Diff: embeddedRTPS/include/rtps/entities/Domain.h

Revision:

0:580aba13d1a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/embeddedRTPS/include/rtps/entities/Domain.h	Thu Dec 30 21:06:29 2021 +0900
@@ -0,0 +1,82 @@
+/*
+The MIT License
+Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE
+
+This file is part of embeddedRTPS.
+
+Author: i11 - Embedded Software, RWTH Aachen University
+*/
+
+#ifndef RTPS_DOMAIN_H
+#define RTPS_DOMAIN_H
+
+#include "rtps/ThreadPool.h"
+#include "rtps/config.h"
+#include "rtps/entities/Participant.h"
+#include "rtps/entities/StatefulReader.h"
+#include "rtps/entities/StatefulWriter.h"
+#include "rtps/entities/StatelessReader.h"
+#include "rtps/entities/StatelessWriter.h"
+#include "rtps/storages/PBufWrapper.h"
+
+namespace rtps {
+class Domain {
+public:
+  Domain();
+
+  bool completeInit();
+  void stop();
+
+  Participant *createParticipant();
+  Writer *createWriter(Participant &part, const char *topicName,
+                       const char *typeName, bool reliable);
+  Reader *createReader(Participant &part, const char *topicName,
+                       const char *typeName, bool reliable);
+
+  Writer *writerExists(Participant &part, const char *topicName,
+                       const char *typeName, bool reliable);
+  Reader *readerExists(Participant &part, const char *topicName,
+                       const char *typeName, bool reliable);
+
+private:
+  ThreadPool m_threadPool;
+  UdpDriver m_transport;
+  std::array<Participant, Config::MAX_NUM_PARTICIPANTS> m_participants;
+  const uint8_t PARTICIPANT_START_ID = 0;
+  ParticipantId_t m_nextParticipantId = PARTICIPANT_START_ID;
+
+  std::array<StatelessWriter, Config::NUM_STATELESS_WRITERS> m_statelessWriters;
+  std::array<StatelessReader, Config::NUM_STATELESS_READERS> m_statelessReaders;
+  uint8_t m_numStatelessWriters = 0;
+  uint8_t m_numStatelessReaders = 0;
+  std::array<StatefulReader, Config::NUM_STATEFUL_READERS> m_statefulReaders;
+  uint8_t m_numStatefulReaders = 0;
+  std::array<StatefulWriter, Config::NUM_STATEFUL_WRITERS> m_statefulWriters;
+  uint8_t m_numStatefulWriters = 0;
+
+  bool m_initComplete = false;
+
+  void receiveCallback(const PacketInfo &packet);
+  GuidPrefix_t generateGuidPrefix(ParticipantId_t id) const;
+  void createBuiltinWritersAndReaders(Participant &part);
+  void registerPort(const Participant &part);
+  static void receiveJumppad(void *callee, const PacketInfo &packet);
+};
+} // namespace rtps
+
+#endif // RTPS_DOMAIN_H