ddsCommon.hpp

Go to the documentation of this file.

 
#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_COMMON_HPP_
#define RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_COMMON_HPP_
 
#ifdef USE_RTI_DDS
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wregister"
 
#include "agnostictopicif.h"
#include "agnostictopicifSupport.h"
 
#include <ndds/ndds_cpp.h>
#include <ndds/ndds_namespace_cpp.h>
 
#pragma GCC diagnostic pop
using namespace DDS;
 
namespace rtctk::componentFramework {
using TypedDataWriter = rtctk::AgnosticTopic::DataWriter;
using TypedDataReader = rtctk::AgnosticTopic::DataReader;
}  // namespace rtctk::componentFramework
 
#else
//#include "rtctk/fastdds/agnostictopicif.h"
#include "rtctk/fastdds/agnostictopicifPubSubTypes.h"
 
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/PublisherListener.hpp>
 
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/SubscriberListener.hpp>
 
#include <fastdds/dds/core/LoanableSequence.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastrtps/types/TypesBase.h>
 
#include <fastdds/dds/core/condition/WaitSet.hpp>
#include <fastdds/dds/core/status/StatusMask.hpp>
 
#include <fastdds/dds/domain/qos/DomainParticipantFactoryQos.hpp>
 
#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
 
// using namespace eprosima::fastrtps;
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::types;
 
using eprosima::fastrtps::Duration_t;
 
 
#define STATUS_MASK_NONE StatusMask::none()
#define STATUS_MASK_ALL StatusMask::all()
#define DATA_AVAILABLE_STATUS StatusMask::data_available()
 
#define RETCODE_OK ReturnCode_t::RETCODE_OK
 
#define DDS_HANDLE_NIL eprosima::fastrtps::rtps::c_InstanceHandle_Unknown
#define DDS_RETCODE_TIMEOUT ReturnCode_t::RETCODE_TIMEOUT
#define RETCODE_NO_DATA ReturnCode_t::RETCODE_NO_DATA
#define DDS_RETCODE_OK ReturnCode_t::RETCODE_OK
 
namespace rtctk::componentFramework {
using TypedDataWriter = eprosima::fastdds::dds::DataWriter;
using TypedDataReader = eprosima::fastdds::dds::DataReader;
}  // namespace rtctk::componentFramework
using DDS_Long = long;
using DDS_UnsignedLong = unsigned long;
 
namespace rtctk {
FASTDDS_SEQUENCE(AgnosticTopicSeq, AgnosticTopic);
}
 
FASTDDS_SEQUENCE(SampleInfoSeq, SampleInfo);
 
#endif
 
namespace rtctk::componentFramework {
std::string RetcodeToString(ReturnCode_t retcode);
 
const char* GetTopicName(DataWriter* writer);
const char* GetTopicName(DataReader* reader);
}  // namespace rtctk::componentFramework
 
#endif  //#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_COMMON_HPP_