{# DDS接收器模板 #}
{% if part == 'header' %}
#pragma once

#include <vector>
#include <cstdint>
#include <string>
#include <dds/dds.hpp>

/**
 * DDS数据接收器
 * 用于接收{{ source_message.full_name }}消息
 */
class DataReceiver {
public:
    DataReceiver();
    ~DataReceiver();

    // 初始化DDS连接
    bool initialize(const std::string& topic_name, int domain_id = 0);

    // 接收数据
    std::vector<uint8_t> receive();

    // 关闭连接
    void close();

private:
    dds::domain::DomainParticipant* participant_;
    dds::sub::Subscriber* subscriber_;
    dds::sub::DataReader<dds::core::BytesTopicType>* reader_;
    bool initialized_;
};

{% else %}
#include "receiver.h"
#include <stdexcept>

DataReceiver::DataReceiver()
    : participant_(nullptr),
      subscriber_(nullptr),
      reader_(nullptr),
      initialized_(false) {
}

DataReceiver::~DataReceiver() {
    close();
}

bool DataReceiver::initialize(const std::string& topic_name, int domain_id) {
    try {
        // 创建Domain Participant
        participant_ = new dds::domain::DomainParticipant(domain_id);

        // 创建Subscriber
        subscriber_ = new dds::sub::Subscriber(*participant_);

        // 创建Topic
        dds::topic::Topic<dds::core::BytesTopicType> topic(
            *participant_, topic_name
        );

        // 创建DataReader
        reader_ = new dds::sub::DataReader<dds::core::BytesTopicType>(
            *subscriber_, topic
        );

        initialized_ = true;
        return true;

    } catch (const std::exception& e) {
        close();
        return false;
    }
}

std::vector<uint8_t> DataReceiver::receive() {
    if (!initialized_) {
        throw std::runtime_error("DDS not initialized");
    }

    // 等待数据
    dds::sub::LoanedSamples<dds::core::BytesTopicType> samples =
        reader_->take();

    if (samples.length() > 0) {
        const dds::core::BytesTopicType& data = samples[0].data();

        // 转换为vector
        std::vector<uint8_t> buffer(data.begin(), data.end());
        return buffer;
    }

    return std::vector<uint8_t>();
}

void DataReceiver::close() {
    if (reader_) {
        delete reader_;
        reader_ = nullptr;
    }

    if (subscriber_) {
        delete subscriber_;
        subscriber_ = nullptr;
    }

    if (participant_) {
        delete participant_;
        participant_ = nullptr;
    }

    initialized_ = false;
}
{% endif %}