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// 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 HelloWorldSubscriber.h
*
*/
#ifndef HELLOWORLDSUBSCRIBER_H_
#define HELLOWORLDSUBSCRIBER_H_
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantListener.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastrtps/subscriber/SampleInfo.h>
#include <fastrtps/rtps/common/Types.h>
#include <fastrtps/types/TypeIdentifier.h>
#include <fastrtps/types/TypeObject.h>
#include <fastrtps/attributes/SubscriberAttributes.h>
#include <map>
class HelloWorldSubscriber
{
public:
HelloWorldSubscriber();
virtual ~HelloWorldSubscriber();
//!Initialize the subscriber
bool init();
//!RUN the subscriber
void run();
//!Run the subscriber until number samples have been received.
void run(
uint32_t number);
private:
eprosima::fastdds::dds::DomainParticipant* mp_participant;
eprosima::fastdds::dds::Subscriber* mp_subscriber;
std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastdds::dds::Topic*> topics_;
std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastrtps::types::DynamicType_ptr> readers_;
std::map<eprosima::fastdds::dds::DataReader*, eprosima::fastrtps::types::DynamicData_ptr> datas_;
eprosima::fastrtps::SubscriberAttributes att_;
eprosima::fastdds::dds::DataReaderQos qos_;
public:
class SubListener
: public eprosima::fastdds::dds::DomainParticipantListener
{
public:
SubListener(
HelloWorldSubscriber* sub)
: n_matched(0)
, n_samples(0)
, subscriber_(sub)
{
}
~SubListener() override
{
}
void on_data_available(
eprosima::fastdds::dds::DataReader* reader) override;
void on_subscription_matched(
eprosima::fastdds::dds::DataReader* reader,
const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
void on_type_discovery(
eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastrtps::rtps::SampleIdentity& request_sample_id,
const eprosima::fastrtps::string_255& topic,
const eprosima::fastrtps::types::TypeIdentifier* identifier,
const eprosima::fastrtps::types::TypeObject* object,
eprosima::fastrtps::types::DynamicType_ptr dyn_type) override;
int n_matched;
uint32_t n_samples;
HelloWorldSubscriber* subscriber_;
}
m_listener;
};
#endif /* HELLOWORLDSUBSCRIBER_H_ */
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