i_topic

1 

5 

6 #pragma once

7 

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

9 #include "core/communication/i_subscriber.h"

10 

11 namespace simulation_framework

12 {

13 namespace core

14 {

15 

21 enum class TopicType

22 {

23  kRTIDDS = 0,

24  kGRPC

25 };

26 using TopicId = std::string;

27 

32 class ITopic

33 {

34  public:

35  virtual ~ITopic() = default;

36 

40  virtual TopicId GetId() const = 0;

41 

45  virtual TopicType GetType() const = 0;

46 

50  virtual std::size_t SubscriberCount() const = 0;

51 

56  virtual std::size_t PublisherCount() const = 0;

57 

63  virtual void AddPublisher(std::unique_ptr<IPublisher> pub_ptr) = 0;

64 

69  virtual void AddSubscriber(std::unique_ptr<ISubscriber> sub_ptr) = 0;

70 

74  virtual void ClearPubSub() = 0;

75 

79  virtual const Subscribers& GetSubscribers() const = 0;

80 

84  virtual const Publishers& GetPublishers() const = 0;

85 };

86 

87 using TopicIdVector = std::vector<TopicId>;

88 using Topics = std::vector<std::shared_ptr<ITopic>>;

89 

90 } // namespace core

91 } // namespace simulation_framework