1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
|
// 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 LifespanPublisher.cpp
*
*/
#include "LifespanPublisher.h"
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <thread>
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
LifespanPublisher::LifespanPublisher()
: participant_(nullptr)
, publisher_(nullptr)
, topic_(nullptr)
, writer_(nullptr)
, type_(new LifespanPubSubType())
{
}
bool LifespanPublisher::init(
uint32_t lifespan_ms)
{
hello_.index(0);
hello_.message("Lifespan");
//Create Participant
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
pqos.name("Participant_pub");
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (participant_ == nullptr)
{
return false;
}
//Register Type
type_.register_type(participant_);
//Create Publisher
publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT);
if (publisher_ == nullptr)
{
return false;
}
//Create Topic
topic_ = participant_->create_topic("LifespanTopic", "Lifespan", TOPIC_QOS_DEFAULT);
if (topic_ == nullptr)
{
return false;
}
//Create DataWriter
DataWriterQos wqos;
wqos.history().kind = KEEP_ALL_HISTORY_QOS;
wqos.history().depth = 30;
wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
wqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
wqos.lifespan().duration = lifespan_ms * 1e-3;
writer_ = publisher_->create_datawriter(topic_, wqos, &listener);
if (writer_ == nullptr)
{
return false;
}
return true;
}
LifespanPublisher::~LifespanPublisher()
{
if (writer_ != nullptr)
{
publisher_->delete_datawriter(writer_);
}
if (publisher_ != nullptr)
{
participant_->delete_publisher(publisher_);
}
if (topic_ != nullptr)
{
participant_->delete_topic(topic_);
}
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
void LifespanPublisher::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;
first_connected = true;
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 LifespanPublisher::run(
uint32_t samples,
uint32_t write_sleep_ms,
uint32_t sleep_ms)
{
std::cout << "Publisher running" << std::endl;
samples = ( samples == 0 ) ? 10 : samples;
for ( uint32_t i = 0; i < samples; ++i )
{
if ( !publish())
{
--i;
}
else
{
std::cout << "Message with index: " << hello_.index() << " SENT" << std::endl;
}
std::this_thread::sleep_for(std::chrono::milliseconds(write_sleep_ms));
}
// Wait and try to clear history
std::cout << std::endl << "Publisher waiting for " << sleep_ms << " milliseconds" << std::endl << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(sleep_ms));
size_t removed = 0;
writer_->clear_history(&removed);
std::cout << "Publisher removed " << removed << " samples from its history" << std::endl;
std::cout << "Please press enter to stop the Publisher" << std::endl;
std::cin.ignore();
}
bool LifespanPublisher::publish(
bool waitForListener)
{
if (listener.first_connected || !waitForListener || listener.n_matched > 0)
{
hello_.index(hello_.index() + 1);
writer_->write((void*)&hello_);
return true;
}
return false;
}
|
