All functionallty needed to create DDS entities for DDS data publishing is concentrated in this class. More...

#include <ddsPub.hpp>

Inheritance diagram for rtctk::componentFramework::DdsPub:

Public Member Functions
	DdsPub (std::string qos_library="RtcTk_Default_Library", std::string qos_profile="RtcTk_Default_Profile")

virtual	~DdsPub ()

void	CreatePublisher ()
	Creates DDS publisher. More...

void	DestroyPublisher ()
	Destroys DDS publisher. More...

TypedDataWriter *	CreateDataWriter (Topic topic, DataWriterListener listener=nullptr)
	Creates DDS writer for particular topic for topic of type: rtctk::AgnosticTopic. More...

void	DestroyDataWriter (TypedDataWriter *dw, bool to_be_removed=true)
	Destroys DDS data writer. More...

void	CreateDataWriters ()
	Creates DDS Data Writer for all DDS topics. More...

void	DestroyAllDataWriters ()
	Destroys DDS Data Writer for all DDS topics. More...

void	CreateManyDataWriters (std::vector< DdsTopicWriterListener > const &)
	create DDS topics and DDS writers for the given list (vector) of topic names and #DdsWriterListener Internally it calls for each topic name CreateTopic, and on the created topic CreateDataWriter. More...

void	CreateManyDataWriters (std::vector< std::string > const &topic_names)
	create DDS topics and DDS writers for the given list of topic names Internally it calls for each topic name CreateTopic, and on the created topic CreateDataWriter. More...

void	DumpDDSstatistics ()
	Dumps / logs varios DDS statistic like NACks, ACKs, ... More...

std::list< TypedDataWriter * > &	GetDataWriters ()
	returns vector of all DDS Data writers More...

Public Member Functions inherited from rtctk::componentFramework::Dds
	Dds (std::string qos_library="RtcTk_Default_Library", std::string qos_profile="RtcTk_Default_Profile")

virtual	~Dds () noexcept

	Dds (Dds &&rhs)=delete

Dds &	operator= (Dds &&rhs)=delete

void	SetQosLibrary (std::string &qos_library)
	Set RTI DDS QoS library after creation. More...

void	SetQosProfile (std::string &qos_profile)
	Set RTI DDS QoS profile after creation. More...

void	SetInterfaceWhiteList (const std::vector< std::string > &iwl)
	Sets the interfaces that can be used for DDS sample traffic i.e. More...

void	CreateParticipant ()
	Creates DDS participant. More...

void	DestroyParticipant ()
	Destroys DDS participant created in CreateParticipant. More...

Topic *	CreateTopic (const std::string &topic_name)
	Creates DDS topic. More...

void	DestroyTopic (Topic *topic, bool to_be_removed=true)
	Destroys DDS topic. More...

void	CreateManyTopics (std::vector< std::string > &topic_names)
	Creates many DDS topics. More...

void	DestroyAllTopics ()
	Destroys all DDS topics from internal map. More...

size_t	GetNumberOfTopics () const noexcept

const std::string	GetTopicName (size_t index) const noexcept

Additional Inherited Members
Protected Member Functions inherited from rtctk::componentFramework::Dds
int	PrintDDSParticipantQoSProperty (DomainParticipantQos &participant_qos, const char prop, const char sf="")

int	SetDDSParticipantQoSProperty (DomainParticipantQos &participant_qos, const char prop, const char value, const char *sf="")

Protected Attributes inherited from rtctk::componentFramework::Dds
DomainParticipantFactory *	m_factory

DomainParticipant *	m_participant

std::string	m_qos_library

std::string	m_qos_profile

std::vector< std::string >	m_interfaceWhiteList

std::vector< Topic * >	m_topics

Detailed Description

All functionallty needed to create DDS entities for DDS data publishing is concentrated in this class.

