dds.hpp

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#ifndef RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_HPP_
#define RTCTK_COMPONENTFRAMEWORK_DATAPATH_DDS_HPP_
 
#include <string>
#include <vector>
 
#include <rtctk/componentFramework/ddsCommon.hpp>
#include <log4cplus/logger.h>
 
namespace rtctk::componentFramework {
 
class Dds {
protected:
    DomainParticipantFactory *m_factory;
    DomainParticipant *m_participant;
 
    std::string m_qos_profile;
 
    DomainId_t m_domain_id=0;
 
    std::vector<std::string> m_interfaceWhiteList;
 
    // list of DDS topics
    std::vector<Topic *> m_topics;
    log4cplus::Logger m_logger;
 
public:
    Dds(std::string qos_file,
        std::string qos_profile = DEFAULT_QOS_PROFILE,
        DomainId_t domain_id = DEFAULT_DOMAIN_ID);
    virtual ~Dds() noexcept;
 
    Dds(Dds &&rhs) = delete;
    Dds &operator=(Dds &&rhs) = delete;
 
    
    void SetQosProfile(std::string &qos_profile) {
        m_qos_profile = qos_profile;
    }
 
    void SetInterfaceWhiteList(const std::vector<std::string> &iwl);
 
    void CreateParticipant();
 
 
    void DestroyParticipant();
 
    Topic *CreateTopic(const std::string &topic_name);
 
    void DestroyTopic(Topic *topic, bool to_be_removed = true);
 
    void CreateManyTopics(std::vector<std::string> &topic_names);
 
    void DestroyAllTopics();
 
    virtual void DumpDDSstatistics();
 
    size_t GetNumberOfTopics() const noexcept;
 
    const std::string GetTopicName(size_t index) const noexcept;
 
 
    inline static const std::string TELEM_DP_QOS_FILE = "telemDataPathDdsQos.xml"; 
 
    inline static const std::string  DEFAULT_QOS_PROFILE = "RtcTk_Default_Profile"; 
 
    inline static const DomainId_t DEFAULT_DOMAIN_ID = 0; 
};
 
}  // namespace rtctk::componentFramework
 
#endif  //#ifndef RTCTK_COMPONENTFRAMEWORK_dataPATH_DDS_HPP_