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#include <iostream>
#include <string>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include "samplePubSubTypes.h"
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastrtps::rtps;
void triggers();
int main()
{
triggers();
return 0;
}
void triggers()
{
TypeSupport sampleType(new samplePubSubType());
sample my_sample;
SampleInfo sample_info;
//Create Publisher Participant
DomainParticipantQos ppqos;
ppqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
ppqos.name("PublisherParticipant");
DomainParticipant* PubParticipant = DomainParticipantFactory::get_instance()->create_participant(0, ppqos);
if (PubParticipant == nullptr)
{
std::cout << " Something went wrong while creating the Publisher Participant..." << std::endl;
return;
}
//Register Type
sampleType.register_type(PubParticipant);
//Create Publisher
std::cout << "Creating Reliable Publisher..." << std::endl;
Publisher* myPub = PubParticipant->create_publisher(PUBLISHER_QOS_DEFAULT);
if (myPub == nullptr)
{
std::cout << "Something went wrong while creating the Publisher..." << std::endl;
return;
}
//Create Topic
Topic* PubTopic = PubParticipant->create_topic("samplePubSubTopic", sampleType.get_type_name(), TOPIC_QOS_DEFAULT);
if (PubTopic == nullptr)
{
std::cout << " Something went wrong while creating the Publisher Topic..." << std::endl;
return;
}
//Create DataWriter
DataWriterQos wqos;
wqos.history().kind = KEEP_LAST_HISTORY_QOS;
wqos.durability().kind = VOLATILE_DURABILITY_QOS;
wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
wqos.history().depth = 50;
wqos.resource_limits().max_samples = 100;
wqos.resource_limits().max_instances = 1;
wqos.resource_limits().max_samples_per_instance = 100;
wqos.reliable_writer_qos().times.heartbeatPeriod.seconds = 0;
wqos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 10000000;
DataWriter* myWriter = myPub->create_datawriter(PubTopic, wqos);
if (myWriter == nullptr)
{
std::cout << " Something went wrong while creating the Publisher DataWriter..." << std::endl;
return;
}
//Create Subscriber Participant
DomainParticipantQos psqos;
psqos.wire_protocol().builtin.discovery_config.leaseDuration = eprosima::fastrtps::c_TimeInfinite;
psqos.name("SubscriberParticipant");
DomainParticipant* SubParticipant = DomainParticipantFactory::get_instance()->create_participant(0, psqos);
if (SubParticipant == nullptr)
{
std::cout << " Something went wrong while creating the Subscriber Participant..." << std::endl;
return;
}
//Register Type
sampleType.register_type(SubParticipant);
//Create Subscriber
std::cout << "Creating Subscriber..." << std::endl;
Subscriber* mySub = SubParticipant->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (mySub == nullptr)
{
std::cout << "something went wrong while creating the Subscriber..." << std::endl;
return;
}
//Create Topic
Topic* SubTopic = SubParticipant->create_topic("samplePubSubTopic", sampleType.get_type_name(), TOPIC_QOS_DEFAULT);
if (SubTopic == nullptr)
{
std::cout << " Something went wrong while creating the Subscriber Topic..." << std::endl;
return;
}
//Create DataReader
DataReaderQos rqos;
rqos.history().kind = KEEP_LAST_HISTORY_QOS;
rqos.durability().kind = VOLATILE_DURABILITY_QOS;
rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
rqos.history().depth = 50;
rqos.resource_limits().max_samples = 100;
rqos.resource_limits().max_instances = 1;
rqos.resource_limits().max_samples_per_instance = 100;
DataReader* myReader = mySub->create_datareader(SubTopic, rqos);
if (myReader == nullptr)
{
std::cout << " Something went wrong while creating the Subscriber DataReader..." << std::endl;
return;
}
std::this_thread::sleep_for(std::chrono::milliseconds(1500));
//Send 20 samples
std::cout << "Publishing 10 samples on the topic..." << std::endl;
for (uint8_t j = 0; j < 10; j++)
{
my_sample.index(j + 1);
my_sample.key_value(1);
if (myWriter->write(&my_sample))
{
std::cout << std::to_string(my_sample.index()) << " ";
}
}
std::cout << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(1500));
//Read the contents of both histories:
std::cout << "The Subscriber holds: " << std::endl;
while (myReader->take_next_sample(&my_sample, &sample_info) == ReturnCode_t::RETCODE_OK)
{
std::cout << std::to_string(my_sample.index()) << " ";
}
std::cout << std::endl;
myPub->delete_datawriter(myWriter);
PubParticipant->delete_publisher(myPub);
PubParticipant->delete_topic(PubTopic);
DomainParticipantFactory::get_instance()->delete_participant(PubParticipant);
mySub->delete_datareader(myReader);
SubParticipant->delete_subscriber(mySub);
SubParticipant->delete_topic(SubTopic);
DomainParticipantFactory::get_instance()->delete_participant(SubParticipant);
}
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