DDSPublisher.h

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#ifndef _DDS_PUBLISHER_H
#define _DDS_PUBLISHER_H

#include <DDSHelper.h>
#include <dds/DCPS/PublisherImpl.h>

namespace ddsnc{

//      template<class DWVAR>
        class DDSPublisher : public ::ddsnc::DDSHelper{
                private:
                DDS::Publisher_var pub;
                OpenDDS::DCPS::PublisherImpl *pub_impl;
                DDS::DataWriter_var dw;
//              DWVAR dataWriter;       
                DDS::InstanceHandle_t handler;

                int attachToTransport();

                void initialize();

                void initializeDataWriter();

                int createPublisher();

                protected:
                DDS::PublisherQos pubQos;

                public:
                DDS::DataWriterQos dwQos; 
                DDSPublisher(const char *channelName): 
                        ::ddsnc::DDSHelper(channelName)
                {
                        initialize();
                }


                template <class D, class DW, class DWVAR, class TSV, class TSI>
                        void publishData(D data)
                        {
                                if(initialized==false){
                                        /*Initialize Type Support*/
                                        TSV ts;
                                        ts = new TSI();
                                        if(DDS::RETCODE_OK != ts->register_type(participant.in(),""))
                                                std::cerr << "register_type failed" << std::endl;
                                        /*Initialize the Topic*/
                                        initializeTopic(ts->get_type_name());
                                        if(CORBA::is_nil(topic.in()))
                                                        std::cerr<< "Topic is nil" << std::endl;
                                        initializeDataWriter();
                                        initialized=true;
                                }
                                DWVAR dataWriter = DW::_narrow(dw.in());
                                handler = dataWriter->_cxx_register(data);
                                dataWriter->write(data,handler);
                        }

                ~DDSPublisher()
                {
                }


        };
}

#define PUBLISH_DATA(publisher_p, idlStruct, message) \
{ \
        publisher_p->publishData<idlStruct, idlStruct##DataWriter, \
        idlStruct##DataWriter_var, \
        idlStruct##TypeSupport_var, idlStruct##TypeSupportImpl> (message); \
}
#endif

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