Note: Please refer to RTI DDS documentation for details of DDS

Constructor & Destructor Documentation

◆ DdsPub()

rtctk::componentFramework::DdsPub::DdsPub	(	std::string	qos_library = `"RtcTk_Default_Library"`,
		std::string	qos_profile = `"RtcTk_Default_Profile"`
	)

Parameters

qos_library	RTI DDS QoS library (please refer to RTI DDS documentation for details)
qos_profile	RTI DDS QoS profile (please refer to RTI DDS documentation for details)

◆ ~DdsPub()

rtctk::componentFramework::DdsPub::~DdsPub ( )

virtual

Member Function Documentation

◆ CreateDataWriter()

TypedDataWriter * rtctk::componentFramework::DdsPub::CreateDataWriter	(	Topic *	topic,
		DataWriterListener *	listener = `nullptr`
	)

Creates DDS writer for particular topic for topic of type: rtctk::AgnosticTopic.

Parameters

topic DDS topic for which DDS writer shall be created

Returns: created DDS data writer

◆ CreateDataWriters()

void rtctk::componentFramework::DdsPub::CreateDataWriters ( )

Creates DDS Data Writer for all DDS topics.

Internal it calls #createDataWriter for each topic from the internal topic map.

◆ CreateManyDataWriters() [1/2]

void rtctk::componentFramework::DdsPub::CreateManyDataWriters ( std::vector< DdsTopicWriterListener > const & topics_listeners )

create DDS topics and DDS writers for the given list (vector) of topic names and #DdsWriterListener Internally it calls for each topic name CreateTopic, and on the created topic CreateDataWriter.

◆ CreateManyDataWriters() [2/2]

void rtctk::componentFramework::DdsPub::CreateManyDataWriters ( std::vector< std::string > const & topic_names )

create DDS topics and DDS writers for the given list of topic names Internally it calls for each topic name CreateTopic, and on the created topic CreateDataWriter.

◆ CreatePublisher()

void rtctk::componentFramework::DdsPub::CreatePublisher ( )

Creates DDS publisher.

It is enough to have one publisher, so this shall be called just once. It has to be called after DS particpant has been created.

◆ DestroyAllDataWriters()

void rtctk::componentFramework::DdsPub::DestroyAllDataWriters ( )

Destroys DDS Data Writer for all DDS topics.

Internal it calls DestroyDataWriter for each data write for each topic from the internal topic map.

◆ DestroyDataWriter()

void rtctk::componentFramework::DdsPub::DestroyDataWriter	(	TypedDataWriter *	dw,
		bool	to_be_removed = `true`
	)

Destroys DDS data writer.

Parameters

dw	DDS Data writter to be destroyed
toBeRemoved	flag that indicates if the data writer should be also removed from internal map. Default is to be removed.

◆ DestroyPublisher()

void rtctk::componentFramework::DdsPub::DestroyPublisher ( )

Destroys DDS publisher.

As there is just one publisher is should be called ast most once.

◆ DumpDDSstatistics()

void rtctk::componentFramework::DdsPub::DumpDDSstatistics ( )

virtual

Dumps / logs varios DDS statistic like NACks, ACKs, ...

for each DDS writer

Reimplemented from rtctk::componentFramework::Dds.

◆ GetDataWriters()

std::list<TypedDataWriter *>& rtctk::componentFramework::DdsPub::GetDataWriters ( )

inline

returns vector of all DDS Data writers

The documentation for this class was generated from the following files:

componentFramework/services/dataPath/dds/src/include/rtctk/componentFramework/ddsPub.hpp
componentFramework/services/dataPath/dds/src/ddsPub.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DdsPub()

◆ ~DdsPub()

Member Function Documentation

◆ CreateDataWriter()

◆ CreateDataWriters()

◆ CreateManyDataWriters() [1/2]

◆ CreateManyDataWriters() [2/2]

◆ CreatePublisher()

◆ DestroyAllDataWriters()

◆ DestroyDataWriter()

◆ DestroyPublisher()

◆ DumpDDSstatistics()

◆ GetDataWriters()