torsten
77c67c12ca
Entire-Metadata: .entire/metadata/fb87247f-2a75-407e-b336-cbc8c20ba5a6 Entire-Session: fb87247f-2a75-407e-b336-cbc8c20ba5a6 Entire-Strategy: manual-commit
152 lines
4.4 KiB
C++
152 lines
4.4 KiB
C++
/*
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* (c) Copyright, Real-Time Innovations, 2017.
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* All rights reserved.
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*
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* No duplications, whole or partial, manual or electronic, may be made
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* without express written permission. Any such copies, or
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* revisions thereof, must display this notice unaltered.
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* This code contains trade secrets of Real-Time Innovations, Inc.
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*/
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#ifndef RTI_ROUTING_ADAPTER_STREAM_WRITER_HPP_
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#define RTI_ROUTING_ADAPTER_STREAM_WRITER_HPP_
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#include <vector>
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#include <rti/routing/UpdatableEntity.hpp>
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#include <rti/routing/detail/ForwarderUtils.hpp>
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namespace rti { namespace routing { namespace adapter {
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/** @ingroup RTI_RoutingServiceAdapterModule
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*
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* @class rti::routing::adapter::StreamWriter
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*
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* @brief Provides a way to write samples of a specific type in a data domain.
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*
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* In the XML configuration file, A StreamWriter is associated with the tag
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* <output> within <route> or <auto_route>.
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*
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* @mtsafety Partially Safe
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* All operations on a concrete StreamWriter objects are safe and
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* always serialized on a given Session. Operations on different
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* StreamWriter objects can be called concurrently if the
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* StreamWriter objects belong to different Sessions.
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*/
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class StreamWriter : public UpdatableEntity {
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public:
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typedef void* SamplePtr;
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typedef void* InfoPtr;
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/**
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* @brief Writes a collection of data samples to the output stream
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* associated with this StreamWriter.
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*
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* @param sample_seq
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* @rs_st_in Vector of sample pointers.
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* The data representation associated with the samples will be given
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* by the value of TypeInfo::data_representation_kind that is
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* part of the StreamInfo object passed at StreamWriter creation
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* time.
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* Usually the data representation is dynamic type, which corresponds
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* to dds::core::xtypes::DynamicData.
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* @param info_seq
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* @rs_st_in Vector of sample info pointers.
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* The info representation is dependent of the StreamWriter
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* implementation.
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* Usually when data representation is dynamic type, the sample
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* info is dds::sub::SampleInfo.
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* @return Number of samples written.
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* @throw std::exception
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*/
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virtual int write(
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const std::vector<SamplePtr>& sample_seq,
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const std::vector<InfoPtr>& info_seq) = 0;
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/**
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* @brief Virtual destructor
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*/
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virtual ~StreamWriter()
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{
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}
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};
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/** @ingroup RTI_RoutingServiceAdapterModule
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*
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* @class rti::routing::adapter::TStreamWriter
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*
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* @brief A wrapper implementation of a StreamWriter that provides a
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* strongly-typed interface through template parameters for data and info
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* representation.
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*
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* You can implement this interface as a convenience to manipulate the data
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* and info representation without dealing with opaque pointers.
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*/
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template <typename Data, typename Info>
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class TStreamWriter : public StreamWriter {
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public:
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/**
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* @brief The data type
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*/
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typedef Data DataRep;
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typedef DataRep* DataRepPtr;
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/**
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* @brief The info type
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*/
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typedef Info InfoRep;
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typedef InfoRep* InfoRepPtr;
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/**
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* @brief Performs the conversion between the vector of data and info
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* pointers to strongly-type pointers.
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*/
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int write(
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const std::vector<SamplePtr>& sample_seq,
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const std::vector<InfoPtr>& info_seq) RTI_FINAL
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{
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RTI_ROUTING_SAMPLE_VECTOR_COPY_PTRS(sample_seq_, sample_seq);
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RTI_ROUTING_SAMPLE_VECTOR_COPY_PTRS(info_seq_, info_seq);
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return write(sample_seq_, info_seq_);
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}
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/**
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* @brief Interface redefinition
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*
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* @see StreamWriter::write
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*/
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virtual int write(
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const std::vector<Data*>& sample_seq,
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const std::vector<Info*>& info_seq) = 0;
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/**
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* @brief Virtual destructor
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*/
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virtual ~TStreamWriter()
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{
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}
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private:
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std::vector<Data*> sample_seq_;
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std::vector<Info*> info_seq_;
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};
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/** @ingroup RTI_RoutingServiceAdapterModule
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*
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* @brief Convenient definition of typed StreamWriter that requires
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* dds::core::xtypes::DynamicData for data samples and dds::sub::SampleInfo
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* for info samples.
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*
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*/
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typedef TStreamWriter<dds::core::xtypes::DynamicData, dds::sub::SampleInfo>
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DynamicDataStreamWriter;
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}}}
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#endif // RTI_ROUTING_ADAPTER_STREAM_WRITER_HPP_
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