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- #ifndef _FASTDDS_PUBLISHER_HPP_
- #define _FASTDDS_PUBLISHER_HPP_
- #include <fastrtps/fastrtps_dll.h>
- #include <fastdds/rtps/common/Time_t.h>
- #include <fastrtps/attributes/PublisherAttributes.h>
- #include <fastrtps/types/TypesBase.h>
- #include <fastdds/dds/core/Entity.hpp>
- #include <fastdds/dds/publisher/qos/PublisherQos.hpp>
- #include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
- using eprosima::fastrtps::types::ReturnCode_t;
- namespace dds {
- namespace pub {
- class Publisher;
- }
- }
- namespace eprosima {
- namespace fastrtps {
- class TopicAttributes;
- }
- namespace fastdds {
- namespace dds {
- class DomainParticipant;
- class PublisherListener;
- class PublisherImpl;
- class DataWriter;
- class DataWriterListener;
- class Topic;
- class Publisher : public DomainEntity
- {
- friend class PublisherImpl;
- friend class DomainParticipantImpl;
-
- RTPS_DllAPI Publisher(
- PublisherImpl* p,
- const StatusMask& mask = StatusMask::all());
- RTPS_DllAPI Publisher(
- DomainParticipant* dp,
- const PublisherQos& qos = PUBLISHER_QOS_DEFAULT,
- PublisherListener* listener = nullptr,
- const StatusMask& mask = StatusMask::all());
- public:
-
- RTPS_DllAPI virtual ~Publisher();
-
- RTPS_DllAPI ReturnCode_t enable() override;
-
- RTPS_DllAPI const PublisherQos& get_qos() const;
-
- RTPS_DllAPI ReturnCode_t get_qos(
- PublisherQos& qos) const;
-
- RTPS_DllAPI ReturnCode_t set_qos(
- const PublisherQos& qos);
-
- RTPS_DllAPI const PublisherListener* get_listener() const;
-
- RTPS_DllAPI ReturnCode_t set_listener(
- PublisherListener* listener);
-
- RTPS_DllAPI DataWriter* create_datawriter(
- Topic* topic,
- const DataWriterQos& qos,
- DataWriterListener* listener = nullptr,
- const StatusMask& mask = StatusMask::all());
-
- RTPS_DllAPI DataWriter* create_datawriter_with_profile(
- Topic* topic,
- const std::string& profile_name,
- DataWriterListener* listener = nullptr,
- const StatusMask& mask = StatusMask::all());
-
- RTPS_DllAPI ReturnCode_t delete_datawriter(
- DataWriter* writer);
-
- RTPS_DllAPI DataWriter* lookup_datawriter(
- const std::string& topic_name) const;
-
- RTPS_DllAPI bool get_datawriters(
- std::vector<DataWriter*>& writers) const;
-
- RTPS_DllAPI bool has_datawriters() const;
-
-
-
-
-
- RTPS_DllAPI ReturnCode_t wait_for_acknowledgments(
- const fastrtps::Duration_t& max_wait);
-
- RTPS_DllAPI const DomainParticipant* get_participant() const;
-
-
- RTPS_DllAPI ReturnCode_t set_default_datawriter_qos(
- const DataWriterQos& qos);
-
- RTPS_DllAPI const DataWriterQos& get_default_datawriter_qos() const;
-
- RTPS_DllAPI ReturnCode_t get_default_datawriter_qos(
- DataWriterQos& qos) const;
-
-
- RTPS_DllAPI const fastrtps::rtps::InstanceHandle_t& get_instance_handle() const;
- private:
- PublisherImpl* impl_;
- friend class ::dds::pub::Publisher;
- };
- }
- }
- }
- #endif
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