Continues migration with DDS, Common

Lts/DDS/DDSConnector/publisher.h

@@ -0,0 +1,67 @@
+
+
+#pragma once
+
+#include <QtCore/QMap>
+#include <NGLLogger/INGLLogger.h>
+#include <DDS/DTS/generic_dts_impl.h>
+#include <DDS/Generic/generic_data_writer.h>
+
+#include "pub_sub_base.h"
+
+namespace DDSConnector
+{
+class DDSCONNECTOR_EXPORT Publisher : public PubSubBase
+{
+public:
+  Publisher(const dds::domain::DomainParticipant &domainParticipant, const std::string &partition);
+  ~Publisher();
+
+  void enableBatchedWriter(bool bEnable);
+  dds::pub::Publisher getDdsPublisher() const { return m_ddsPublisher; }
+
+  
+  template <typename T>
+  bool write(const T &data)
+  {
+    using myDWO = DDSGeneric::GenericDataWriter<T>;
+    using myDTS = DTS::GenericDtsImpl< myDWO >;
+
+    std::string dwoType = DDS::topic_type_name<T>::value();
+    DEBUG_LOG(m_logger) << "dwoType = " << dwoType;
+
+    myDTS *dts = static_cast<myDTS *>(m_dtsMap.value(dwoType));
+    if (dts == nullptr)
+    {
+      dts = new myDTS(m_domainParticipant, m_ddsPublisher);
+      m_dtsMap.insert(dwoType, dts);
+    }
+
+    return dts->write(data);
+  }
+
+  
+  bool write(const dds::core::xtypes::DynamicData &data)
+  {
+    return write(data, data.type().name());
+  }
+
+  bool write(const dds::core::xtypes::DynamicData &data, const std::string &topicName);
+
+
+protected:
+  void initDDS();
+  void deleteDDS();
+
+protected:
+  dds::pub::Publisher            m_ddsPublisher;
+
+  
+  QMap<std::string, DTS::Base*> m_dtsMap;
+
+  
+  
+  QMap<std::string, dds::pub::AnyDataWriter*> m_dynamicTypeMap;
+};
+
+}