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// Copyright 2021 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 LoanableHelloWorldSubscriber.cpp
* This file contains the implementation of the subscriber functions.
*
* This file was generated by the tool fastcdrgen.
*/
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include "LoanableHelloWorldSubscriber.h"
#include "LoanableHelloWorldPubSubTypes.h"
using namespace eprosima::fastdds::dds;
LoanableHelloWorldSubscriber::LoanableHelloWorldSubscriber()
: participant_(nullptr)
, subscriber_(nullptr)
, topic_(nullptr)
, reader_(nullptr)
, type_(new LoanableHelloWorldPubSubType())
{
}
LoanableHelloWorldSubscriber::~LoanableHelloWorldSubscriber()
{
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_);
}
bool LoanableHelloWorldSubscriber::init()
{
//CREATE THE PARTICIPANT
DomainParticipantQos pqos;
pqos.name("Participant_sub");
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, nullptr);
if (subscriber_ == 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 READER
DataReaderQos rqos = subscriber_->get_default_datareader_qos();
rqos.history().depth = 10;
rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
rqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
rqos.data_sharing().automatic();
reader_ = subscriber_->create_datareader(topic_, rqos, &listener_);
if (reader_ == nullptr)
{
return false;
}
return true;
}
void LoanableHelloWorldSubscriber::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 LoanableHelloWorldSubscriber::SubListener::on_data_available(
DataReader* reader)
{
FASTDDS_CONST_SEQUENCE(DataSeq, LoanableHelloWorld);
DataSeq data;
SampleInfoSeq infos;
while (ReturnCode_t::RETCODE_OK == reader->take(data, infos))
{
for (LoanableCollection::size_type i = 0; i < infos.length(); ++i)
{
if (infos[i].valid_data)
{
// Print your structure data here.
const LoanableHelloWorld& sample = data[i];
++samples;
std::cout << "Sample received (count=" << samples << ") at address " << &sample
<< (reader->is_sample_valid(&sample, &infos[i]) ? " is valid" : " was replaced" ) << std::endl
<< " index=" << sample.index() << std::endl
<< " message=" << sample.message().data() << std::endl;
}
}
reader->return_loan(data, infos);
}
}
void LoanableHelloWorldSubscriber::run()
{
std::cout << "Waiting for Data, press Enter to stop the DataReader. " << std::endl;
std::cin.ignore();
std::cout << "Shutting down the Subscriber." << std::endl;
}
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