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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 <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include "deadlinepayloadSubscriber.h"
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
deadlinepayloadSubscriber::deadlinepayloadSubscriber()
: mp_participant(nullptr)
, mp_subscriber(nullptr)
, mp_reader(nullptr)
, mp_topic(nullptr)
, myType(new HelloMsgPubSubType())
, m_listener()
{
}
deadlinepayloadSubscriber::~deadlinepayloadSubscriber()
{
if (mp_reader != nullptr)
{
mp_subscriber->delete_datareader(mp_reader);
}
if (mp_topic != nullptr)
{
mp_participant->delete_topic(mp_topic);
}
if (mp_subscriber != nullptr)
{
mp_participant->delete_subscriber(mp_subscriber);
}
DomainParticipantFactory::get_instance()->delete_participant(mp_participant);
}
bool deadlinepayloadSubscriber::init(
double deadline_ms)
{
// Create Participant
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
pqos.name("Participant_subscriber"); //You can put 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 Subscriber
mp_subscriber = mp_participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (mp_subscriber == 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 datareader
DataReaderQos rqos;
rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
rqos.deadline().period = deadline_ms * 1e-3;
rqos.history().depth = 5;
mp_reader = mp_subscriber->create_datareader(mp_topic, rqos, &m_listener);
if (mp_reader == nullptr)
{
return false;
}
return true;
}
void deadlinepayloadSubscriber::SubListener::on_subscription_matched(
DataReader*,
const SubscriptionMatchedStatus& info)
{
if (info.current_count_change == 1)
{
n_matched = info.total_count;
std::cout << "Subscriber matched." << std::endl;
}
else if (info.current_count_change == -1)
{
n_matched = info.total_count;
std::cout << "Subscriber unmatched." << std::endl;
}
else
{
std::cout << info.current_count_change
<< " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
}
}
void deadlinepayloadSubscriber::SubListener::on_data_available(
DataReader* reader)
{
SampleInfo info;
HelloMsg st;
if (reader->take_next_sample(&st, &info) == ReturnCode_t::RETCODE_OK)
{
if (info.valid_data)
{
std::cout << "Message with key " << st.deadlinekey() << " received" << std::endl;
}
}
}
void deadlinepayloadSubscriber::SubListener::on_requested_deadline_missed(
DataReader* reader,
const RequestedDeadlineMissedStatus& status)
{
(void)reader;
std::cout << "Deadline missed for instance: " << status.last_instance_handle << std::endl;
}
void deadlinepayloadSubscriber::run()
{
std::cout << "Subscriber running. Press Enter to stop the Subscriber. " << std::endl;
std::cin.ignore();
}
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