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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 LoanableHelloWorldPublisher.cpp
* This file contains the implementation of the publisher functions.
*
* This file was generated by the tool fastcdrgen.
*/
#include "LoanableHelloWorldPublisher.h"
#include "LoanableHelloWorldPubSubTypes.h"
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <thread>
#include <chrono>
using namespace eprosima::fastdds::dds;
LoanableHelloWorldPublisher::LoanableHelloWorldPublisher()
: participant_(nullptr)
, publisher_(nullptr)
, topic_(nullptr)
, writer_(nullptr)
, type_(new LoanableHelloWorldPubSubType())
{
}
LoanableHelloWorldPublisher::~LoanableHelloWorldPublisher()
{
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_);
}
bool LoanableHelloWorldPublisher::init()
{
/* Initialize data_ here */
//CREATE THE PARTICIPANT
DomainParticipantQos pqos;
pqos.name("Participant_pub");
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, nullptr);
if (publisher_ == nullptr)
{
return false;
}
//CREATE THE TOPIC
topic_ = participant_->create_topic(
"LoanableHelloWorldTopic",
type_.get_type_name(),
TOPIC_QOS_DEFAULT);
if (topic_ == nullptr)
{
return false;
}
// CREATE THE WRITER
writer_ = publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, &listener_);
if (writer_ == nullptr)
{
return false;
}
std::cout << "LoanableHelloWorld DataWriter created." << std::endl;
return true;
}
void LoanableHelloWorldPublisher::PubListener::on_publication_matched(
eprosima::fastdds::dds::DataWriter*,
const eprosima::fastdds::dds::PublicationMatchedStatus& info)
{
if (info.current_count_change == 1)
{
matched = info.total_count;
std::cout << "DataWriter matched." << std::endl;
}
else if (info.current_count_change == -1)
{
matched = info.total_count;
std::cout << "DataWriter unmatched." << std::endl;
}
else
{
std::cout << info.current_count_change
<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
}
}
void LoanableHelloWorldPublisher::run()
{
std::cout << "LoanableHelloWorld DataWriter waiting for DataReaders." << std::endl;
while (listener_.matched == 0)
{
std::this_thread::sleep_for(std::chrono::milliseconds(250)); // Sleep 250 ms
}
int msgsent = 0;
char ch = 'y';
do
{
if (ch == 'y')
{
void* sample = nullptr;
if (ReturnCode_t::RETCODE_OK == writer_->loan_sample(sample))
{
LoanableHelloWorld* data = static_cast<LoanableHelloWorld*>(sample);
data->index() = msgsent + 1;
memcpy(data->message().data(), "LoanableHelloWorld ", 20);
writer_->write(sample);
}
++msgsent;
std::cout << "Sending sample, count=" << msgsent << ", send another sample?(y-yes,n-stop): ";
}
else if (ch == 'n')
{
std::cout << "Stopping execution " << std::endl;
break;
}
else
{
std::cout << "Command " << ch << " not recognized, please enter \"y/n\":";
}
} while (std::cin >> ch);
}
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