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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 HelloWorldPublisher.cpp
*
*/
#include "HelloWorldPublisher.h"
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
using namespace eprosima::fastdds::dds;
HelloWorldPublisher::HelloWorldPublisher()
: participant_(nullptr)
, publisher_(nullptr)
, topic_(nullptr)
, writer_(nullptr)
, type_(new HelloWorldPubSubType())
{
}
bool HelloWorldPublisher::init()
{
hello_.index(0);
hello_.message("HelloWorld");
//CREATE THE PARTICIPANT
DomainParticipantQos pqos;
pqos.name("HelloWorldPublisher");
pqos.wire_protocol().builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = false;
pqos.wire_protocol().builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
pqos.wire_protocol().builtin.discovery_config.static_edp_xml_config("file://HelloWorldSubscriber.xml");
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (participant_ == nullptr)
{
return false;
}
//REGISTER THE TYPE
type_.register_type(participant_);
//CREATE THE PUBLISHER
publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT);
if (publisher_ == nullptr)
{
return false;
}
//CREATE THE TOPIC
topic_ = participant_->create_topic("HelloWorldTopic", "HelloWorld", TOPIC_QOS_DEFAULT);
if (topic_ == nullptr)
{
return false;
}
//CREATE THE DATAWRITER
DataWriterQos wqos;
wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
wqos.endpoint().entity_id = 2;
wqos.endpoint().user_defined_id = 1;
writer_ = publisher_->create_datawriter(topic_, wqos, &listener_);
if (writer_ == nullptr)
{
return false;
}
return true;
}
HelloWorldPublisher::~HelloWorldPublisher()
{
if (writer_ != nullptr)
{
publisher_->delete_datawriter(writer_);
}
if (publisher_ != nullptr)
{
participant_->delete_publisher(publisher_);
}
if (topic_ != nullptr)
{
participant_->delete_topic(topic_);
}
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
void HelloWorldPublisher::PubListener::on_publication_matched(
eprosima::fastdds::dds::DataWriter*,
const eprosima::fastdds::dds::PublicationMatchedStatus& info)
{
if (info.current_count_change == 1)
{
matched_ = info.total_count;
first_connected_ = true;
std::cout << "Publisher matched." << std::endl;
}
else if (info.current_count_change == -1)
{
matched_ = info.total_count;
std::cout << "Publisher unmatched." << std::endl;
}
else
{
std::cout << info.current_count_change
<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
}
}
void HelloWorldPublisher::run(
uint32_t samples)
{
for (uint32_t i = 0; i < samples; ++i)
{
if (!publish())
{
--i;
}
else
{
std::cout << "Message: " << hello_.message() << " with index: " << hello_.index() << " SENT" << std::endl;
}
std::this_thread::sleep_for(std::chrono::milliseconds(25));
}
}
bool HelloWorldPublisher::publish()
{
if (listener_.first_connected_ || listener_.matched_ > 0)
{
hello_.index(hello_.index() + 1);
writer_->write(&hello_);
return true;
}
return false;
}
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