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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.hpp
*
*/
#ifndef _CONTENTFILTEREDTOPICEXAMPLESUBSCRIBER_HPP_
#define _CONTENTFILTEREDTOPICEXAMPLESUBSCRIBER_HPP_
#include <atomic>
#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/topic/ContentFilteredTopic.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include "HelloWorldPubSubTypes.h"
#include "MyCustomFilterFactory.hpp"
// Subscriber application class
class ContentFilteredTopicExampleSubscriber : public eprosima::fastdds::dds::DataReaderListener
{
public:
//! Constructor
ContentFilteredTopicExampleSubscriber() = default;
//! Destructor
virtual ~ContentFilteredTopicExampleSubscriber();
/**
* @brief Initialize the subscriber
*
* @param custom_filter Whether the default SQL filter or the custom defined filter is used.
* By default the SQL filter is used.
* @return true if correctly initialized.
* @return false otherwise.
*/
bool init(
bool custom_filter = false);
//! Run the subscriber application
void run();
private:
//! DDS DomainParticipant pointer
eprosima::fastdds::dds::DomainParticipant* participant_ = nullptr;
//! DDS Subscriber pointer
eprosima::fastdds::dds::Subscriber* subscriber_ = nullptr;
//! DDS Topic pointer
eprosima::fastdds::dds::Topic* topic_ = nullptr;
//! DDS ContentFilteredTopic pointer
eprosima::fastdds::dds::ContentFilteredTopic* filter_topic_ = nullptr;
//! DDS DataReader pointer
eprosima::fastdds::dds::DataReader* reader_ = nullptr;
//! DDS TypeSupport pointer
eprosima::fastdds::dds::TypeSupport type_ = eprosima::fastdds::dds::TypeSupport(new HelloWorldPubSubType());
//! Custom filter factory
MyCustomFilterFactory filter_factory;
//! Data type
HelloWorld hello_;
//! Number of DataWriters matched with the subscriber application
std::atomic<int> matched_;
//! Number of received samples
uint32_t samples_ = 0;
//! Callback specialization when data is notified to the DataReader
void on_data_available(
eprosima::fastdds::dds::DataReader* reader) override;
//! Discovery callback specialization when the DataReader receives discovery information from a remote DataWriter
void on_subscription_matched(
eprosima::fastdds::dds::DataReader* reader,
const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
};
#endif // _CONTENTFILTEREDTOPICEXAMPLESUBSCRIBER_HPP_
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