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// Copyright 2016 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 EprosimaServer.h
*
*/
#ifndef EPROSIMASERVER_H_
#define EPROSIMASERVER_H_
#include "ClientServerTypes.h"
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/topic/Topic.hpp>
class EprosimaServer
{
friend class OperationListener;
friend class ResultListener;
public:
EprosimaServer();
virtual ~EprosimaServer();
bool init();
//Serve indefinitely.
void serve();
//Serve for samples operations.
void serve(
uint32_t samples);
private:
eprosima::fastdds::dds::Subscriber* mp_operation_sub;
eprosima::fastdds::dds::DataReader* mp_operation_reader;
eprosima::fastdds::dds::Publisher* mp_result_pub;
eprosima::fastdds::dds::DataWriter* mp_result_writer;
eprosima::fastdds::dds::Topic* mp_operation_topic;
eprosima::fastdds::dds::Topic* mp_result_topic;
eprosima::fastdds::dds::DomainParticipant* mp_participant;
clientserver::Result::RESULTTYPE calculate(
clientserver::Operation::OPERATIONTYPE type,
int32_t num1,
int32_t num2,
int32_t* result);
eprosima::fastdds::dds::TypeSupport mp_resultdatatype;
eprosima::fastdds::dds::TypeSupport mp_operationdatatype;
public:
uint32_t m_n_served;
class OperationListener : public eprosima::fastdds::dds::DataReaderListener
{
public:
OperationListener(
EprosimaServer* up)
: mp_up(up)
{
}
~OperationListener() override
{
}
EprosimaServer* mp_up;
void on_data_available(
eprosima::fastdds::dds::DataReader* reader) override;
clientserver::Operation m_operation;
clientserver::Result m_result;
}
m_operationsListener;
class ResultListener : public eprosima::fastdds::dds::DataWriterListener
{
public:
ResultListener(
EprosimaServer* up)
: mp_up(up)
{
}
~ResultListener() override
{
}
EprosimaServer* mp_up;
}
m_resultsListener;
};
#endif /* EPROSIMASERVER_H_ */
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