ddsSubscriber.hpp

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#ifndef RTCKT_TELSUB_DDSSUBSCRIBER_HPP
#define RTCKT_TELSUB_DDSSUBSCRIBER_HPP
 
#include <list>
#include <map>
#include <memory>
#include <set>
 
#include <rtctk/componentFramework/dds.hpp>
#include <rtctk/telSub/ddsReaderListener.hpp>
#include <rtctk/telSub/ddsSubscriberIf.hpp>
 
namespace rtctk::telSub {
 
class DdsSubscriber final : public DdsSubscriberIf, SeqLoanerIf {
public:
    using Alloc = std::pmr::polymorphic_allocator<std::byte>;
    DdsSubscriber(const DdsParams& params, Alloc const& alloc = {});
    virtual ~DdsSubscriber() noexcept;
 
    DdsSubscriber(DdsSubscriber&& rhs) = delete;
    DdsSubscriber& operator=(DdsSubscriber&& rhs) = delete;
 
    AgnosticDataSamples& GetSamples() noexcept override;
    std::error_code Take(std::chrono::nanoseconds timeout) noexcept override;
 
    size_t GetNumberOfTopics() const noexcept override;
    const std::string& GetTopicName(size_t index) const noexcept override;
 
    std::error_code
    ReturnLoan(std::uint8_t idx, DdsSampleSeq& samples, DdsInfoSeq& infos) noexcept override;
 
private:
    // Do not allow copying of this object.
    DdsSubscriber(const DdsSubscriber& rhs) = delete;
    DdsSubscriber& operator=(const DdsSubscriber& rhs) = delete;
 
    void Initialise(const DdsParams& params);
    void Finalise();
 
    struct ReaderContext {
        ReaderContext() : m_topic_name(""), m_reader(nullptr), m_topic(nullptr){};
 
        std::string m_topic_name;
 
#ifdef USE_RTI_DDS
        rtctk::AgnosticTopicDataReader* m_reader;
#else
        DataReader* m_reader;
#endif
 
        Topic* m_topic;
    };
 
    DomainParticipantFactory* m_factory;
    DomainParticipant* m_participant;
    Subscriber* m_subscriber;
    std::unique_ptr<DdsReaderListener> m_listener;
    std::vector<ReaderContext> m_readers;
    std::map<Condition*, std::vector<ReaderContext>::iterator> m_reader_context_lut;
    std::unique_ptr<WaitSet> m_waitset;
    AgnosticDataSamples m_samples;
};
 
}  // namespace rtctk::telSub
#endif  // RTCKT_TELSUB_DDSSUBSCRIBER_HPP