iceoryx_dds/dds/cyclone_data_reader.hpp

Namespaces

Name
iox
iox::dds

Classes

	Name
class	iox::dds::CycloneDataReader Implementation of the DataReader abstraction using the cyclonedds implementation.

Source code

// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// SPDX-License-Identifier: Apache-2.0

#ifndef IOX_DDS_DDS_CYCLONE_DATA_READER_HPP
#define IOX_DDS_DDS_CYCLONE_DATA_READER_HPP

#include "iceoryx_dds/dds/data_reader.hpp"

#include <Mempool_DCPS.hpp>
#include <atomic>
#include <dds/dds.hpp>

namespace iox
{
namespace dds
{
class CycloneDataReader : public DataReader
{
  public:
    CycloneDataReader() = delete;
    CycloneDataReader(const capro::IdString_t serviceId,
                      const capro::IdString_t instanceId,
                      const capro::IdString_t eventId) noexcept;
    virtual ~CycloneDataReader();

    CycloneDataReader(const CycloneDataReader&) = delete;
    CycloneDataReader& operator=(const CycloneDataReader&) = delete;
    CycloneDataReader(CycloneDataReader&&) = delete;
    CycloneDataReader& operator=(CycloneDataReader&&) = delete;

    void connect() noexcept override;

    iox::cxx::optional<IoxChunkDatagramHeader> peekNextIoxChunkDatagramHeader() noexcept override;
    bool hasSamples() noexcept override;
    iox::cxx::expected<DataReaderError> takeNext(const IoxChunkDatagramHeader datagramHeader,
                                                 uint8_t* const userHeaderBuffer,
                                                 uint8_t* const userPayloadBuffer) noexcept override;

    capro::IdString_t getServiceId() const noexcept override;
    capro::IdString_t getInstanceId() const noexcept override;
    capro::IdString_t getEventId() const noexcept override;

  private:
    capro::IdString_t m_serviceId{""};
    capro::IdString_t m_instanceId{""};
    capro::IdString_t m_eventId{""};

    ::dds::sub::DataReader<Mempool::Chunk> m_impl = ::dds::core::null;

    std::atomic_bool m_isConnected{false};
};

} // namespace dds
} // namespace iox

#endif // IOX_DDS_DDS_CYCLONE_DATA_READER_HPP

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Updated on 31 May 2022 at 15:29:16 CEST