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Publisher & subscriber using multiple topic types?

I am working on a project that will send 50+ topic types between device(s) and a central controlling app.

In my experience so far it seems that a matching publisher & subscriber will only work with the same topic type.  I don't want to write publish and subscribe functions specific to each topic (I won't live long enough...).

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Check if a DataWriter is ready to write

Following on from my previous post re unreliable WiFi connections, I found that the problem was caused by calling DataWriter::write()too soon after creating the DataWriter.  Because write()is non-blocking it returned immediately without doing anything.  Also, because it is void, there is no error return code.

So the publishing app was not in fact sending anything, and I had no way of knowing.

It obviously needed more time to assemble its plumbing, so I put in a 2 second sleep, after which it worked.

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Unreliable connection over WiFi.

I am writing a (modern C++) module to simulate a device that connects to a central registry to send and obtain information.  The registry and device each pass data both ways, so act as both subscribers and publishers.  The device sends the first request message, and the registry returns a suitable response (or should do).

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Adding a std::thread-based ReadCondition to a Waitset (C++)

I am writing a (modern C++) module to simulate a device that connects to a central registry to send and obtain information.  The registry and device each pass data both ways, so act as both subscribers and publishers.

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