iceoryx_dds/dds/cyclone_data_reader.hpp🔗
Namespaces🔗
Name |
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iox |
iox::dds |
Classes🔗
Name | |
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class | iox::dds::CycloneDataReader Implementation of the DataReader abstraction using the cyclonedds implementation. |
Source code🔗
// Copyright (c) 2020 - 2021 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/Mempool.hpp"
#include "iceoryx_dds/dds/data_reader.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
Updated on 17 March 2022 at 12:15:57 CET