34 lines
919 B
C++
34 lines
919 B
C++
#ifndef __DDS_PUBLISHER_HPP__
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#define __DDS_PUBLISHER_HPP__
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#include <iostream>
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#include <functional>
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#include <dds/dds.hpp>
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#include <thread>
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using namespace dds::sub;
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using namespace dds::domain;
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using namespace dds::topic;
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template<typename T>
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class DDSPublisher {
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private:
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dds::domain::DomainParticipant participant;
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dds::topic::Topic<T> topic;
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dds::pub::Publisher publisher;
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dds::pub::DataWriter<T> writer;
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public:
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// Constructor
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DDSPublisher(const std::string& topicName, const int id = 0)
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: participant(dds::domain::DomainParticipant(id)),
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topic(participant, topicName),
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publisher(dds::pub::Publisher(participant)),
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writer(dds::pub::DataWriter<T>(publisher, topic)) {}
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// Method to publish a message
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void publish(const T& message) {
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writer.write(message);
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}
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};
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#endif |