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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.hpp
*
*/
#ifndef _CONTENTFILTEREDTOPICEXAMPLEPUBLISHER_H_
#define _CONTENTFILTEREDTOPICEXAMPLEPUBLISHER_H_
#include <atomic>
#include <fastdds/dds/core/status/PublicationMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include "HelloWorldPubSubTypes.h"
//! Publisher application class
class ContentFilteredTopicExamplePublisher : public eprosima::fastdds::dds::DataWriterListener
{
public:
//! Constructor
ContentFilteredTopicExamplePublisher() = default;
//! Destructor
virtual ~ContentFilteredTopicExamplePublisher();
//! Initialize
bool init();
//! Publish a sample
bool publish(
bool wait_for_listener = true);
//! Run for the given number of samples (0 => infinite samples)
void run(
uint32_t number,
uint32_t sleep);
private:
//! Data type
HelloWorld hello_;
//! DDS DomainParticipant pointer
eprosima::fastdds::dds::DomainParticipant* participant_ = nullptr;
//! DDS Publisher pointer
eprosima::fastdds::dds::Publisher* publisher_ = nullptr;
//! DDS Topic pointer
eprosima::fastdds::dds::Topic* topic_ = nullptr;
//! DDS DataWriter pointer
eprosima::fastdds::dds::DataWriter* writer_ = nullptr;
//! DDS TypeSupport pointer
eprosima::fastdds::dds::TypeSupport type_ = eprosima::fastdds::dds::TypeSupport(new HelloWorldPubSubType());
//! Flag to terminate application
std::atomic<bool> stop_;
//! Number of DataReaders matched with the publisher application
std::atomic<int> matched_;
//! Flag set once the first subscriber is discovered and matched
std::atomic<bool> first_connected_;
//! Discovery callback specialization when the DataWriter received discovery information from a remote DataReader
void on_publication_matched(
eprosima::fastdds::dds::DataWriter* writer,
const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
//! Publisher application thread
void runThread(
uint32_t number,
uint32_t sleep);
};
#endif // _CONTENTFILTEREDTOPICEXAMPLEPUBLISHER_H_
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