1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
|
// Copyright 2019 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 DisablePositiveACKsPublisher.h
*
*/
#ifndef DisablePositiveACKsPublisher_H_
#define DisablePositiveACKsPublisher_H_
#include "Topic.h"
#include "TopicPubSubTypes.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>
class DisablePositiveACKsPublisher
{
public:
/**
* @brief DisablePositiveACKsPublisher
*/
DisablePositiveACKsPublisher();
/**
* @brief ~DisablePositiveACKsPublisher
*/
virtual ~DisablePositiveACKsPublisher();
/**
* @brief Initialises the publisher
* @param disable_positive_acks True to disable positive acks
* @param keep_duration_ms The keep duration in ms
* @return True if initialization was successful
*/
bool init(
bool disable_positive_acks,
uint32_t keep_duration_ms);
/**
* @brief Publishes a new sample
* @param waitForListener True to wait until a listener exists
* @return True if sample was written succesfully
*/
bool publish(
bool waitForListener = true);
/**
* @brief Runs the publisher
* @param number The number of samples to write
* @param write_sleep_ms Time to sleep between samples
*/
void run(
uint32_t number,
uint32_t write_sleep_ms);
private:
Topic hello_;
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Publisher* publisher_;
eprosima::fastdds::dds::Topic* topic_;
eprosima::fastdds::dds::DataWriter* writer_;
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;
int n_matched;
}
listener;
eprosima::fastdds::dds::TypeSupport type_;
};
#endif /* DisablePositiveACKsPublisher_H_ */
|
