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::VariableReferenceMap & 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