qt-migration-legatus/qt6-after/qt6-migrated-legatus/Lts/DDS/Generic/generic_data_writer.h

#pragma once

#include <DDS/Generic/generic_base.h>
#include <DDS/Generic/generic_logger.h>
#include <dds/pub/DataWriter.hpp>
#include <dds/sub/SampleInfo.hpp>
#include <dds/topic/Topic.hpp>
#include <dds/topic/find.hpp>

namespace DDSGeneric
{

template <typename TOPICTYPE> class GenericDataWriter final
{
  public:
    using TopicType = TOPICTYPE;
    using DataWriter = dds::pub::DataWriter<TopicType>;
    using DataTopic = dds::topic::Topic<TopicType>;

    GenericDataWriter()
        : m_dataWriter(nullptr), m_ddsTopic(nullptr),
          m_logger(DDS::getLogger(DDS::topic_type_name<TopicType>::value(), DDS::DataType::DATA_WRITER))
    {
    }

    bool create(const dds::domain::DomainParticipant& participant, const dds::pub::Publisher& ddsPublisher,
                const std::string& topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<TopicType>::value()))
    {
        DEBUG_LOG(m_logger) << "IN GenericDataWriter::create (" << DDS::topic_type_name<TopicType>::value() << ")";

        if (participant == nullptr)
        {
            ERROR_LOG(m_logger) << "Participant not available, aborting. ";
            return false;
        }

        if (m_ddsTopic != nullptr)
        {
            ERROR_LOG(m_logger) << "Type '" << DDS::topic_type_name<TopicType>::value() << "' already created";
            return false;
        }

        try
        {

            DEBUG_LOG(m_logger) << "Creating write topic " << topicName
                                << " with type: " << DDS::topic_type_name<TopicType>::value();

            m_ddsTopic = dds::topic::find<DataTopic>(participant, topicName);
            if (m_ddsTopic == nullptr)
                m_ddsTopic = DataTopic(participant, topicName);

            m_dataWriter = DataWriter(ddsPublisher, m_ddsTopic, ddsPublisher.default_datawriter_qos());

            if (m_dataWriter == nullptr)
            {
                ERROR_LOG(m_logger) << "Initialisation of " << DDS::topic_type_name<TopicType>::value() << " failed ";
                return false;
            }
        }
        catch (const dds::core::Exception& ex)
        {
            ERROR_LOG(m_logger) << ex.what();
            return false;
        }

        DEBUG_LOG(m_logger) << "dataWriter created (" << DDS::topic_type_name<TopicType>::value() << ")";

        return true;
    }

    bool write(const TopicType& data,
               const dds::core::optional<dds::sub::SampleInfo>& si = dds::core::optional<dds::sub::SampleInfo>())
    {
        DEBUG_LOG(m_logger) << "IN write (" << DDS::topic_type_name<TopicType>::value() << ") ";

        if (m_dataWriter == nullptr)
        {
            ERROR_LOG(m_logger) << "No dataWriter initialised ";
            return false;
        }

        if (si.is_set())
        {
            rti::pub::WriteParams writeParams;
            rti::core::SampleIdentity sampleIdentity(si.get()->source_guid(), si.get()->publication_sequence_number());
            writeParams.related_sample_identity(sampleIdentity);

            m_dataWriter->write(data, writeParams);
        }
        else
        {
            m_dataWriter.write(data);
        }
        return true;
    }

    bool remove(const TopicType& data, bool errorMsgIfNotExists = true)
    {
        DEBUG_LOG(m_logger) << "IN remove (" << DDS::topic_type_name<TopicType>::value() << ") ";

        if (m_dataWriter == nullptr)
        {
            ERROR_LOG(m_logger) << "No dataWriter initialised ";
            return false;
        }
        const dds::core::InstanceHandle ih = m_dataWriter.lookup_instance(data);
        if (ih.is_nil())
        {
            if (errorMsgIfNotExists)
                ERROR_LOG(m_logger) << "Could not find instance for topic " << DDS::topic_type_name<TopicType>::value()
                                    << " for unregistering!";
            return false;
        }
        m_dataWriter.dispose_instance(ih);
        return true;
    }

    DataWriter dataWriter() const
    {
        return m_dataWriter;
    }

  private:
    DataWriter m_dataWriter;
    DataTopic m_ddsTopic;
};

} // namespace DDSGeneric