publisher.h

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/******************************************************************************
 * Copyright 2024 The Apollo Authors. All Rights Reserved.
 *
 * 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.
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#ifndef CYBER_TRANSPORT_RTPS_PUBLISHER_H
#define CYBER_TRANSPORT_RTPS_PUBLISHER_H
 
#include <memory>
#include <string>
 
#include "fastdds/dds/domain/DomainParticipant.hpp"
#include "fastdds/dds/domain/DomainParticipantFactory.hpp"
#include "fastdds/dds/publisher/DataWriter.hpp"
#include "fastdds/dds/publisher/DataWriterListener.hpp"
#include "fastdds/dds/publisher/Publisher.hpp"
#include "fastdds/dds/topic/Topic.hpp"
#include "fastdds/dds/topic/TypeSupport.hpp"
#include "cyber/proto/qos_profile.pb.h"
#include "cyber/base/macros.h"
#include "cyber/common/log.h"
#include "cyber/transport/message/message_info.h"
#include "cyber/transport/qos/qos_filler.h"
#include "cyber/transport/rtps/underlay_message.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
class Publisher;
using PublisherPtr = std::shared_ptr<Publisher>;
class Publisher {
 public:
  Publisher(const std::string& channel_name, const proto::QosProfile& qos,
            eprosima::fastdds::dds::DomainParticipant* participant);
  virtual ~Publisher();
 
  bool Init();
  bool Write(const UnderlayMessage& msg, bool is_topo_msg = false);
  bool Write(const UnderlayMessage& msg, const MessageInfo& msg_info,
             bool is_topo_msg = false);
  void Shutdown();
 
 private:
  Publisher(const Publisher&) = delete;
  Publisher& operator=(const Publisher&) = delete;
  bool EnsureCreateTopic(const std::string& channel_name);
 
  std::string channel_name_;
  proto::QosProfile qos_;
  std::atomic<bool> shutdown_;
 
  eprosima::fastdds::dds::DomainParticipant* participant_;
  eprosima::fastdds::dds::Publisher* publisher_;
  eprosima::fastdds::dds::Topic* topic_;
  eprosima::fastdds::dds::DataWriter* writer_;
};
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_TRANSPORT_RTPS_PUBLISHER_H