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#include <iostream>
#include <string>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include "samplePubSubTypes.h"
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
//Enums and configuration structure
enum Reliability_type
{
Best_Effort, Reliable
};
enum Durability_type
{
Transient_Local, Volatile
};
enum HistoryKind_type
{
Keep_Last, Keep_All
};
enum Key_type
{
No_Key, With_Key
};
typedef struct
{
Reliability_type reliability;
Durability_type durability;
HistoryKind_type historykind;
Key_type keys;
uint16_t history_size;
uint8_t depth;
uint8_t no_keys;
uint16_t max_samples_per_key;
} example_configuration;
void pastsamples();
int main()
{
pastsamples();
return 0;
}
void pastsamples()
{
TypeSupport sampleType(new samplePubSubType());
sample my_sample;
SampleInfo sample_info;
//Create Publisher Participant
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
pqos.name("PublisherParticipant");
DomainParticipant* PubParticipant = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (PubParticipant == nullptr)
{
std::cout << " Something went wrong while creating the Publisher Participant..." << std::endl;
return;
}
//Register the type
sampleType.register_type(PubParticipant);
//Create Publisher
Publisher* myPub = PubParticipant->create_publisher(PUBLISHER_QOS_DEFAULT);
if (myPub == nullptr)
{
std::cout << "Something went wrong while creating the Publisher..." << std::endl;
return;
}
//Create Topic
Topic* myTopic = PubParticipant->create_topic("samplePubSubTopic", sampleType.get_type_name(), TOPIC_QOS_DEFAULT);
if (myTopic == nullptr)
{
std::cout << "Something went wrong while creating the Topic..." << std::endl;
return;
}
//Create DataWriter
DataWriterQos wqos;
wqos.endpoint().history_memory_policy = DYNAMIC_RESERVE_MEMORY_MODE;
wqos.history().kind = KEEP_ALL_HISTORY_QOS;
wqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
wqos.history().depth = 50;
wqos.resource_limits().max_samples = 100;
wqos.resource_limits().max_instances = 1;
wqos.resource_limits().max_samples_per_instance = 100;
DataWriter* myWriter = myPub->create_datawriter(myTopic, wqos);
std::cout << "Creating Publisher..." << std::endl;
//Create Subscriber Participant
DomainParticipantQos psqos;
psqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
psqos.name("SubscriberParticipant");
DomainParticipant* SubParticipant = DomainParticipantFactory::get_instance()->create_participant(0, psqos);
if (SubParticipant == nullptr)
{
std::cout << " Something went wrong while creating the Subscriber Participant..." << std::endl;
return;
}
//Register the Type
sampleType.register_type(SubParticipant);
//Keep All Sub
Subscriber* mySub1 = SubParticipant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (mySub1 == nullptr)
{
std::cout << "something went wrong while creating the Transient Local Subscriber..." << std::endl;
return;
}
//Create Topic
Topic* myTopic2 = SubParticipant->create_topic("samplePubSubTopic", sampleType.get_type_name(), TOPIC_QOS_DEFAULT);
if (myTopic2 == nullptr)
{
std::cout << "Something went wrong while creating the Topic..." << std::endl;
return;
}
DataReaderQos rqos1;
rqos1.endpoint().history_memory_policy = DYNAMIC_RESERVE_MEMORY_MODE;
rqos1.history().kind = KEEP_ALL_HISTORY_QOS;
rqos1.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
rqos1.reliability().kind = RELIABLE_RELIABILITY_QOS;
rqos1.history().depth = 50;
rqos1.resource_limits().max_samples = 100;
rqos1.resource_limits().max_instances = 1;
rqos1.resource_limits().max_samples_per_instance = 100;
DataReader* myReader1 = mySub1->create_datareader(myTopic2, rqos1);
std::cout << "Creating Keep All Subscriber..." << std::endl;
//Keep Last
Subscriber* mySub2 = SubParticipant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (mySub2 == nullptr)
{
std::cout << "something went wrong while creating the Volatile Subscriber..." << std::endl;
return;
}
DataReaderQos rqos2;
rqos2.endpoint().history_memory_policy = DYNAMIC_RESERVE_MEMORY_MODE;
rqos2.history().kind = KEEP_LAST_HISTORY_QOS;
rqos2.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
rqos2.reliability().kind = RELIABLE_RELIABILITY_QOS;
rqos2.history().depth = 10;
rqos2.resource_limits().max_samples = 100;
rqos2.resource_limits().max_instances = 1;
rqos2.resource_limits().max_samples_per_instance = 100;
DataReader* myReader2 = mySub2->create_datareader(myTopic2, rqos2);
std::cout << "Creating Keep Last Subscriber with depth 10..." << std::endl;
//Send 20 samples
std::cout << "Publishing 20 samples on the topic..." << std::endl;
for (uint8_t j = 0; j < 20; j++)
{
my_sample.index(j + 1);
my_sample.key_value(1);
myWriter->write(&my_sample);
}
std::this_thread::sleep_for(std::chrono::milliseconds(1500));
//Read the contents of both histories:
std::cout << "The Keep All Subscriber holds: " << std::endl;
while (myReader1->read_next_sample(&my_sample, &sample_info) == ReturnCode_t::RETCODE_OK)
{
std::cout << std::to_string(my_sample.index()) << " ";
}
std::cout << std::endl;
std::cout << "The Keep Last (Depth 10) Subscriber holds: " << std::endl;
while (myReader2->read_next_sample(&my_sample, &sample_info) == ReturnCode_t::RETCODE_OK)
{
std::cout << std::to_string(my_sample.index()) << " ";
}
std::cout << std::endl;
std::cout << "Deleting Publisher" << std::endl;
myPub->delete_datawriter(myWriter);
PubParticipant->delete_publisher(myPub);
PubParticipant->delete_topic(myTopic);
DomainParticipantFactory::get_instance()->delete_participant(PubParticipant);
std::cout << "Deleting Subscribers" << std::endl;
mySub1->delete_datareader(myReader1);
mySub2->delete_datareader(myReader2);
SubParticipant->delete_subscriber(mySub1);
SubParticipant->delete_subscriber(mySub2);
SubParticipant->delete_topic(myTopic2);
DomainParticipantFactory::get_instance()->delete_participant(SubParticipant);
}
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