ddsWaitSet.hpp

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#ifndef RTCKT_TELSUB_DDSWAITSET_HPP
#define RTCKT_TELSUB_DDSWAITSET_HPP
 
#include <list>
#include <map>
#include <memory>
#include <set>
 
#include "rtctk/componentFramework/ddsSub.hpp"
#include <rtctk/telSub/ddsReaderListener.hpp>
#include <rtctk/telSub/ddsWaitSetIf.hpp>
 
namespace rtctk::telSub {
 
class DdsWaitSet final : public DdsWaitSetIf, SeqLoanerIf {
public:
    using Alloc = std::pmr::polymorphic_allocator<std::byte>;
    DdsWaitSet(const DdsParams& params, Alloc const& alloc = {});
    virtual ~DdsWaitSet() noexcept;
 
    DdsWaitSet(DdsWaitSet&& rhs) = delete;
    DdsWaitSet& operator=(DdsWaitSet&& rhs) = delete;
 
    AgnosticDataSamples& GetSamples() noexcept override;
    std::error_code Take(std::chrono::nanoseconds timeout) noexcept override;
 
    size_t GetNumberOfTopics() const noexcept override;
    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.
    DdsWaitSet(const DdsWaitSet& rhs) = delete;
    DdsWaitSet& operator=(const DdsWaitSet& rhs) = delete;
 
    void Initialise(const DdsParams& params);
    void Finalise();
 
    std::unique_ptr<rtctk::componentFramework::DdsSub> m_dds_sub;
 
    std::vector<rtctk::componentFramework::DataReader *> *m_readers;
    std::map<Condition*, uint32_t> m_reader_context_lut;
    std::unique_ptr<WaitSet> m_waitset;
    AgnosticDataSamples m_samples;
};
 
}  // namespace rtctk::telSub
#endif  // RTCKT_TELSUB_DDSWAITSET_HPP