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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.
/**
* @file BasicConfigurationPublisher.h
*
*/
#ifndef _EPROSIMA_FASTDDS_EXAMPLES_CPP_DDS_BASICCONFIGURATIONEXAMPLE_BASICCONFIGURATIONPUBLISHER_H_
#define _EPROSIMA_FASTDDS_EXAMPLES_CPP_DDS_BASICCONFIGURATIONEXAMPLE_BASICCONFIGURATIONPUBLISHER_H_
#include <atomic>
#include <condition_variable>
#include <mutex>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include "HelloWorldPubSubTypes.h"
#include "types.hpp"
/**
* Class used to group into a single working unit a Publisher with a DataWriter, its listener, and a TypeSupport member
* corresponding to the HelloWorld datatype
*/
class HelloWorldPublisher
{
public:
HelloWorldPublisher();
virtual ~HelloWorldPublisher();
//! Initialize the publisher
bool init(
const std::string& topic_name,
uint32_t domain,
uint32_t num_wait_matched,
bool async,
TransportType transport,
bool reliable,
bool transient,
int hops);
//! Publish a sample
void publish();
//! Run for number samples, publish every sleep seconds
void run(
uint32_t number,
uint32_t sleep);
//! Return the current state of execution
static bool is_stopped();
//! Trigger the end of execution
static void stop();
private:
HelloWorld hello_;
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Publisher* publisher_;
eprosima::fastdds::dds::Topic* topic_;
eprosima::fastdds::dds::DataWriter* writer_;
eprosima::fastdds::dds::TypeSupport type_;
/**
* Class handling discovery events and dataflow
*/
class PubListener : public eprosima::fastdds::dds::DataWriterListener
{
public:
PubListener()
: matched_(0)
, num_wait_matched_(0)
{
}
~PubListener() override
{
}
//! Callback executed when a DataReader is matched or unmatched
void on_publication_matched(
eprosima::fastdds::dds::DataWriter* writer,
const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
//! Set the number of matched DataReaders required for publishing
void set_num_wait_matched(
uint32_t num_wait_matched);
//! Return true if there are at least num_wait_matched_ matched DataReaders
bool enough_matched();
//! Block the thread until enough DataReaders are matched
void wait();
//! Unblock the thread so publication of samples begins/resumes
static void awake();
private:
//! Number of DataReaders matched to the associated DataWriter
std::atomic<std::uint32_t> matched_;
//! Number of matched DataReaders required for publishing
uint32_t num_wait_matched_;
//! Protects wait_matched condition variable
static std::mutex wait_matched_cv_mtx_;
//! Waits until enough DataReaders are matched
static std::condition_variable wait_matched_cv_;
}
listener_;
//! Run thread for number samples, publish every sleep seconds
void runThread(
uint32_t number,
uint32_t sleep);
//! Member used for control flow purposes
static std::atomic<bool> stop_;
};
#endif /* _EPROSIMA_FASTDDS_EXAMPLES_CPP_DDS_BASICCONFIGURATIONEXAMPLE_BASICCONFIGURATIONPUBLISHER_H_ */
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