topic

1 

5 

6 #pragma once

7 

8 #include "core/communication/i_topic.h"

9 #include <functional>

10 #include <stdexcept>

11 

12 namespace simulation_framework

13 {

14 namespace core

15 {

16 

17 using TopicId = std::string;

18 

32 template <typename TopicMsgType>

33 class Topic : public ITopic

34 {

35  public:

36  using PublisherCallback = std::function<TopicMsgType()>;

37  using SubscriberMessageCallback = std::function<void(const TopicMsgType&)>;

38  using TopicMessageType = TopicMsgType;

39 

40  Topic(const TopicId& topic_id, const TopicType topic_type = TopicType::kRTIDDS)

41  : ITopic{}, topic_id_(topic_id), topic_type_(topic_type)

42  {

43  }

44 

45  TopicId GetId() const override { return topic_id_; }

46  TopicType GetType() const override { return topic_type_; }

47 

48  void AddPublisher(std::unique_ptr<IPublisher> pub_ptr) override

49  {

50  if (publishers_.size() == 1)

51  {

52  throw std::range_error("Already a Publisher for topic " + topic_id_ +

53  " has been set. Multiple publishers for same topic is NOT allowed! ");

54  }

55  publishers_.push_back(std::move(pub_ptr));

56  }

57  void AddSubscriber(std::unique_ptr<ISubscriber> sub_ptr) override { subscribers_.push_back(std::move(sub_ptr)); }

58 

59  std::size_t SubscriberCount() const override { return subscribers_.size(); }

60  std::size_t PublisherCount() const override { return publishers_.size(); }

61 

62  void ClearPubSub() override

63  {

64  publishers_.clear();

65  subscribers_.clear();

66  }

67 

68  const Subscribers& GetSubscribers() const override { return subscribers_; }

69  const Publishers& GetPublishers() const override { return publishers_; }

70 

71  private:

72  TopicId topic_id_{};

73  Subscribers subscribers_{};

74  Publishers publishers_{};

75 

76  const core::TopicType topic_type_{core::TopicType::kRTIDDS};

77 };

78 

79 } // namespace core

80 } // namespace simulation_framework