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// Copyright 2019 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 LivelinessPublisher.h
*
*/
#ifndef LivelinessPublisher_H_
#define LivelinessPublisher_H_
#include "TopicPubSubTypes.h"
#include "Topic.h"
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include <mutex>
class LivelinessPublisher
{
public:
//! Constructor
LivelinessPublisher();
//! Destructor
virtual ~LivelinessPublisher();
//! Initialize
bool init(
eprosima::fastrtps::LivelinessQosPolicyKind kind,
int liveliness_ms);
//! Publish a sample
bool publish(
eprosima::fastdds::dds::DataWriter* writer,
bool waitForListener = true);
//! Run for number samples
void run(
uint32_t number,
uint32_t sleep);
private:
Topic topic;
eprosima::fastdds::dds::TypeSupport type_;
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Publisher* publisher_;
eprosima::fastdds::dds::Topic* topic_;
eprosima::fastdds::dds::DataWriter* writer_;
class PubListener : public eprosima::fastdds::dds::DataWriterListener
{
public:
PubListener()
: n_matched(0)
, first_connected(false)
{
}
~PubListener() override
{
}
void on_publication_matched(
eprosima::fastdds::dds::DataWriter* writer,
const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
void on_liveliness_lost(
eprosima::fastdds::dds::DataWriter* writer,
const eprosima::fastrtps::LivelinessLostStatus& status) override;
int n_matched;
bool first_connected;
};
PubListener listener_;
void runThread(
eprosima::fastdds::dds::DataWriter* writer,
uint32_t number,
uint32_t sleep);
};
#endif /* LivelinessPublisher_H_ */
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