ddsSubscriberIf.hpp

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#ifndef RTCTK_TELSUB_DDSSUBSCRIBERIF_HPP
#define RTCTK_TELSUB_DDSSUBSCRIBERIF_HPP
#include <rtctk/config.hpp>
 
#include <chrono>
#include <cstdint>
#include <functional>
#include <string>
#include <system_error>
#include <vector>
 
#include <rtctk/componentFramework/ddsCommon.hpp>
#include <rtctk/telSub/agnosticDataSamples.hpp>
 
namespace rtctk::telSub {
 
struct DdsParams {
    int32_t m_domain_id  = 0;
    std::string m_qos_library = {};
    std::string m_qos_profile = {};
    std::vector<std::string> m_topics = {};
    std::vector<std::string> m_interface_white_list ={};
    std::vector<std::string> m_multicast_addresses = {};
};
 
class DdsSubscriberIf {
public:
    DdsSubscriberIf() RTCTK_NOEXCEPT {};
    virtual ~DdsSubscriberIf() RTCTK_NOEXCEPT {};
 
    virtual AgnosticDataSamples& GetSamples() RTCTK_NOEXCEPT = 0;
 
    virtual std::error_code Take(std::chrono::nanoseconds timeout) RTCTK_NOEXCEPT = 0;
 
    virtual size_t GetNumberOfTopics() const RTCTK_NOEXCEPT = 0;
 
    virtual const std::string& GetTopicName(size_t index) const RTCTK_NOEXCEPT = 0;
};
 
} // namespace rtctk::telSub
#endif // RTCTK_TELSUB_DDSSUBSCRIBERIF_HPP