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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.
#ifndef _DEADLINEPAYLOAD_PUBLISHER_H_
#define _DEADLINEPAYLOAD_PUBLISHER_H_
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include "deadlinepayloadPubSubTypes.h"
class deadlinepayloadPublisher
{
public:
/**
* @brief Constructor
*/
deadlinepayloadPublisher();
/**
* @brief Destructor
*/
virtual ~deadlinepayloadPublisher();
/**
* @brief Initialises publisher
* @param deadline_period_ms The deadline period in milliseconds
* @return True if initialised correctly
*/
bool init(
double deadline_period_ms);
/**
* @brief Run the publisher
* @param sleep_ms A time period to sleep for before sending the new sample
* @param samples The number of samples per instance to send. If set to 0 sends sample indefinitely
*/
void run(
uint32_t sleep_ms,
int samples);
private:
eprosima::fastdds::dds::DomainParticipant* mp_participant;
eprosima::fastdds::dds::Publisher* mp_publisher;
eprosima::fastdds::dds::DataWriter* mp_writer;
eprosima::fastdds::dds::Topic* mp_topic;
eprosima::fastdds::dds::TypeSupport myType;
class PubListener : public eprosima::fastdds::dds::DataWriterListener
{
public:
PubListener()
: n_matched(0)
{
}
~PubListener() override
{
}
void on_publication_matched(
eprosima::fastdds::dds::DataWriter* writer,
const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
void on_offered_deadline_missed(
eprosima::fastdds::dds::DataWriter* writer,
const eprosima::fastdds::dds::OfferedDeadlineMissedStatus& status) override;
int n_matched;
}
m_listener;
//!Boolean used to force a period double on a certain key
bool double_time;
};
#endif // _DEADLINEPAYLOAD_PUBLISHER_H_
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