NddsTransport.h

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#ifndef _NDDS_TRANSPORT_H_
#define _NDDS_TRANSPORT_H_
 
#ifdef _MADARA_NDDS_
 
#include <string>
 
#include "madara/knowledge/ThreadSafeContext.h"
#include "madara/transport/Transport.h"
#include <ndds/ndds_cpp.h>
#include "madara/transport/ndds/Ndds_Knowledge_Update.h"
#include "madara/transport/ndds/Ndds_Knowledge_UpdateSupport.h"
#include "madara/transport/ndds/NddsListener.h"
 
namespace madara
{
namespace transport
{
class NddsTransport : public Base
{
public:
  NddsTransport(const std::string& id, knowledge::ThreadSafeContext& context,
      TransportSettings& config, bool launch_transport);
 
  ~NddsTransport();
 
  long send_data(const knowledge::KnowledgeMap& updates) override;
 
  int reliability(void) const;
 
  int reliability(const int& setting);
 
  void close(void);
 
  int setup(void);
 
protected:
private:
  const static char* topic_names_[];
  const static char* partition_;
 
  // NDDS variables
  DDSDomainParticipant* domain_participant_;
  DDSPublisher* publisher_;
  DDSSubscriber* subscriber_;
  DDSTopic* update_topic_;
  DDSDataReader* data_reader_;
  DDSDataWriter* data_writer_;
  Ndds_Knowledge_UpdateDataWriter* update_writer_;
  NddsListener* listener_;
};
}
}
 
#endif // _MADARA_NDDS_
 
#endif // header include