NddsTransport.h

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#ifndef _NDDS_TRANSPORT_H_
#define _NDDS_TRANSPORT_H_

#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::VariableReferenceMap & 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