101 lines
2.8 KiB
C++
101 lines
2.8 KiB
C++
/**
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* @RDE_HEADER@
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* DTC TypeDefinitions
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* $Id$
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* $HeadURL$
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* $Author$
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*/
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#pragma once
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#include <functional>
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#include <string>
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#include <LtsUtilsCore/data_modification_enum.h>
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#ifdef BUILD_RTI
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// Use actual RTI Connext DDS types
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#include <dds/sub/LoanedSamples.hpp>
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#include <dds/sub/SampleInfo.hpp>
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// DataModification enum is provided by LtsUtilsCore/data_modification_enum.h (included above)
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#else
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// Stub für BUILD_RTI=OFF - keine RTI Connext DDS Verfügbarkeit
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// Diese Header ermöglicht Kompilierung ohne RTI DDS Dependencies
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// DataModification enum is still provided by LtsUtilsCore/data_modification_enum.h
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// Forward declarations für DDS-Typen (Stubs)
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namespace dds {
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namespace sub {
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template<typename T>
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struct LoanedSamples {
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// Minimaler Stub - keine Implementierung für BUILD_RTI=OFF
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};
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struct SampleInfo {
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// Minimaler Stub - keine Implementierung für BUILD_RTI=OFF
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};
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}
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}
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#endif
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namespace NGLLogger
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{
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class INGLLogger;
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}
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namespace DTC
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{
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class SubscriberListener;
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// DataModification Enum is provided by LtsUtilsCore/data_modification_enum.h
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// Do NOT redefine here - use the one from LtsUtilsCore
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// uses DRO (static)
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template <typename DRO_OBJECT, typename SC>
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class GenericDtcSC
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{
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public:
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using DataReaderObject = DRO_OBJECT;
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using SubscriberCallback = SC;
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using TopicType = typename DRO_OBJECT::TopicType;
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GenericDtcSC() = default;
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virtual ~GenericDtcSC() = default;
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virtual bool setSubscriberCallback(const SubscriberCallback &subscriberCallback) = 0;
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virtual dds::sub::LoanedSamples<TopicType> readAlive() const = 0;
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virtual dds::sub::LoanedSamples<TopicType> takeAlive() const = 0;
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virtual dds::sub::LoanedSamples<TopicType> takeDisposed() const = 0;
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virtual bool hasSamples() const = 0;
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virtual DataReaderObject *dataReader() const = 0;
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virtual bool waitForHistoricalData(int timeoutMSec) = 0;
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};
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// Typed topic callback (DataReader)
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template<typename DRO_OBJECT>
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class GenericDtc
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: public GenericDtcSC<DRO_OBJECT,
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std::function<void(const typename DRO_OBJECT::TopicType &, DataModification)> >
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{};
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// Typed topic callback (DataReader) with SampleInfo
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template<typename DRO_OBJECT>
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class GenericDtcSampleInfo
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: public GenericDtcSC<DRO_OBJECT,
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std::function<void(const typename DRO_OBJECT::TopicType &, const dds::sub::SampleInfo &)> >
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{};
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// Dynamic topic callback (DynamicDataReader)
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template<typename DRO_OBJECT>
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class Ddtc
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: public GenericDtcSC<DRO_OBJECT,
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std::function<void(const typename DRO_OBJECT::TopicType &, const std::string &, DataModification)> >
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{};
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// Dynamic topic callback (DynamicDataReader) with SampleInfo
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template<typename DRO_OBJECT>
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class DdtcSampleInfo
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: public GenericDtcSC<DRO_OBJECT,
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std::function<void(const typename DRO_OBJECT::TopicType &, const std::string &, const dds::sub::SampleInfo &)> >
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{};
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} |