ddsSub.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP_
#define RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP_
#include <list>
 
#include "rtctk/componentFramework/dds.hpp"
 
namespace rtctk::componentFramework {
 
struct DdsReaderParams
{
    std::string topic_name;
    DataReaderListener *listener = nullptr;
    std::string multicast_address={};
 
 
    DdsReaderParams(const std::string &tn, DataReaderListener *l, const std::string &mc)
        : topic_name(tn), listener(l),  multicast_address(mc){
    }
 
    DdsReaderParams(const std::string &tn, DataReaderListener *l)
        : topic_name(tn), listener(l) {
    }
 
    DdsReaderParams(const std::string &tn) : topic_name(tn), listener(nullptr) {
    }
};
 
class DdsSub : public Dds {
    Subscriber *m_subscriber;
 
    std::vector<DataReader *> m_data_readers;
 
public:
    DdsSub(const std::string &qos_file, 
           const std::string &qos_profile = DEFAULT_QOS_PROFILE,
           DomainId_t domain_id = DEFAULT_DOMAIN_ID);
    virtual ~DdsSub();
 
    void CreateSubscriber();
 
    void DestroySubscriber();
 
    DataReader *CreateDataReader(Topic *topic, DataReaderListener *listener = nullptr, std::string multicast_address="");
 
    void DestroyDataReader(DataReader *dr, bool to_be_removed = true);
 
    void CreateDataReaders();
 
    void EnableAllDataReaders();
 
    void DestroyAllDataReaders();
 
    void CreateManyDataReaders(std::vector<DdsReaderParams> const &);
 
    void CreateManyDataReaders(std::vector<std::string> &topic_names);
 
    void DumpDDSstatistics();
 
    std::vector<DataReader *> &GetDataReaders() {
        return m_data_readers;
    }
 
};
 
}  // namespace rtctk::componentFramework
 
#endif  // RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDSSUB_HPP_