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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 "FilteringExamplePublisher.h"
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
FilteringExamplePublisher::FilteringExamplePublisher()
: participant_(nullptr)
, fast_publisher_(nullptr)
, slow_publisher_(nullptr)
, topic_(nullptr)
, fast_writer_(nullptr)
, slow_writer_(nullptr)
, myType(new FilteringExamplePubSubType())
{
}
FilteringExamplePublisher::~FilteringExamplePublisher()
{
if (fast_writer_ != nullptr)
{
fast_publisher_->delete_datawriter(fast_writer_);
}
if (slow_writer_ != nullptr)
{
slow_publisher_->delete_datawriter(slow_writer_);
}
if (fast_publisher_ != nullptr)
{
participant_->delete_publisher(fast_publisher_);
}
if (slow_publisher_ != nullptr)
{
participant_->delete_publisher(slow_publisher_);
}
if (topic_ != nullptr)
{
participant_->delete_topic(topic_);
}
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
bool FilteringExamplePublisher::init()
{
// Create Participant
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
pqos.name("Participant_publisher"); //You can put here the name you want
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (participant_ == nullptr)
{
return false;
}
//Register the type
myType.register_type(participant_);
// Create "Fast" Publisher
PublisherQos pfqos;
pfqos.partition().push_back("Fast_Partition");
fast_publisher_ = participant_->create_publisher(pfqos);
if (fast_publisher_ == nullptr)
{
return false;
}
//Create Topic
topic_ = participant_->create_topic("FilteringExamplePubSubTopic", myType.get_type_name(), TOPIC_QOS_DEFAULT);
if (topic_ == nullptr)
{
return false;
}
//Create "Fast" DataWriter
fast_writer_ = fast_publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, &m_listener);
if (fast_writer_ == nullptr)
{
return false;
}
std::cout << "Fast Publisher created, waiting for Subscribers." << std::endl;
// Create "Slow" Publisher
PublisherQos psqos;
psqos.partition().push_back("Slow_Partition");
slow_publisher_ = participant_->create_publisher(psqos);
if (slow_publisher_ == nullptr)
{
return false;
}
// Create "Slow" DataWriter
slow_writer_ = slow_publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, &m_listener);
if (slow_writer_ == nullptr)
{
return false;
}
std::cout << "Slow Publisher created, waiting for Subscribers." << std::endl;
return true;
}
void FilteringExamplePublisher::PubListener::on_publication_matched(
eprosima::fastdds::dds::DataWriter*,
const eprosima::fastdds::dds::PublicationMatchedStatus& info)
{
if (info.current_count_change == 1)
{
n_matched = info.total_count;
std::cout << "Publisher matched." << std::endl;
}
else if (info.current_count_change == -1)
{
n_matched = info.total_count;
std::cout << "Publisher unmatched." << std::endl;
}
else
{
std::cout << info.current_count_change
<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
}
}
void FilteringExamplePublisher::run()
{
while (m_listener.n_matched == 0)
{
std::this_thread::sleep_for(std::chrono::milliseconds(250));
}
// Publication code
FilteringExample st;
int sampleNumber = 0;
while (1)
{
sampleNumber++;
st.sampleNumber(sampleNumber);
fast_writer_->write(&st);
if (sampleNumber % 5 == 0)
{ // slow publisher writes every 5 secs.
slow_writer_->write(&st);
}
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
}
}
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