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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 LivelinessSubscriber.cpp
*
*/
#include "LivelinessSubscriber.h"
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
LivelinessSubscriber::LivelinessSubscriber()
: type_(new TopicPubSubType())
, participant_(nullptr)
, subscriber_(nullptr)
, topic_(nullptr)
, reader_(nullptr)
{
}
bool LivelinessSubscriber::init(
LivelinessQosPolicyKind kind,
int liveliness_ms)
{
//Create Participant
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol::SIMPLE;
pqos.wire_protocol().builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
pqos.wire_protocol().builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
pqos.wire_protocol().builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
pqos.wire_protocol().builtin.use_WriterLivelinessProtocol = true;
pqos.name("Participant_sub");
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (participant_ == nullptr)
{
return false;
}
//Register Type
type_.register_type(participant_);
//Create Subscriber
subscriber_ = participant_->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (subscriber_ == nullptr)
{
return false;
}
//Create Topic
topic_ = participant_->create_topic("Name", "Topic", TOPIC_QOS_DEFAULT);
if (topic_ == nullptr)
{
return false;
}
//Create DataReader
DataReaderQos rqos;
rqos.history().depth = 30;
rqos.history().kind = KEEP_LAST_HISTORY_QOS;
rqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
rqos.liveliness().lease_duration = Duration_t(liveliness_ms * 1e-3);
rqos.liveliness().announcement_period = Duration_t(liveliness_ms * 1e-3 * 0.5);
rqos.liveliness().kind = kind;
reader_ = subscriber_->create_datareader(topic_, rqos, &listener_);
if (reader_ == nullptr)
{
return false;
}
return true;
}
LivelinessSubscriber::~LivelinessSubscriber()
{
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_);
}
void LivelinessSubscriber::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 LivelinessSubscriber::SubListener::on_data_available(
DataReader* reader)
{
SampleInfo info;
if (reader->take_next_sample(&topic, &info) == ReturnCode_t::RETCODE_OK)
{
if (info.valid_data)
{
this->n_samples++;
std::cout << "Message with index " << topic.index() << " RECEIVED" << std::endl;
}
}
}
void LivelinessSubscriber::SubListener::on_liveliness_changed(
DataReader*,
const LivelinessChangedStatus& status)
{
if (status.alive_count_change == 1)
{
std::cout << "Publisher " << status.last_publication_handle << " recovered liveliness" << std::endl;
}
else if (status.not_alive_count_change == 1)
{
std::cout << "Publisher " << status.last_publication_handle << " lost liveliness" << std::endl;
}
}
void LivelinessSubscriber::run()
{
std::cout << "Subscriber running. Please press enter to stop the Subscriber" << std::endl;
std::cin.ignore();
}
void LivelinessSubscriber::run(
uint32_t number)
{
std::cout << "Subscriber running until " << number << "samples have been received" << std::endl;
while (number > this->listener_.n_samples)
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
}
void LivelinessSubscriber::PartListener::on_participant_discovery(
DomainParticipant*,
ParticipantDiscoveryInfo&& info)
{
if (info.status == ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
{
std::cout << "Participant discovered" << std::endl;
}
else if (info.status == ParticipantDiscoveryInfo::DROPPED_PARTICIPANT)
{
std::cout << "Participant dropped" << std::endl;
}
else if (info.status == ParticipantDiscoveryInfo::REMOVED_PARTICIPANT)
{
std::cout << "Participant removed" << std::endl;
}
}
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