61 lines
1.3 KiB
C++
61 lines
1.3 KiB
C++
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#pragma once
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#include <DDS/Generic/generic_base.h>
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#include <DDS/Generic/subscriber_listener.h>
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#include <dds/pub/Publisher.hpp>
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#include <dds/sub/Subscriber.hpp>
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namespace NGL
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{
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class INGLLogger;
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}
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class Initialisation
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{
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public:
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Initialisation();
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virtual ~Initialisation();
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enum PubSub { USE_PUBLISHER = 1, USE_SUBSCRIBER = 2, USE_PUB_SUB = 4 };
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bool initDDS(int domainId, int exerciseId, PubSub pubsub = USE_PUBLISHER);
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void cleanupSubscriberListener();
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dds::domain::DomainParticipant getDomainParticipant()
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{
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return m_domainParticipant;
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}
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dds::domain::DomainParticipant getDomainParticipantSub()
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{
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return m_domainParticipantSub != nullptr ? m_domainParticipantSub : m_domainParticipant;
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}
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dds::pub::Publisher getDDSPublisher()
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{
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return m_ddsPublisher;
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}
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dds::sub::Subscriber getDDSSubscriber()
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{
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return m_ddsSubscriber;
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}
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DDSGeneric::SubscriberListener* getSubscriberListener()
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{
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return m_subListener;
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}
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private:
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NGL::INGLLogger& m_logger;
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dds::domain::DomainParticipant m_domainParticipant;
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dds::domain::DomainParticipant m_domainParticipantSub;
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int m_domainId;
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int m_exerciseId;
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dds::pub::Publisher m_ddsPublisher;
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dds::sub::Subscriber m_ddsSubscriber;
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DDSGeneric::SubscriberListener* m_subListener;
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};
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