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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.h
*
*/
#ifndef LIVELINESSSUBSCRIBER_H_
#define LIVELINESSSUBSCRIBER_H_
#include "TopicPubSubTypes.h"
#include "Topic.h"
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantListener.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>
#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.h>
class LivelinessSubscriber
{
public:
//! Constructor
LivelinessSubscriber();
//! Destructor
virtual ~LivelinessSubscriber();
//! Initialize the subscriber
bool init(
eprosima::fastrtps::LivelinessQosPolicyKind kind,
int liveliness_ms);
//! RUN the subscriber
void run();
//! Run the subscriber until number samples have been received.
void run(
uint32_t number);
private:
eprosima::fastdds::dds::TypeSupport type_;
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Subscriber* subscriber_;
eprosima::fastdds::dds::Topic* topic_;
eprosima::fastdds::dds::DataReader* reader_;
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;
void on_liveliness_changed(
eprosima::fastdds::dds::DataReader* reader,
const eprosima::fastdds::dds::LivelinessChangedStatus& status) override;
int n_matched;
uint32_t n_samples;
Topic topic;
};
SubListener listener_;
class PartListener : public eprosima::fastdds::dds::DomainParticipantListener
{
virtual void on_participant_discovery(
eprosima::fastdds::dds::DomainParticipant* participant,
eprosima::fastrtps::rtps::ParticipantDiscoveryInfo&& info) override;
};
PartListener part_listener_;
};
#endif // ifndef LIVELINESSSUBSCRIBER_H_
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