ddsfmu::DynamicPubSub Class Reference

Dynamic Publisher and Subscriber. More...

#include <DynamicPubSub.hpp>

Public Member Functions
	DynamicPubSub ()
	Default constructor sets pointers to nullptr and m_xml_load ed false. More...
	~DynamicPubSub ()
	Destructor calls clear() More...
	DynamicPubSub (const DynamicPubSub &)=delete
	Copy constructor. More...
DynamicPubSub &	operator= (const DynamicPubSub &)=delete
	Copy assignment. More...
void	reset (const std::filesystem::path &fmu_resources, DataMapper *const mapper, const std::string &name="dds-fmu", cppfmu::Logger *const logger=nullptr)
	Resets all members of DynamicPubSub. More...
void	write ()
	Writes DDS data by using data from DataMapper. More...
void	take ()
	Takes DDS data into data in DataMapper. More...
void	init_key_filters ()
	Initialize content filters for keyed topics. More...

Detailed Description

This class consists of one each instances: A DDS Domain Participant, a dds::Publisher, and a dds::Subscriber. It loads a Fast-DDS XML profile, uses IDL files for type specification, and a DDS to FMU mapping configuration file. For each mapping of DDS topic, it registers either a DataWriter or DataReader entity. It has convenience functions to call write or take on all registered entities. By means of a converter, the inbound or outbound DDS data are populated in a connected DataMapper instance.

Constructor & Destructor Documentation

DynamicPubSub() [1/2]

ddsfmu::DynamicPubSub::DynamicPubSub

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)

~DynamicPubSub()

ddsfmu::DynamicPubSub::~DynamicPubSub

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DynamicPubSub() [2/2]

ddsfmu::DynamicPubSub::DynamicPubSub ( const DynamicPubSub &  )

delete

Member Function Documentation

init_key_filters()

void ddsfmu::DynamicPubSub::init_key_filters

(

)

For each ContentFilteredTopic: Update filter parameters with reader GUID and key valuesfor which filtering will occur

operator=()

DynamicPubSub & ddsfmu::DynamicPubSub::operator= ( const DynamicPubSub &  )

delete

reset()

void ddsfmu::DynamicPubSub::reset	(	const std::filesystem::path &	fmu_resources,
		DataMapper *const	mapper,
		const std::string &	name = "dds-fmu",
		cppfmu::Logger *const	logger = nullptr
	)

Calls clear(), then loads configuration files and initializes DDS members, as well as other data structures.

Parameters

[in]	fmu_resources	Path to FMU resources folder
[in]	mapper	Pointer to DataMapper instance to be used
[in]	name	Instance name of FMU
[in]	logger	Pointer to FMI logger dispatcher

take()

void ddsfmu::DynamicPubSub::take

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For each DataReader: Takes data from DDS and if data: Converts to associated xtypes::DynamicData

write()

void ddsfmu::DynamicPubSub::write

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)

For each DataWriter: Converts associated xtypes::DynamicData to DynamicData_ptr and publishes it