XNSim/XNCore_Win/XNGlobalDefine/XNDDS.h

#pragma once

// FastDDS头文件
#include <fastcdr/xcdr/optional.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <functional>

// FastDDS宏定义
#define XN_DDS eprosima::fastdds::dds
namespace XNSim
{
template <typename T>
using XNDDSOptional = eprosima::fastcdr::optional<T>;

using XNDDSParticipantPtr = XN_DDS::DomainParticipant *;
using XNDDSPublisherPtr	  = XN_DDS::Publisher *;
using XNDDSSubscriberPtr  = XN_DDS::Subscriber *;
using XNDDSTopicPtr		  = XN_DDS::Topic *;
using XNDDSDataWriterPtr  = XN_DDS::DataWriter *;
using XNDDSDataReaderPtr  = XN_DDS::DataReader *;
using XNDDSTypeSupport	  = XN_DDS::TypeSupport;
using XNDDSDataWriterQos  = XN_DDS::DataWriterQos;
using XNDDSDataReaderQos  = XN_DDS::DataReaderQos;
using XNDDSParticipantQos = XN_DDS::DomainParticipantQos;
using XNDDSTopicQos		  = XN_DDS::TopicQos;
using XNDDSPublisherQos	  = XN_DDS::PublisherQos;
using XNDDSSubscriberQos  = XN_DDS::SubscriberQos;

using XNDDSPublisherMap	 = std::unordered_map<XN_STRING, XNDDSPublisherPtr>;
using XNDDSSubscriberMap = std::unordered_map<XN_STRING, XNDDSSubscriberPtr>;
using XNDDSDataWriterMap = std::unordered_map<XN_STRING, XNDDSDataWriterPtr>;

struct PublisherInfo {
	XNDDSPublisherPtr publisher;
	XNDDSDataWriterPtr dataWriter;
};

struct SubscriberInfo {
	XNDDSSubscriberPtr subscriber;
	XNDDSDataReaderPtr dataReader;
};

struct TopicInfo {
	XNDDSTopicPtr topic;
	XNDDSPublisherMap publishers_;
	XNDDSSubscriberMap subscribers_;
};

using XNDDSTopicMap = std::unordered_map<XN_STRING, TopicInfo>;

template <typename T>
using XNDDSCallBack = std::function<void(const T &)>;

template <typename T>
class DataReaderListenerImpl : public XN_DDS::DataReaderListener
{
public:
	DataReaderListenerImpl(XNDDSCallBack<T> callback) : callback_(callback) {}

	void on_data_available(XNDDSDataReaderPtr reader) override
	{
		XN_DDS::SampleInfo info;
		if (reader->take_next_sample(&data_, &info) == XN_DDS::RETCODE_OK && info.valid_data) {
			callback_(data_);
		}
	}

private:
	T data_;
	XNDDSCallBack<T> callback_;
};

} // namespace XNSim