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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 ContentFilteredTopicExampleSubscriber.cpp
*
*/
#include "ContentFilteredTopicExampleSubscriber.hpp"
#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
using namespace eprosima::fastdds::dds;
bool ContentFilteredTopicExampleSubscriber::init(
bool custom_filter)
{
// Initialize internal variables
matched_ = 0;
// Set DomainParticipant name
DomainParticipantQos pqos;
pqos.name("Participant_sub");
// Create DomainParticipant
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (nullptr == participant_)
{
return false;
}
// If using the custom filter
if (custom_filter)
{
// Register the filter factory
if (ReturnCode_t::RETCODE_OK !=
participant_->register_content_filter_factory("MY_CUSTOM_FILTER", &filter_factory))
{
return false;
}
}
// Register the type
type_.register_type(participant_);
// Create the Subscriber
subscriber_ = participant_->create_subscriber(SUBSCRIBER_QOS_DEFAULT, nullptr);
if (nullptr == subscriber_)
{
return false;
}
// Create the Topic
topic_ = participant_->create_topic("HelloWorldTopic", type_->getName(), TOPIC_QOS_DEFAULT);
if (nullptr == topic_)
{
return false;
}
// Create the ContentFilteredTopic
std::string expression;
std::vector<std::string> parameters;
if (custom_filter)
{
// Custom filter: reject samples where index > parameters[0] and index < parameters[1].
// Custom filter does not use expression. However, an empty expression disables filtering, so some expression
// must be set.
expression = " ";
parameters.push_back("3");
parameters.push_back("5");
filter_topic_ =
participant_->create_contentfilteredtopic("HelloWorldFilteredTopic1", topic_, expression, parameters,
"MY_CUSTOM_FILTER");
}
else
{
// Default filter: accept samples meeting the given expression: index between the two given parameters
expression = "index between %0 and %1";
parameters.push_back("5");
parameters.push_back("9");
filter_topic_ =
participant_->create_contentfilteredtopic("HelloWorldFilteredTopic1", topic_, expression, parameters);
}
if (nullptr == filter_topic_)
{
return false;
}
// Create the DataReader
DataReaderQos rqos = DATAREADER_QOS_DEFAULT;
// In order to receive all samples, DataReader is configured as RELIABLE and TRANSIENT_LOCAL (ensure reception even
// if DataReader matching is after DataWriter one)
rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
rqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
reader_ = subscriber_->create_datareader(filter_topic_, rqos, this);
if (nullptr == reader_)
{
return false;
}
return true;
}
ContentFilteredTopicExampleSubscriber::~ContentFilteredTopicExampleSubscriber()
{
// Delete DDS entities contained within the DomainParticipant
participant_->delete_contained_entities();
// Delete DomainParticipant
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
void ContentFilteredTopicExampleSubscriber::on_subscription_matched(
DataReader*,
const SubscriptionMatchedStatus& info)
{
// New remote DataWriter discovered
if (info.current_count_change == 1)
{
matched_ = info.current_count;
std::cout << "Subscriber matched." << std::endl;
}
// New remote DataWriter undiscovered
else if (info.current_count_change == -1)
{
matched_ = info.current_count;
std::cout << "Subscriber unmatched." << std::endl;
}
// Non-valid option
else
{
std::cout << info.current_count_change
<< " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
}
}
void ContentFilteredTopicExampleSubscriber::on_data_available(
DataReader* reader)
{
SampleInfo info;
// Take next sample from DataReader's history
if (ReturnCode_t::RETCODE_OK == reader->take_next_sample(&hello_, &info))
{
// Some samples only update the instance state. Only if it is a valid sample (with data)
if (ALIVE_INSTANCE_STATE == info.instance_state)
{
samples_++;
// Print structure data
std::cout << "Message " << hello_.message() << " " << hello_.index() << " RECEIVED" << std::endl;
}
}
}
void ContentFilteredTopicExampleSubscriber::run()
{
// Subscriber application thread running until stopped by the user
std::cout << "Subscriber running. Please press enter to stop the Subscriber" << std::endl;
std::cin.ignore();
}
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