Publisher.hpp

// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// 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.
 
#ifndef FASTDDS_DDS_PUBLISHER__PUBLISHER_HPP
#define FASTDDS_DDS_PUBLISHER__PUBLISHER_HPP
 
#include <fastdds/dds/core/Entity.hpp>
#include <fastdds/dds/core/ReturnCode.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/rtps/common/Time_t.hpp>
 
#include <fastdds/fastdds_dll.hpp>
 
namespace dds {
namespace pub {
class Publisher;
} // namespace pub
} // namespace dds
 
namespace eprosima {
namespace fastdds {
namespace rtps {
 
class IPayloadPool;
 
} // namespace rtps
 
namespace dds {
 
class DomainParticipant;
class PublisherListener;
class PublisherImpl;
class DataWriter;
class DataWriterListener;
class Topic;
 
class Publisher : public DomainEntity
{
protected:
 
    friend class PublisherImpl;
    friend class DomainParticipantImpl;
 
    Publisher(
            PublisherImpl* p,
            const StatusMask& mask = StatusMask::all());
 
    Publisher(
            DomainParticipant* dp,
            const PublisherQos& qos = PUBLISHER_QOS_DEFAULT,
            PublisherListener* listener = nullptr,
            const StatusMask& mask = StatusMask::all());
 
public:
 
    virtual ~Publisher();
 
    FASTDDS_EXPORTED_API ReturnCode_t enable() override;
 
    FASTDDS_EXPORTED_API const PublisherQos& get_qos() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_qos(
            PublisherQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t set_qos(
            const PublisherQos& qos);
 
    FASTDDS_EXPORTED_API const PublisherListener* get_listener() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t set_listener(
            PublisherListener* listener);
 
    FASTDDS_EXPORTED_API ReturnCode_t set_listener(
            PublisherListener* listener,
            const StatusMask& mask);
 
    FASTDDS_EXPORTED_API DataWriter* create_datawriter(
            Topic* topic,
            const DataWriterQos& qos,
            DataWriterListener* listener = nullptr,
            const StatusMask& mask = StatusMask::all(),
            std::shared_ptr<fastdds::rtps::IPayloadPool> payload_pool = nullptr);
 
    FASTDDS_EXPORTED_API DataWriter* create_datawriter_with_profile(
            Topic* topic,
            const std::string& profile_name,
            DataWriterListener* listener = nullptr,
            const StatusMask& mask = StatusMask::all(),
            std::shared_ptr<fastdds::rtps::IPayloadPool> payload_pool = nullptr);
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_datawriter(
            const DataWriter* writer);
 
    FASTDDS_EXPORTED_API DataWriter* lookup_datawriter(
            const std::string& topic_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t suspend_publications();
 
    FASTDDS_EXPORTED_API ReturnCode_t resume_publications();
 
    FASTDDS_EXPORTED_API ReturnCode_t begin_coherent_changes();
 
    FASTDDS_EXPORTED_API ReturnCode_t end_coherent_changes();
 
    FASTDDS_EXPORTED_API ReturnCode_t wait_for_acknowledgments(
            const fastdds::dds::Duration_t& max_wait);
 
    FASTDDS_EXPORTED_API const DomainParticipant* get_participant() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t delete_contained_entities();
 
    FASTDDS_EXPORTED_API ReturnCode_t set_default_datawriter_qos(
            const DataWriterQos& qos);
 
    FASTDDS_EXPORTED_API const DataWriterQos& get_default_datawriter_qos() const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_datawriter_qos(
            DataWriterQos& qos) const;
 
    FASTDDS_EXPORTED_API static ReturnCode_t copy_from_topic_qos(
            fastdds::dds::DataWriterQos& writer_qos,
            const fastdds::dds::TopicQos& topic_qos);
 
    FASTDDS_EXPORTED_API ReturnCode_t get_datawriter_qos_from_profile(
            const std::string& profile_name,
            DataWriterQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_datawriter_qos_from_profile(
            const std::string& profile_name,
            DataWriterQos& qos,
            std::string& topic_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_datawriter_qos_from_xml(
            const std::string& xml,
            DataWriterQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_datawriter_qos_from_xml(
            const std::string& xml,
            DataWriterQos& qos,
            std::string& topic_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_datawriter_qos_from_xml(
            const std::string& xml,
            DataWriterQos& qos,
            const std::string& profile_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_datawriter_qos_from_xml(
            const std::string& xml,
            DataWriterQos& qos,
            std::string& topic_name,
            const std::string& profile_name) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_datawriter_qos_from_xml(
            const std::string& xml,
            DataWriterQos& qos) const;
 
    FASTDDS_EXPORTED_API ReturnCode_t get_default_datawriter_qos_from_xml(
            const std::string& xml,
            DataWriterQos& qos,
            std::string& topic_name) const;
 
    FASTDDS_EXPORTED_API const InstanceHandle_t& get_instance_handle() const;
 
    FASTDDS_EXPORTED_API bool get_datawriters(
            std::vector<DataWriter*>& writers) const;
 
    FASTDDS_EXPORTED_API bool has_datawriters() const;
 
protected:
 
    PublisherImpl* impl_;
 
    friend class ::dds::pub::Publisher;
};
 
} // namespace dds
} // namespace fastdds
} // namespace eprosima
 
#endif // FASTDDS_DDS_PUBLISHER__PUBLISHER_HPP