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// Copyright 20196 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 LifespanSubscriber.h
*
*/
#ifndef HELLOWORLDSUBSCRIBER_H_
#define HELLOWORLDSUBSCRIBER_H_
#include "LifespanPubSubTypes.h"
#include "Lifespan.h"
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/topic/Topic.hpp>
class LifespanSubscriber
{
public:
/**
* @brief LifespanSubscriber
*/
LifespanSubscriber();
/**
* @brief ~LifespanSubscriber
*/
virtual ~LifespanSubscriber();
/**
* @brief Initialises the subscriber
* @param lifespan_ms The lifespan in ms
* @return True if initialisation was successful
*/
bool init(
uint32_t lifespan_ms);
/**
* @brief Runs the subscriber
* @param number The number of samples the subscriber expects to receive
* @param sleep_ms Time to sleep after receiving all the samples
*/
void run(
uint32_t number,
uint32_t sleep_ms);
private:
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Subscriber* subscriber_;
eprosima::fastdds::dds::Topic* topic_;
eprosima::fastdds::dds::DataReader* reader_;
eprosima::fastdds::dds::TypeSupport type_;
public:
class SubListener : public eprosima::fastdds::dds::DataReaderListener
{
public:
SubListener()
: n_matched(0)
, n_samples(0)
{
}
~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;
Lifespan hello;
int n_matched;
uint32_t n_samples;
}
listener;
};
#endif /* HELLOWORLDSUBSCRIBER_H_ */
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