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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.
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include "deadlinepayloadPublisher.h"
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
deadlinepayloadPublisher::deadlinepayloadPublisher()
: mp_participant(nullptr)
, mp_publisher(nullptr)
, mp_writer(nullptr)
, mp_topic(nullptr)
, myType(new HelloMsgPubSubType())
, double_time(false)
{
}
deadlinepayloadPublisher::~deadlinepayloadPublisher()
{
if (mp_writer != nullptr)
{
mp_publisher->delete_datawriter(mp_writer);
}
if (mp_publisher != nullptr)
{
mp_participant->delete_publisher(mp_publisher);
}
if (mp_topic != nullptr)
{
mp_participant->delete_topic(mp_topic);
}
DomainParticipantFactory::get_instance()->delete_participant(mp_participant);
}
bool deadlinepayloadPublisher::init(
double deadline_period_ms)
{
// Create Participant
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
pqos.name("Participant_publisher"); //You can put here the name you want
mp_participant = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (mp_participant == nullptr)
{
return false;
}
// Register the type
myType.register_type(mp_participant);
// Create Publisher
mp_publisher = mp_participant->create_publisher(PUBLISHER_QOS_DEFAULT);
if (mp_publisher == nullptr)
{
return false;
}
// Create topic
mp_topic = mp_participant->create_topic("deadlinepayloadPubSubTopic", myType.get_type_name(), TOPIC_QOS_DEFAULT);
if (mp_topic == nullptr)
{
return false;
}
// Create datawriter
DataWriterQos wqos;
wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
wqos.deadline().period = deadline_period_ms * 1e-3;
mp_writer = mp_publisher->create_datawriter(mp_topic, wqos, &m_listener);
if (mp_writer == nullptr)
{
return false;
}
std::cout << "Publisher created, waiting for Subscribers." << std::endl;
return true;
}
void deadlinepayloadPublisher::PubListener::on_publication_matched(
eprosima::fastdds::dds::DataWriter*,
const eprosima::fastdds::dds::PublicationMatchedStatus& info)
{
if (info.current_count_change == 1)
{
n_matched = info.total_count;
std::cout << "Publisher matched." << std::endl;
}
else if (info.current_count_change == -1)
{
n_matched = info.total_count;
std::cout << "Publisher unmatched." << std::endl;
}
else
{
std::cout << info.current_count_change
<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
}
}
void deadlinepayloadPublisher::PubListener::on_offered_deadline_missed(
DataWriter* writer,
const OfferedDeadlineMissedStatus& status)
{
(void)writer;
std::cout << "Deadline missed for instance: " << status.last_instance_handle << std::endl;
}
void deadlinepayloadPublisher::run(
uint32_t sleep_ms,
int samples)
{
while (m_listener.n_matched == 0)
{
std::this_thread::sleep_for(std::chrono::milliseconds(250));
}
// Publication code
HelloMsg st;
std::stringstream stream;
//Filling sample message
stream << "generic payload";
st.payload(stream.str());
int sample = 0;
while (true)
{
std::this_thread::sleep_for(std::chrono::milliseconds(sleep_ms));
if (samples > 0)
{
if (sample == samples)
{
// Stop sending samples but keep the publisher running
continue;
}
sample++;
}
// Send messages
for (unsigned short i = 0; i < 3; i++)
{
// Set key
st.deadlinekey(i);
if (i == 2)
{
//Force key 2 message to be sent half of the times
double_time = !double_time;
if (double_time)
{
if (mp_writer->write(&st))
{
std::cout << "Message with key " << st.deadlinekey() << " sent" << std::endl;
}
}
}
else
{
if (mp_writer->write(&st))
{
std::cout << "Message with key " << st.deadlinekey() << " sent" << std::endl;
}
}
}
}
}
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