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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/custom_subscriber_info.hpp"
#include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"

#include "rmw/rmw.h"


namespace rmw_fastrtps_shared_cpp
{

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
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(
  CustomParticipantInfo * participant_info,
  EventListenerInterface * event_listener,
  const eprosima::fastdds::dds::TopicDescription * topic,
  const eprosima::fastdds::dds::TypeSupport & type);

RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
create_content_filtered_topic(
  eprosima::fastdds::dds::DomainParticipant * participant,
  eprosima::fastdds::dds::TopicDescription * topic_desc,
  const std::string & topic_name_mangled,
  const rmw_subscription_content_filter_options_t * options,
  eprosima::fastdds::dds::ContentFilteredTopic ** content_filtered_topic);


RMW_FASTRTPS_SHARED_CPP_PUBLIC
bool
create_datareader(
  const eprosima::fastdds::dds::DataReaderQos & datareader_qos,
  const rmw_subscription_options_t * subscription_options,
  eprosima::fastdds::dds::Subscriber * subscriber,
  eprosima::fastdds::dds::TopicDescription * des_topic,
  CustomDataReaderListener * listener,
  eprosima::fastdds::dds::DataReader ** data_reader);

}  // namespace rmw_fastrtps_shared_cpp

#endif  // RMW_FASTRTPS_SHARED_CPP__UTILS_HPP_