK_NOEXCEPT=0 |
| Returns the number of configured topics. More... | |
| virtual const std::string & | GetTopicName (size_t index) const RTCTK_NOEXCEPT=0 |
| Returns a string containing the name of a configured topic. More... | |
Detailed Description
Base class abstracting DDS communication code.
Constructor & Destructor Documentation
◆ DdsSubscriberIf()
|
inline |
◆ ~DdsSubscriberIf()
|
inlinevirtual |
Member Function Documentation
◆ GetNumberOfTopics()
|
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::DdsSubscriber, and rtctk::telSub::FakeDdsSubscriber.
◆ GetSamples()
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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::DdsSubscriber, and rtctk::telSub::FakeDdsSubscriber.
◆ GetTopicName()
|
pure virtual |
Returns a string containing the name of a configured topic.
This returns the name of a configured DDS topic as a string. The topic name is associated with the index'th DDS reader and will also identify the topic for samples[index], which is the output parameter vector filled by TakeSamples containing newly arrived DDS samples for the index'th DDS reader.
- Parameters
-
[in] index This selects which topic name to fetch. The value must be in the range 0 <= index and index < GetNumberOfTopics().
- Returns
- The index'th topic name.
Implemented in rtctk::telSub::DdsSubscriber, and rtctk::telSub::FakeDdsSubscriber.
◆ Take()
|
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 RTI DDS API failed.
std::errc::bad_address- Could not identify the associated topic reader for a sample.
- See also
- GetSamples()
Implemented in rtctk::telSub::DdsSubscriber, and rtctk::telSub::FakeDdsSubscriber.
The documentation for this class was generated from the following file:
- reusableComponents/telSub/lib/src/include/rtctk/telSub/ddsSubscriberIf.hpp
