SpliceDDSTransport.h

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#ifndef _MADARA_SPLICE_DDS_TRANSPORT_H__
#define _MADARA_SPLICE_DDS_TRANSPORT_H__
 
#include <string>
 
#include "madara/transport/splice/SpliceTransportReadThread.h"
#include "madara/knowledge/ThreadSafeContext.h"
#include "madara/transport/Transport.h"
#include "ccpp_dds_dcps.h"
#include "madara/transport/splice/ccpp_SpliceKnowledgeUpdate.h"
#include "madara/threads/Threader.h"
 
namespace madara
{
namespace transport
{
class SpliceDDSTransport : public Base
{
public:
  enum
  {
    ERROR_OSPL_NOT_STARTED = -1,
    ERROR_SUB_BAD_CREATE = -2,
    ERROR_PUB_BAD_CREATE = -3
  };
 
  static const int PROFILES = 2;
 
  SpliceDDSTransport(const std::string& id,
      knowledge::ThreadSafeContext& context, TransportSettings& config,
      bool launch_transport);
 
  ~SpliceDDSTransport();
 
  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:
  knowledge::KnowledgeBase knowledge_;
 
  threads::Threader read_threads_;
 
  const static char* topic_names_[];
  const static char* partition_;
  const static char* ret_code_names[];
 
  DDS::DomainParticipantQos part_qos_;
  DDS::TopicQos topic_qos_;
  DDS::PublisherQos pub_qos_;
  DDS::DataWriterQos datawriter_qos_;
  DDS::SubscriberQos sub_qos_;
  DDS::DataReaderQos datareader_qos_;
 
  DDS::DomainId_t domain_;
  DDS::DomainParticipantFactory_var domain_factory_;
  DDS::DomainParticipant_var domain_participant_;
  DDS::Publisher_var publisher_;
  DDS::Subscriber_var subscriber_;
  DDS::DataWriter_var datawriter_;
  DDS::DataReader_var datareader_;
  DDS::DataWriter_var latencywriter_;
 
  Knowledge::UpdateDataWriter_var update_writer_;
  Knowledge::UpdateDataWriter_var latency_update_writer_;
  Knowledge::UpdateDataReader_var update_reader_;
  Knowledge::UpdateTypeSupport update_type_support_;
 
  DDS::Topic_var update_topic_;
 
  int check_handle(void* handle, const char* info);
 
  int check_status(DDS::ReturnCode_t status, const char* info);
 
  const char* get_error_name(DDS::ReturnCode_t status);
};
}
}
 
#endif