Program Listing for File ecal_publisher.h

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/* ========================= eCAL LICENSE =================================
 *
 * Copyright (C) 2016 - 2019 Continental Corporation
 *
 * 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.
 *
 * ========================= eCAL LICENSE =================================
*/

#pragma once

#include <cstddef>
#include <ecal/ecal_callback.h>
#include <ecal/ecal_deprecate.h>
#include <ecal/ecal_os.h>
#include <ecal/ecal_payload_writer.h>
#include <ecal/ecal_qos.h>
#include <ecal/ecal_tlayer.h>
#include <ecal/ecal_types.h>

#include <chrono>
#include <memory>
#include <string>

namespace eCAL
{
  class CDataWriter;

  class CPublisher
  {
  public:

    ECAL_API static constexpr long long DEFAULT_TIME_ARGUMENT        = -1;
    ECAL_API static constexpr long long DEFAULT_ACKNOWLEDGE_ARGUMENT = -1;
    ECAL_API CPublisher();

    ECAL_DEPRECATE_SINCE_5_13("Please use the constructor CPublisher(const std::string& topic_name_, const SDataTypeInformation& topic_info_) instead. This function will be removed in future eCAL versions.")
    ECAL_API CPublisher(const std::string& topic_name_, const std::string& topic_type_, const std::string& topic_desc_ = "");

    ECAL_API CPublisher(const std::string& topic_name_, const SDataTypeInformation& topic_info_);

    ECAL_API CPublisher(const std::string& topic_name_);

    ECAL_API virtual ~CPublisher();

    ECAL_API CPublisher(const CPublisher&) = delete;

    ECAL_API CPublisher& operator=(const CPublisher&) = delete;

    ECAL_API CPublisher(CPublisher&& rhs) noexcept;

    ECAL_API CPublisher& operator=(CPublisher&& rhs) noexcept;

    ECAL_DEPRECATE_SINCE_5_13("Please use the create method bool Create(const std::string& topic_name_, const SDataTypeInformation& topic_info_) instead. This function will be removed in future eCAL versions.")
    ECAL_API bool Create(const std::string& topic_name_, const std::string& topic_type_, const std::string& topic_desc_ = "");

    ECAL_API bool Create(const std::string& topic_name_, const SDataTypeInformation& topic_info_);

    ECAL_API bool Create(const std::string& topic_name_)
    {
      return Create(topic_name_, SDataTypeInformation());
    }

    ECAL_API bool Destroy();

    ECAL_DEPRECATE_SINCE_5_13("Please use the method bool SetDataTypeInformation(const SDataTypeInformation& topic_info_) instead. This function will be removed in future eCAL versions.")
    ECAL_API bool SetTypeName(const std::string& topic_type_name_);

    ECAL_DEPRECATE_SINCE_5_13("Please use the method bool SetDataTypeInformation(const SDataTypeInformation& topic_info_) instead. This function will be removed in future eCAL versions.")
    ECAL_API bool SetDescription(const std::string& topic_desc_);

    ECAL_API bool SetDataTypeInformation(const SDataTypeInformation& topic_info_);

    ECAL_API bool SetAttribute(const std::string& attr_name_, const std::string& attr_value_);

    ECAL_API bool ClearAttribute(const std::string& attr_name_);

    ECAL_API bool ShareType(bool state_ = true);

    ECAL_API bool ShareDescription(bool state_ = true);

    ECAL_DEPRECATE_SINCE_5_13("Will be removed in future eCAL versions.")
    ECAL_API bool SetQOS(const QOS::SWriterQOS& qos_);

    ECAL_DEPRECATE_SINCE_5_13("Will be removed in future eCAL versions.")
    ECAL_API QOS::SWriterQOS GetQOS();

    ECAL_API bool SetLayerMode(TLayer::eTransportLayer layer_, TLayer::eSendMode mode_);

