1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
|
// 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.h
* This header file contains the declaration of the subscriber functions.
*
* This file was generated by the tool fastcdrgen.
*/
#ifndef _OWNERSHIPTEST_SUBSCRIBER_H_
#define _OWNERSHIPTEST_SUBSCRIBER_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>
#include "OwnershipStrengthPubSubTypes.h"
#include <set>
#include <mutex>
#include <map>
class OwnershipStrengthSubscriber
{
public:
OwnershipStrengthSubscriber();
virtual ~OwnershipStrengthSubscriber();
bool init();
void run();
private:
eprosima::fastdds::dds::DomainParticipant* participant_;
eprosima::fastdds::dds::Subscriber* subscriber_;
eprosima::fastdds::dds::Topic* topic_;
eprosima::fastdds::dds::DataReader* reader_;
class StrengthHierarchy
{
public:
// Automatically adds a publisher to the hierarchy, and reports back whether it is the strongest.
bool IsMessageStrong(
const ExampleMessage& st,
const eprosima::fastdds::dds::SampleInfo& info);
// Deregisters a publisher removing it from the hierarchy.
void DeregisterPublisher(
eprosima::fastrtps::rtps::GUID_t guid);
// Provides an ordered hierarchy of publishers, based on the Ownership Strength QoS parameter.
std::map<unsigned int, std::set<eprosima::fastrtps::rtps::GUID_t>> strengthMap; // Keyed by Ownership Strength
std::mutex mapMutex;
};
class SubListener : public eprosima::fastdds::dds::DataReaderListener
{
public:
SubListener()
: n_matched(0)
, n_msg(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;
int n_matched;
int n_msg;
StrengthHierarchy m_hierarchy;
}
m_listener;
eprosima::fastdds::dds::TypeSupport myType;
};
#endif // _OwnershipStrength_SUBSCRIBER_H_
|
