144 lines
4.0 KiB
C++
Executable File
144 lines
4.0 KiB
C++
Executable File
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#pragma once
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#include <dds/pub/DataWriter.hpp>
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#include <dds/sub/SampleInfo.hpp>
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#include <dds/topic/find.hpp>
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#include <dds/topic/Topic.hpp>
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#include <DDS/Generic/generic_logger.h>
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#include <DDS/Generic/generic_base.h>
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namespace DDSGeneric
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{
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template <typename TOPICTYPE>
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class GenericDataWriter final
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{
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public:
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using TopicType = TOPICTYPE;
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using DataWriter = dds::pub::DataWriter<TopicType>;
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using DataTopic = dds::topic::Topic<TopicType>;
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GenericDataWriter()
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: m_dataWriter(nullptr)
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, m_ddsTopic(nullptr)
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, m_logger(DDS::getLogger(DDS::topic_type_name<TopicType>::value(), DDS::DataType::DATA_WRITER))
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{}
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bool create(const dds::domain::DomainParticipant &participant,
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const dds::pub::Publisher &ddsPublisher,
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const std::string &topicName = DDS::Helper::getShortTopicName(DDS::topic_type_name<TopicType>::value()))
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{
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DEBUG_LOG(m_logger) << "IN GenericDataWriter::create ("
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<< DDS::topic_type_name<TopicType>::value()
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<< ")";
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if (participant == nullptr)
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{
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ERROR_LOG(m_logger) << "Participant not available, aborting. ";
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return false;
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}
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if (m_ddsTopic != nullptr)
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{
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ERROR_LOG(m_logger) << "Type '"
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<< DDS::topic_type_name<TopicType>::value()
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<< "' already created";
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return false;
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}
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try {
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DEBUG_LOG(m_logger) << "Creating write topic " << topicName << " with type: "
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<< DDS::topic_type_name<TopicType>::value();
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m_ddsTopic = dds::topic::find<DataTopic>(participant, topicName);
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if (m_ddsTopic == nullptr)
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m_ddsTopic = DataTopic(participant, topicName);
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m_dataWriter = DataWriter(ddsPublisher,
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m_ddsTopic,
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ddsPublisher.default_datawriter_qos());
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if (m_dataWriter == nullptr)
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{
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ERROR_LOG(m_logger) << "Initialisation of "
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<< DDS::topic_type_name<TopicType>::value()
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<< " failed ";
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return false;
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}
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}
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catch ( const dds::core::Exception &ex )
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{
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ERROR_LOG(m_logger) << ex.what();
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return false;
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}
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DEBUG_LOG(m_logger) << "dataWriter created ("
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<< DDS::topic_type_name<TopicType>::value()
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<< ")";
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return true;
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}
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bool write(const TopicType &data,
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const dds::core::optional<dds::sub::SampleInfo> &si = dds::core::optional<dds::sub::SampleInfo>())
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{
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DEBUG_LOG(m_logger) << "IN write ("
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<< DDS::topic_type_name<TopicType>::value()
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<< ") ";
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if (m_dataWriter == nullptr) {
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ERROR_LOG(m_logger) << "No dataWriter initialised ";
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return false;
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}
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if (si.is_set())
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{
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rti::pub::WriteParams writeParams;
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rti::core::SampleIdentity sampleIdentity(si.get()->source_guid(), si.get()->publication_sequence_number());
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writeParams.related_sample_identity(sampleIdentity);
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m_dataWriter->write(data, writeParams);
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} else {
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m_dataWriter.write(data);
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}
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return true;
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}
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bool remove(const TopicType &data, bool errorMsgIfNotExists = true)
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{
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DEBUG_LOG(m_logger) << "IN remove ("
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<< DDS::topic_type_name<TopicType>::value()
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<< ") ";
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if (m_dataWriter == nullptr) {
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ERROR_LOG(m_logger) << "No dataWriter initialised ";
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return false;
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}
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const dds::core::InstanceHandle ih = m_dataWriter.lookup_instance(data);
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if (ih.is_nil()) {
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if (errorMsgIfNotExists)
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ERROR_LOG(m_logger) << "Could not find instance for topic "
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<< DDS::topic_type_name<TopicType>::value()
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<< " for unregistering!";
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return false;
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}
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m_dataWriter.dispose_instance(ih);
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return true;
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}
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DataWriter dataWriter() const { return m_dataWriter; }
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private:
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DataWriter m_dataWriter;
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DataTopic m_ddsTopic;
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NGL::INGLLogger &m_logger;
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};
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}
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