    ECAL_DEPRECATE_SINCE_5_13("Will be removed in future eCAL versions.")
    ECAL_API bool SetMaxBandwidthUDP(long bandwidth_);

    ECAL_API bool ShmSetBufferCount(long buffering_);

    ECAL_API bool ShmEnableZeroCopy(bool state_);

    ECAL_API bool ShmSetAcknowledgeTimeout(long long acknowledge_timeout_ms_);

    template <typename Rep, typename Period>
    bool ShmSetAcknowledgeTimeout(std::chrono::duration<Rep, Period> acknowledge_timeout_)
    {
      auto acknowledge_timeout_ms = std::chrono::duration_cast<std::chrono::milliseconds>(acknowledge_timeout_).count();
      return ShmSetAcknowledgeTimeout(static_cast<long long>(acknowledge_timeout_ms));
    }

    ECAL_API bool SetID(long long id_);

    ECAL_API size_t Send(const void* buf_, size_t len_, long long time_ = DEFAULT_TIME_ARGUMENT) const;

    ECAL_API size_t Send(CPayloadWriter& payload_, long long time_ = DEFAULT_TIME_ARGUMENT) const;

    ECAL_API size_t Send(const void* buf_, size_t len_, long long time_, long long acknowledge_timeout_ms_) const;

    ECAL_DEPRECATE_SINCE_5_12("Please use the method size_t Send(CPayloadWriter& payload_, long long time_, long long acknowledge_timeout_ms_) const instead. This function will be removed in future eCAL versions.")
    ECAL_API size_t SendSynchronized(const void* const buf_, size_t len_, long long time_, long long acknowledge_timeout_ms_) const
    {
      return Send(buf_, len_, time_, acknowledge_timeout_ms_);
    }

    ECAL_API size_t Send(CPayloadWriter& payload_, long long time_, long long acknowledge_timeout_ms_) const;

    ECAL_API size_t Send(const std::string& s_, long long time_ = DEFAULT_TIME_ARGUMENT) const
    {
      return(Send(s_.data(), s_.size(), time_, DEFAULT_ACKNOWLEDGE_ARGUMENT));
    }

    ECAL_API size_t Send(const std::string& s_, long long time_, long long acknowledge_timeout_ms_) const
    {
      return(Send(s_.data(), s_.size(), time_, acknowledge_timeout_ms_));
    }

    ECAL_API bool AddEventCallback(eCAL_Publisher_Event type_, PubEventCallbackT callback_);

    ECAL_API bool RemEventCallback(eCAL_Publisher_Event type_);

    ECAL_API bool IsCreated() const {return(m_created);}

    ECAL_API bool IsSubscribed() const;

    ECAL_API size_t GetSubscriberCount() const;

    ECAL_API std::string GetTopicName() const;

    ECAL_DEPRECATE_SINCE_5_13("Please use the method SDataTypeInformation GetDataTypeInformation() instead. You can extract the typename from the SDataTypeInformation variable. This function will be removed in future eCAL versions.")
    ECAL_API std::string GetTypeName() const;

    ECAL_DEPRECATE_SINCE_5_13("Please use the method SDataTypeInformation GetDataTypeInformation() instead. You can extract the descriptor from the SDataTypeInformation variable. This function will be removed in future eCAL versions.")
    ECAL_API std::string GetDescription() const;

    ECAL_API SDataTypeInformation GetDataTypeInformation() const;

    ECAL_API std::string Dump(const std::string& indent_ = "") const;

  protected:
    void InitializeQOS();
    void InitializeTLayer();
    bool ApplyTopicToDescGate(const std::string& topic_name_, const SDataTypeInformation& topic_info_);

    // class members
    std::shared_ptr<CDataWriter>     m_datawriter;
    struct ECAL_API QOS::SWriterQOS  m_qos;
    struct ECAL_API TLayer::STLayer  m_tlayer;
    long long                        m_id;
    bool                             m_created;
    bool                             m_initialized;
  };
}