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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.
/**
* @file HelloWorldSubscriber.cpp
*
*/
#include "HelloWorldSubscriber.h"
#include <fastrtps/attributes/ParticipantAttributes.h>
#include <fastrtps/attributes/SubscriberAttributes.h>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastrtps/types/DynamicDataHelper.hpp>
#include <fastrtps/types/DynamicDataFactory.h>
using namespace eprosima::fastdds::dds;
using eprosima::fastrtps::types::ReturnCode_t;
HelloWorldSubscriber::HelloWorldSubscriber()
: mp_participant(nullptr)
, mp_subscriber(nullptr)
, m_listener(this)
{
}
bool HelloWorldSubscriber::init()
{
//Do not enable entities on creation
DomainParticipantFactoryQos factory_qos;
factory_qos.entity_factory().autoenable_created_entities = false;
DomainParticipantFactory::get_instance()->set_qos(factory_qos);
DomainParticipantQos pqos;
pqos.name("Participant_sub");
StatusMask par_mask = StatusMask::subscription_matched() << StatusMask::data_available();
mp_participant = DomainParticipantFactory::get_instance()->create_participant(0, pqos, &m_listener, par_mask);
if (mp_participant == nullptr)
{
return false;
}
if (mp_participant->enable() != ReturnCode_t::RETCODE_OK)
{
DomainParticipantFactory::get_instance()->delete_participant(mp_participant);
return false;
}
// CREATE THE COMMON READER ATTRIBUTES
qos_ = DATAREADER_QOS_DEFAULT;
qos_.reliability().kind = RELIABLE_RELIABILITY_QOS;
return true;
}
HelloWorldSubscriber::~HelloWorldSubscriber()
{
for (const auto& it : topics_)
{
mp_subscriber->delete_datareader(it.first);
mp_participant->delete_topic(it.second);
}
if (mp_subscriber != nullptr)
{
mp_participant->delete_subscriber(mp_subscriber);
}
DomainParticipantFactory::get_instance()->delete_participant(mp_participant);
topics_.clear();
readers_.clear();
datas_.clear();
}
void HelloWorldSubscriber::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 HelloWorldSubscriber::SubListener::on_data_available(
DataReader* reader)
{
auto dit = subscriber_->datas_.find(reader);
if (dit != subscriber_->datas_.end())
{
eprosima::fastrtps::types::DynamicData_ptr data = dit->second;
SampleInfo info;
if (reader->take_next_sample(data.get(), &info) == ReturnCode_t::RETCODE_OK)
{
if (info.instance_state == ALIVE_INSTANCE_STATE)
{
eprosima::fastrtps::types::DynamicType_ptr type = subscriber_->readers_[reader];
this->n_samples++;
std::cout << "Received data of type " << type->get_name() << std::endl;
eprosima::fastrtps::types::DynamicDataHelper::print(data);
}
}
}
}
void HelloWorldSubscriber::SubListener::on_type_discovery(
DomainParticipant*,
const eprosima::fastrtps::rtps::SampleIdentity&,
const eprosima::fastrtps::string_255& topic_name,
const eprosima::fastrtps::types::TypeIdentifier*,
const eprosima::fastrtps::types::TypeObject*,
eprosima::fastrtps::types::DynamicType_ptr dyn_type)
{
TypeSupport m_type(new eprosima::fastrtps::types::DynamicPubSubType(dyn_type));
m_type.register_type(subscriber_->mp_participant);
std::cout << "Discovered type: " << m_type->getName() << " from topic " << topic_name << std::endl;
if (subscriber_->mp_subscriber == nullptr)
{
//eprosima::fastrtps::SubscriberAttributes Rparam;
//Rparam = subscriber_->att_;
//Rparam.topic = subscriber_->topic_;
//Rparam.topic.topicName = topic;
//Rparam.qos = subscriber_->qos_;
subscriber_->mp_subscriber = subscriber_->mp_participant->create_subscriber(
SUBSCRIBER_QOS_DEFAULT, nullptr);
if (subscriber_->mp_subscriber == nullptr)
{
return;
}
}
//CREATE THE TOPIC
Topic* topic = subscriber_->mp_participant->create_topic(
"DDSDynHelloWorldTopic",
m_type->getName(),
TOPIC_QOS_DEFAULT);
if (topic == nullptr)
{
return;
}
StatusMask sub_mask = StatusMask::subscription_matched() << StatusMask::data_available();
DataReader* reader = subscriber_->mp_subscriber->create_datareader(
topic,
subscriber_->qos_,
&subscriber_->m_listener,
sub_mask);
subscriber_->topics_[reader] = topic;
subscriber_->readers_[reader] = dyn_type;
eprosima::fastrtps::types::DynamicData_ptr data(
eprosima::fastrtps::types::DynamicDataFactory::get_instance()->create_data(dyn_type));
subscriber_->datas_[reader] = data;
}
void HelloWorldSubscriber::run()
{
std::cout << "Subscriber running. Please press enter to stop the Subscriber" << std::endl;
std::cin.ignore();
}
void HelloWorldSubscriber::run(
uint32_t number)
{
std::cout << "Subscriber running until " << number << "samples have been received" << std::endl;
while (number > this->m_listener.n_samples)
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
}
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