iceoryx_dds/dds/data_reader.hpp

Namespaces

Name
iox
iox::dds

Classes

	Name
class	iox::dds::DataReader Abstraction for DDS Data Readers.

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_DATA_READER_HPP
#define IOX_DDS_DDS_DATA_READER_HPP

#include "iceoryx_dds/dds/iox_chunk_datagram_header.hpp"
#include "iceoryx_hoofs/cxx/expected.hpp"
#include "iceoryx_hoofs/cxx/optional.hpp"
#include "iceoryx_posh/iceoryx_posh_types.hpp"

namespace iox
{
namespace dds
{
enum class DataReaderError : uint8_t
{
    NOT_CONNECTED,
    INVALID_DATAGRAM_HEADER_SIZE,
    INVALID_BUFFER_PARAMETER_FOR_USER_HEADER,
    INVALID_BUFFER_PARAMETER_FOR_USER_PAYLOAD,
    INVALID_DATA,
    BUFFER_SIZE_MISMATCH
};

constexpr const char* DataReaderErrorString[] = {"NOT_CONNECTED",
                                                 "INVALID_DATAGRAM_HEADER_SIZE",
                                                 "INVALID_BUFFER_PARAMETER_FOR_USER_HEADER",
                                                 "INVALID_BUFFER_PARAMETER_FOR_USER_PAYLOAD",
                                                 "INVALID_DATA",
                                                 "BUFFER_SIZE_MISMATCH"};

class DataReader
{
  public:
    virtual void connect() noexcept = 0;

    virtual iox::cxx::optional<IoxChunkDatagramHeader> peekNextIoxChunkDatagramHeader() noexcept = 0;

    virtual bool hasSamples() noexcept = 0;

    virtual iox::cxx::expected<DataReaderError> takeNext(const IoxChunkDatagramHeader datagramHeader,
                                                         uint8_t* const userHeaderBuffer,
                                                         uint8_t* const userPayloadBuffer) noexcept = 0;

    virtual capro::IdString_t getServiceId() const noexcept = 0;

    virtual capro::IdString_t getInstanceId() const noexcept = 0;

    virtual capro::IdString_t getEventId() const noexcept = 0;

  protected:
    DataReader() noexcept = default;
};
} // namespace dds
} // namespace iox

#endif // IOX_DDS_DDS_DATA_READER_HPP

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Updated on 18 December 2023 at 13:02:35 CET