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// 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 OwnershipStrengthSubscriber.cpp
* This file contains the implementation of the subscriber functions.
*
* This file was generated by the tool fastcdrgen.
*/
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include "OwnershipStrengthSubscriber.h"
#include <algorithm>
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
OwnershipStrengthSubscriber::OwnershipStrengthSubscriber()
: participant_(nullptr)
, subscriber_(nullptr)
, topic_(nullptr)
, reader_(nullptr)
, myType(new ExampleMessagePubSubType())
{
}
OwnershipStrengthSubscriber::~OwnershipStrengthSubscriber()
{
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_);
}
bool OwnershipStrengthSubscriber::init()
{
//Create Participant
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
pqos.name("Participant_subscriber"); //You can put the name you want
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (participant_ == nullptr)
{
return false;
}
//Register the type
myType.register_type(participant_);
// Create Subscriber
subscriber_ = participant_->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (subscriber_ == nullptr)
{
return false;
}
//Create Topic
topic_ = participant_->create_topic("OwnershipStrengthPubSubTopic", myType.get_type_name(), TOPIC_QOS_DEFAULT);
if (topic_ == nullptr)
{
return false;
}
//Create DataReader
DataReaderQos rqos;
rqos.reliability().kind = eprosima::fastrtps::RELIABLE_RELIABILITY_QOS;
reader_ = subscriber_->create_datareader(topic_, rqos, &m_listener);
if (reader_ == nullptr)
{
return false;
}
return true;
}
void OwnershipStrengthSubscriber::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;
}
// Must deregister here to make sure messages from weaker publishers are accepted.
// It is also possible to deregister on a lost deadline, if applicable.
m_hierarchy.DeregisterPublisher(GUID_t(info.last_publication_handle));
}
bool OwnershipStrengthSubscriber::StrengthHierarchy::IsMessageStrong(
const ExampleMessage& st,
const SampleInfo& info)
{
unsigned int ownershipStrength = st.ownershipStrength();
GUID_t guid = info.sample_identity.writer_guid();
mapMutex.lock();
// The strength-GUID pair is inserted in the strength hierarchy, if unique.
strengthMap[ownershipStrength].insert(guid);
// The set of strongest writers is extracted from the back of the map (highest strength)
std::set<GUID_t>& strongestWriters = strengthMap.rbegin()->second;
// The prioritised writer is arbitrarily chosen as the one with the lowest GUID, in case of a tie.
const GUID_t& prioritisedStrongestWriter = *(strongestWriters.begin());
bool strong = (guid == prioritisedStrongestWriter);
mapMutex.unlock();
if (!strong)
{
std::cout << "Weak message received and discarded (strength " << ownershipStrength << ")" << std::endl;
}
return strong;
}
void OwnershipStrengthSubscriber::StrengthHierarchy::DeregisterPublisher(
GUID_t guid)
{
mapMutex.lock();
// We walk through the hierarchy and remove the publisher GUID
for (auto& guidSet : strengthMap)
{
guidSet.second.erase(guid);
}
mapMutex.unlock();
}
void OwnershipStrengthSubscriber::SubListener::on_data_available(
DataReader* reader)
{
SampleInfo info;
ExampleMessage st;
if (reader->take_next_sample(&st, &info) == ReturnCode_t::RETCODE_OK)
{
if (info.valid_data && m_hierarchy.IsMessageStrong(st, info))
{
// User message handling here, for a strong message
++n_msg;
std::cout << "Message received with index " << n_msg << ", and strength " << st.ownershipStrength() \
<< ", reading \"" << st.message() << "\"" << std::endl;
}
}
}
void OwnershipStrengthSubscriber::run()
{
std::cout << "Waiting for Data, press Enter to stop the Subscriber. " << std::endl;
std::cin.ignore();
std::cout << "Shutting down the Subscriber." << std::endl;
}
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