S Morita / mbed-mros2

Dependents:   mbed-os-example-mros2 example-mbed-mros2-sub-pose example-mbed-mros2-pub-twist example-mbed-mros2-mturtle-teleop

embeddedRTPS/include/rtps/entities/Domain.h@7:c80f65422d99, 2022-03-19 (annotated)

Committer:
smoritaemb
Date:
Sat Mar 19 09:23:37 2022 +0900
Revision:
7:c80f65422d99
Parent:
0:580aba13d1a1 
Merge test_assortment_of_msgs branch.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smoritaemb 0:580aba13d1a1 1 /*
smoritaemb 0:580aba13d1a1 2 The MIT License
smoritaemb 0:580aba13d1a1 3 Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
smoritaemb 0:580aba13d1a1 4 Permission is hereby granted, free of charge, to any person obtaining a copy
smoritaemb 0:580aba13d1a1 5 of this software and associated documentation files (the "Software"), to deal
smoritaemb 0:580aba13d1a1 6 in the Software without restriction, including without limitation the rights
smoritaemb 0:580aba13d1a1 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
smoritaemb 0:580aba13d1a1 8 copies of the Software, and to permit persons to whom the Software is
smoritaemb 0:580aba13d1a1 9 furnished to do so, subject to the following conditions:
smoritaemb 0:580aba13d1a1 10 The above copyright notice and this permission notice shall be included in
smoritaemb 0:580aba13d1a1 11 all copies or substantial portions of the Software.
smoritaemb 0:580aba13d1a1 12 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
smoritaemb 0:580aba13d1a1 13 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
smoritaemb 0:580aba13d1a1 14 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
smoritaemb 0:580aba13d1a1 15 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
smoritaemb 0:580aba13d1a1 16 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
smoritaemb 0:580aba13d1a1 17 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
smoritaemb 0:580aba13d1a1 18 THE SOFTWARE
smoritaemb 0:580aba13d1a1 19
smoritaemb 0:580aba13d1a1 20 This file is part of embeddedRTPS.
smoritaemb 0:580aba13d1a1 21
smoritaemb 0:580aba13d1a1 22 Author: i11 - Embedded Software, RWTH Aachen University
smoritaemb 0:580aba13d1a1 23 */
smoritaemb 0:580aba13d1a1 24
smoritaemb 0:580aba13d1a1 25 #ifndef RTPS_DOMAIN_H
smoritaemb 0:580aba13d1a1 26 #define RTPS_DOMAIN_H
smoritaemb 0:580aba13d1a1 27
smoritaemb 0:580aba13d1a1 28 #include "rtps/ThreadPool.h"
smoritaemb 0:580aba13d1a1 29 #include "rtps/config.h"
smoritaemb 0:580aba13d1a1 30 #include "rtps/entities/Participant.h"
smoritaemb 0:580aba13d1a1 31 #include "rtps/entities/StatefulReader.h"
smoritaemb 0:580aba13d1a1 32 #include "rtps/entities/StatefulWriter.h"
smoritaemb 0:580aba13d1a1 33 #include "rtps/entities/StatelessReader.h"
smoritaemb 0:580aba13d1a1 34 #include "rtps/entities/StatelessWriter.h"
smoritaemb 0:580aba13d1a1 35 #include "rtps/storages/PBufWrapper.h"
smoritaemb 0:580aba13d1a1 36
smoritaemb 0:580aba13d1a1 37 namespace rtps {
smoritaemb 0:580aba13d1a1 38 class Domain {
smoritaemb 0:580aba13d1a1 39 public:
smoritaemb 0:580aba13d1a1 40 Domain();
smoritaemb 0:580aba13d1a1 41
smoritaemb 0:580aba13d1a1 42 bool completeInit();
smoritaemb 0:580aba13d1a1 43 void stop();
smoritaemb 0:580aba13d1a1 44
smoritaemb 0:580aba13d1a1 45 Participant *createParticipant();
smoritaemb 0:580aba13d1a1 46 Writer *createWriter(Participant &part, const char *topicName,
smoritaemb 0:580aba13d1a1 47 const char *typeName, bool reliable);
smoritaemb 0:580aba13d1a1 48 Reader *createReader(Participant &part, const char *topicName,
smoritaemb 0:580aba13d1a1 49 const char *typeName, bool reliable);
smoritaemb 0:580aba13d1a1 50
smoritaemb 0:580aba13d1a1 51 Writer *writerExists(Participant &part, const char *topicName,
smoritaemb 0:580aba13d1a1 52 const char *typeName, bool reliable);
smoritaemb 0:580aba13d1a1 53 Reader *readerExists(Participant &part, const char *topicName,
smoritaemb 0:580aba13d1a1 54 const char *typeName, bool reliable);
smoritaemb 0:580aba13d1a1 55
smoritaemb 0:580aba13d1a1 56 private:
smoritaemb 0:580aba13d1a1 57 ThreadPool m_threadPool;
smoritaemb 0:580aba13d1a1 58 UdpDriver m_transport;
smoritaemb 0:580aba13d1a1 59 std::array<Participant, Config::MAX_NUM_PARTICIPANTS> m_participants;
smoritaemb 0:580aba13d1a1 60 const uint8_t PARTICIPANT_START_ID = 0;
smoritaemb 0:580aba13d1a1 61 ParticipantId_t m_nextParticipantId = PARTICIPANT_START_ID;
smoritaemb 0:580aba13d1a1 62
smoritaemb 0:580aba13d1a1 63 std::array<StatelessWriter, Config::NUM_STATELESS_WRITERS> m_statelessWriters;
smoritaemb 0:580aba13d1a1 64 std::array<StatelessReader, Config::NUM_STATELESS_READERS> m_statelessReaders;
smoritaemb 0:580aba13d1a1 65 uint8_t m_numStatelessWriters = 0;
smoritaemb 0:580aba13d1a1 66 uint8_t m_numStatelessReaders = 0;
smoritaemb 0:580aba13d1a1 67 std::array<StatefulReader, Config::NUM_STATEFUL_READERS> m_statefulReaders;
smoritaemb 0:580aba13d1a1 68 uint8_t m_numStatefulReaders = 0;
smoritaemb 0:580aba13d1a1 69 std::array<StatefulWriter, Config::NUM_STATEFUL_WRITERS> m_statefulWriters;
smoritaemb 0:580aba13d1a1 70 uint8_t m_numStatefulWriters = 0;
smoritaemb 0:580aba13d1a1 71
smoritaemb 0:580aba13d1a1 72 bool m_initComplete = false;
smoritaemb 0:580aba13d1a1 73
smoritaemb 0:580aba13d1a1 74 void receiveCallback(const PacketInfo &packet);
smoritaemb 0:580aba13d1a1 75 GuidPrefix_t generateGuidPrefix(ParticipantId_t id) const;
smoritaemb 0:580aba13d1a1 76 void createBuiltinWritersAndReaders(Participant &part);
smoritaemb 0:580aba13d1a1 77 void registerPort(const Participant &part);
smoritaemb 0:580aba13d1a1 78 static void receiveJumppad(void *callee, const PacketInfo &packet);
smoritaemb 0:580aba13d1a1 79 };
smoritaemb 0:580aba13d1a1 80 } // namespace rtps
smoritaemb 0:580aba13d1a1 81
smoritaemb 0:580aba13d1a1 82 #endif // RTPS_DOMAIN_H