rtctkGenDdsPublisher.h

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#ifndef RTCTK_GEN_DDS_PUBLISHER_
#define RTCTK_GEN_DDS_PUBLISHER_
 
#include "rtctk/componentFramework/ddsPub.hpp"
#include "rtctk/componentFramework/ddsWriterListener.hpp"
 
namespace rtctk::standaloneTools {
 
namespace rtctk_cfw = rtctk::componentFramework;
 
class GenDdsPublisher {
 
    uint16_t m_idx;
    rtctk_cfw::DdsPub &m_dds_pub;
    rtctk_cfw::DdsWriterListener *m_writer_listener = nullptr;
    rtctk_cfw::Topic *m_topic = nullptr;
    std::string m_topic_name;
    rtctk_cfw::DataWriter *m_data_writer = nullptr;
    uint16_t m_wait_for_n_subs;
    uint16_t m_subs_so_far = 0;
    std::chrono::microseconds m_sleep_period;
 
    rtctk::componentFramework::AgnosticTopic m_sample;
    uint32_t m_payload_length;
 
    std::thread m_thread;
    std::atomic<bool> m_thread_running = true;
 
    void PublishSamples();
    bool WaitForSubs();
 
public:
    GenDdsPublisher(rtctk::componentFramework::DdsPub &dds_pub);
    virtual ~GenDdsPublisher() noexcept;
 
    GenDdsPublisher() = delete;
    GenDdsPublisher(const GenDdsPublisher &) = delete;
    GenDdsPublisher(GenDdsPublisher &&) = delete;  
 
    void Initialize(std::string &topic_name,
                    uint16_t &wait_for_n_subs,
                    uint32_t &payload_size,
                    std::chrono::microseconds &sleep_period);
 
    void Finalize();
 
    // index of Generic DDS Publsiher
    static std::atomic<uint16_t> s_idx;
};  // GenDdsPublisher
 
}  // namespace rtctk::standaloneTools
 
#endif  // RTCTK_GEN_DDS_PUBLISHER_