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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 HelloWorldSubscriber.cpp
*
*/
#include "HelloWorldSubscriber.h"
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
using namespace eprosima::fastdds::dds;
HelloWorldSubscriber::HelloWorldSubscriber()
: participant_(nullptr)
, subscriber_(nullptr)
, topic_(nullptr)
, reader_(nullptr)
, type_(new HelloWorldPubSubType())
{
}
bool HelloWorldSubscriber::init()
{
//CREATE THE PARTICIPANT
DomainParticipantQos pqos;
pqos.name("HelloWorldSubscriber");
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://HelloWorldPublisher.xml");
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
if (participant_ == nullptr)
{
return false;
}
//REGISTER THE TYPE
type_.register_type(participant_);
//CREATE THE SUBSCRIBER
subscriber_ = participant_->create_subscriber(SUBSCRIBER_QOS_DEFAULT);
if (subscriber_ == nullptr)
{
return false;
}
//CREATE THE TOPIC
topic_ = participant_->create_topic("HelloWorldTopic", "HelloWorld", TOPIC_QOS_DEFAULT);
if (topic_ == nullptr)
{
return false;
}
//CREATE THE DATAREADER
DataReaderQos rqos;
rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
rqos.endpoint().entity_id = 4;
rqos.endpoint().user_defined_id = 3;
reader_ = subscriber_->create_datareader(topic_, rqos, &listener_);
if (reader_ == nullptr)
{
return false;
}
return true;
}
HelloWorldSubscriber::~HelloWorldSubscriber()
{
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_);
}
void HelloWorldSubscriber::SubListener::on_subscription_matched(
DataReader*,
const SubscriptionMatchedStatus& info)
{
if (info.current_count_change == 1)
{
matched_ = info.total_count;
std::cout << "Subscriber matched." << std::endl;
}
else if (info.current_count_change == -1)
{
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;
}
}
void HelloWorldSubscriber::SubListener::on_data_available(
DataReader* reader)
{
SampleInfo info;
if (reader->take_next_sample(&hello_, &info) == ReturnCode_t::RETCODE_OK)
{
if (info.instance_state == ALIVE_INSTANCE_STATE)
{
samples_++;
// Print your structure data here.
std::cout << "Message " << hello_.message() << " " << hello_.index() << " RECEIVED" << std::endl;
}
}
}
void HelloWorldSubscriber::run()
{
std::cout << "Subscriber running. Please press enter to stop the Subscriber" << std::endl;
std::cin.ignore();
}
void HelloWorldSubscriber::run(
uint32_t number)
{
std::cout << "Subscriber running until " << number << "samples have been received" << std::endl;
while (number < this->listener_.samples_)
{
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
}
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