utils.hpp

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// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// 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.
 
#ifndef RMW_FASTRTPS_SHARED_CPP__UTILS_HPP_
#define RMW_FASTRTPS_SHARED_CPP__UTILS_HPP_
 
#include <mutex>
#include <string>
 
#include "fastdds/dds/topic/TopicDescription.hpp"
#include "fastdds/dds/topic/TypeSupport.hpp"
 
#include "fastrtps/types/TypesBase.h"
 
#include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 
#include "rmw/rmw.h"
 
 
namespace rmw_fastrtps_shared_cpp
{
 
struct TopicHolder
{
  ~TopicHolder()
  {
    if (should_be_deleted) {
      participant->delete_topic(topic);
    }
  }
 
  eprosima::fastdds::dds::DomainParticipant * participant = nullptr;
  eprosima::fastdds::dds::TopicDescription * desc = nullptr;
  eprosima::fastdds::dds::Topic * topic = nullptr;
  bool should_be_deleted = false;
};
 
RMW_FASTRTPS_SHARED_CPP_PUBLIC
rmw_ret_t
cast_error_dds_to_rmw(eprosima::fastrtps::types::ReturnCode_t code);
 
RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
cast_or_create_topic(
  eprosima::fastdds::dds::DomainParticipant * participant,
  eprosima::fastdds::dds::TopicDescription * desc,
  const std::string & topic_name,
  const std::string & type_name,
  const eprosima::fastdds::dds::TopicQos & topic_qos,
  bool is_writer_topic,
  TopicHolder * topic_holder);
 
RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
find_and_check_topic_and_type(
  const CustomParticipantInfo * participant_info,
  const std::string & topic_name,
  const std::string & type_name,
  eprosima::fastdds::dds::TopicDescription ** returned_topic,
  eprosima::fastdds::dds::TypeSupport * returned_type);
 
RMW_FASTRTPS_SHARED_CPP_PUBLIC
void
remove_topic_and_type(
  const CustomParticipantInfo * participant_info,
  const eprosima::fastdds::dds::TopicDescription * topic,
  const eprosima::fastdds::dds::TypeSupport & type);
 
}  // namespace rmw_fastrtps_shared_cpp
 
#endif  // RMW_FASTRTPS_SHARED_CPP__UTILS_HPP_