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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 TestSubscriber.h
*
*/
#ifndef _TEST_SUBSCRIBER_H_
#define _TEST_SUBSCRIBER_H_
#include <fastrtps/fastrtps_fwd.h>
#include <fastrtps/attributes/SubscriberAttributes.h>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantListener.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastrtps/subscriber/SampleInfo.h>
#include <fastrtps/types/TypeObjectFactory.h>
#include <fastrtps/rtps/common/Types.h>
#include <condition_variable>
#include <atomic>
class TestSubscriber
{
public:
TestSubscriber();
virtual ~TestSubscriber();
//!Initialize the subscriber
bool init(
const std::string& topicName,
int domain,
eprosima::fastdds::dds::TypeSupport type,
const eprosima::fastrtps::types::TypeObject* type_object,
const eprosima::fastrtps::types::TypeIdentifier* type_identifier,
const eprosima::fastrtps::types::TypeInformation* type_info,
const std::string& name,
const eprosima::fastrtps::DataRepresentationQosPolicy* dataRepresentationQos,
const eprosima::fastrtps::TypeConsistencyEnforcementQosPolicy* typeConsistencyQos,
bool use_typelookup = false);
//!RUN the subscriber
void run();
// Auxiliar test methods
bool isInitialized() const
{
return m_bInitialized;
}
void waitDiscovery(
bool expectMatch = true,
int maxWait = 10);
void waitTypeDiscovery(
bool expectMatch = true,
int maxWait = 10);
void matched(
bool unmatched = false);
bool isMatched()
{
return m_subListener.n_matched > 0;
}
uint32_t samplesReceived()
{
return m_subListener.n_samples;
}
eprosima::fastrtps::types::DynamicType_ptr discovered_type() const
{
return disc_type_;
}
bool register_discovered_type();
eprosima::fastdds::dds::DataReader* create_datareader();
void delete_datareader(
eprosima::fastdds::dds::DataReader* reader);
eprosima::fastdds::dds::TypeSupport m_Type;
private:
std::string m_Name;
eprosima::fastdds::dds::DomainParticipant* mp_participant;
eprosima::fastdds::dds::Subscriber* mp_subscriber;
eprosima::fastdds::dds::DataReader* reader_;
eprosima::fastdds::dds::Topic* topic_;
void* m_Data;
bool m_bInitialized;
std::mutex m_mDiscovery;
std::mutex mtx_type_discovery_;
std::condition_variable m_cvDiscovery;
std::condition_variable cv_type_discovery_;
std::condition_variable cv_;
eprosima::fastrtps::types::DynamicType_ptr disc_type_;
eprosima::fastdds::dds::DataReaderQos reader_qos;
bool using_typelookup_;
bool tls_callback_called_;
std::string topic_name_;
const eprosima::fastrtps::DataRepresentationQosPolicy* dataRepresentationQos_;
const eprosima::fastrtps::TypeConsistencyEnforcementQosPolicy* typeConsistencyQos_;
public:
class PartListener : public eprosima::fastdds::dds::DomainParticipantListener
{
public:
PartListener(
TestSubscriber* parent)
: parent_(parent)
, discovered_(false)
{
}
~PartListener() override
{
}
void on_type_discovery(
eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastrtps::rtps::SampleIdentity& request_sample_id,
const eprosima::fastrtps::string_255& topic,
const eprosima::fastrtps::types::TypeIdentifier* identifier,
const eprosima::fastrtps::types::TypeObject* object,
eprosima::fastrtps::types::DynamicType_ptr dyn_type) override;
void on_type_information_received(
eprosima::fastdds::dds::DomainParticipant* participant,
const eprosima::fastrtps::string_255 topic_name,
const eprosima::fastrtps::string_255 type_name,
const eprosima::fastrtps::types::TypeInformation& type_information) override;
TestSubscriber* parent_;
std::atomic<bool> discovered_;
} part_listener_;
class SubListener : public eprosima::fastdds::dds::DataReaderListener
{
public:
SubListener()
{
}
SubListener(
TestSubscriber* parent);
~SubListener() override
{
}
void on_subscription_matched(
eprosima::fastdds::dds::DataReader* reader,
const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
void on_data_available(
eprosima::fastdds::dds::DataReader* reader) override;
TestSubscriber* mParent;
int n_matched;
uint32_t n_samples;
} m_subListener;
};
#endif /* _TEST_SUBSCRIBER_H_ */
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