封装一个FastDDS调用类

以下是一个基本的FastDDS调用类的封装示例：

#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>

class FastDDSWrapper {
public:
  FastDDSWrapper() {
    // Initialize the DomainParticipant
    eprosima::fastdds::dds::DomainParticipantQos participant_qos;
    participant_ = eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->create_participant(0, participant_qos);

    // Initialize the Publisher and Subscriber
    publisher_ = participant_->create_publisher();
    subscriber_ = participant_->create_subscriber();
  }

  ~FastDDSWrapper() {
    // Delete the Publisher, Subscriber, and DomainParticipant
    participant_->delete_publisher(publisher_);
    participant_->delete_subscriber(subscriber_);
    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_participant(participant_);
  }

  // Create a Topic and return a pointer to it
  eprosima::fastdds::dds::Topic* create_topic(const std::string& topic_name, const std::string& type_name) {
    return eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->create_topic(topic_name, type_name, eprosima::fastdds::dds::TOPIC_QOS_DEFAULT);
  }

  // Delete a Topic
  void delete_topic(eprosima::fastdds::dds::Topic* topic) {
    eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->delete_topic(topic);
  }

  // Create a DataWriter and return a pointer to it
  eprosima::fastdds::dds::DataWriter* create_datawriter(eprosima::fastdds::dds::Topic* topic) {
    eprosima::fastdds::dds::DataWriterQos writer_qos;
    writer_ = publisher_->create_datawriter(topic, writer_qos);
    return writer_;
  }

  // Delete a DataWriter
  void delete_datawriter(eprosima::fastdds::dds::DataWriter* writer) {
    publisher_->delete_datawriter(writer);
  }

  // Create a DataReader and return a pointer to it
  eprosima::fastdds::dds::DataReader* create_datareader(eprosima::fastdds::dds::Topic* topic) {
    eprosima::fastdds::dds::DataReaderQos reader_qos;
    reader_ = subscriber_->create_datareader(topic, reader_qos);
    return reader_;
  }

  // Delete a DataReader
  void delete_datareader(eprosima::fastdds::dds::DataReader* reader) {
    subscriber_->delete_datareader(reader);
  }

private:
  eprosima::fastdds::dds::DomainParticipant* participant_;
  eprosima::fastdds::dds::Publisher* publisher_;
  eprosima::fastdds::dds::Subscriber* subscriber_;
  eprosima::fastdds::dds::DataWriter* writer_;
  eprosima::fastdds::dds::DataReader* reader_;
};

这个FastDDS调用类有以下几个方法：

- 构造函数：初始化DomainParticipant、Publisher和Subscriber。
- 析构函数：删除Publisher、Subscriber和DomainParticipant。
- create_topic()：创建一个Topic并返回指向它的指针。
- delete_topic()：删除一个Topic。
- create_datawriter()：创建一个DataWriter并返回指向它的指针。
- delete_datawriter()：删除一个DataWriter。
- create_datareader()：创建一个DataReader并返回指向它的指针。
- delete_datareader()：删除一个DataReader。

这个类还有一些可以改进的地方，例如添加一些QoS设置方法。