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// Copyright 2022 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 ContentFilteredTopicExamplePublisher.cpp
*
*/
#include "ContentFilteredTopicExamplePublisher.hpp"
#include <thread>
#include <fastdds/dds/core/status/PublicationMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
using namespace eprosima::fastdds::dds;
bool ContentFilteredTopicExamplePublisher::init()
{
// Initialize internal variables
matched_ = 0;
// Initialize data sample
hello_.index(0);
hello_.message("HelloWorld");
// Set DomainParticipant name
DomainParticipantQos pqos;
pqos.name("Participant_pub");
// Create DomainParticipant in domain 0
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (nullptr == participant_)
{
return false;
}
// Register the type
type_.register_type(participant_);
// Create the Publisher
publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);
if (nullptr == publisher_)
{
return false;
}
// Create the Topic
topic_ = participant_->create_topic("HelloWorldTopic", type_->getName(), TOPIC_QOS_DEFAULT);
if (nullptr == topic_)
{
return false;
}
// Create the DataWriter
writer_ = publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, this);
if (nullptr == writer_)
{
return false;
}
return true;
}
ContentFilteredTopicExamplePublisher::~ContentFilteredTopicExamplePublisher()
{
// Delete DDS entities contained within the DomainParticipant
participant_->delete_contained_entities();
// Delete DomainParticipant
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
void ContentFilteredTopicExamplePublisher::on_publication_matched(
DataWriter*,
const PublicationMatchedStatus& info)
{
// New remote DataReader discovered
if (info.current_count_change == 1)
{
matched_ = info.current_count;
first_connected_ = true;
std::cout << "Publisher matched." << std::endl;
}
// New remote DataReader undiscovered
else if (info.current_count_change == -1)
{
matched_ = info.current_count;
std::cout << "Publisher unmatched." << std::endl;
}
// Non-valid option
else
{
std::cout << info.current_count_change
<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
}
}
void ContentFilteredTopicExamplePublisher::runThread(
uint32_t samples,
uint32_t sleep)
{
// Publish samples continously until stopped by the user
if (samples == 0)
{
while (!stop_)
{
if (publish(false))
{
std::cout << "Message: " << hello_.message() << " with index: " << hello_.index()
<< " SENT" << std::endl;
}
std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
}
}
// Publish given number of samples
else
{
for (uint32_t i = 0; i < samples; ++i)
{
if (!publish())
{
--i;
}
else
{
std::cout << "Message: " << hello_.message() << " with index: " << hello_.index()
<< " SENT" << std::endl;
}
std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
}
}
}
void ContentFilteredTopicExamplePublisher::run(
uint32_t samples,
uint32_t sleep)
{
// Spawn publisher application thread
stop_ = false;
std::thread thread(&ContentFilteredTopicExamplePublisher::runThread, this, samples, sleep);
// Thread runs indefinitely until stopped by the user
if (samples == 0)
{
std::cout << "Publisher running. Please press enter to stop the Publisher at any time." << std::endl;
std::cin.ignore();
stop_ = true;
}
// Thread runs only for the given samples
else
{
std::cout << "Publisher running " << samples << " samples." << std::endl;
}
thread.join();
}
bool ContentFilteredTopicExamplePublisher::publish(
bool wait_for_listener)
{
// Wait until there is a matched DataReader, unless wait_for_listener flag is set to false
if (first_connected_ || !wait_for_listener || matched_ > 0)
{
// Update sample
hello_.index(hello_.index() + 1);
// Write sample
writer_->write(&hello_);
return true;
}
return false;
}
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