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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 "FilteringExampleSubscriber.h"
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
FilteringExampleSubscriber::FilteringExampleSubscriber()
: participant_(nullptr)
, subscriber_(nullptr)
, topic_(nullptr)
, reader_(nullptr)
, myType(new FilteringExamplePubSubType())
{
}
FilteringExampleSubscriber::~FilteringExampleSubscriber()
{
if (reader_ != nullptr)
{
subscriber_->delete_datareader(reader_);
}
if (topic_ != nullptr)
{
participant_->delete_topic(topic_);
}
if (subscriber_ != nullptr)
{
participant_->delete_subscriber(subscriber_);
}
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
bool FilteringExampleSubscriber::init(
int type)
{
// 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
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (participant_ == nullptr)
{
return false;
}
//Register the type
myType.register_type(participant_);
// Create Subscriber
SubscriberQos sqos;
if (type == 1)
{
sqos.partition().push_back("Fast_Partition");
}
else //2 = slow
{
sqos.partition().push_back("Slow_Partition");
}
subscriber_ = participant_->create_subscriber(sqos);
if (subscriber_ == nullptr)
{
return false;
}
//Create Topic
topic_ = participant_->create_topic("FilteringExamplePubSubTopic", myType.get_type_name(), TOPIC_QOS_DEFAULT);
if (topic_ == nullptr)
{
return false;
}
//Create DataReader
reader_ = subscriber_->create_datareader(topic_, DATAREADER_QOS_DEFAULT, &m_listener);
if (reader_ == nullptr)
{
return false;
}
return true;
}
void FilteringExampleSubscriber::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 FilteringExampleSubscriber::SubListener::on_data_available(
DataReader* reader)
{
SampleInfo info;
FilteringExample st;
if (reader->take_next_sample(&st, &info) == ReturnCode_t::RETCODE_OK)
{
if (info.valid_data)
{
++n_msg;
std::cout << "Sample received, count=" << n_msg << std::endl;
std::cout << " sampleNumber=" << st.sampleNumber() << std::endl;
}
}
}
void FilteringExampleSubscriber::run()
{
std::cout << "Waiting for Data, press Enter to stop the Subscriber. " << std::endl;
std::cin.ignore();
std::cout << "Shutting down the Subscriber." << std::endl;
}
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