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// Copyright 2024 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 WriterApp.hpp
*
*/
#ifndef FASTDDS_EXAMPLES_CPP_RTPS__WRITERAPP_HPP
#define FASTDDS_EXAMPLES_CPP_RTPS__WRITERAPP_HPP
#include <condition_variable>
#include <fastdds/rtps/history/WriterHistory.hpp>
#include <fastdds/rtps/participant/RTPSParticipant.hpp>
#include <fastdds/rtps/writer/WriterListener.hpp>
#include "CLIParser.hpp"
#include "Application.hpp"
#include "HelloWorld.hpp"
#include <fastcdr/FastCdr.h>
using namespace eprosima::fastdds::rtps;
namespace eprosima {
namespace fastdds {
namespace examples {
namespace rtps {
class WriterApp : public Application, public WriterListener
{
public:
WriterApp(
const CLIParser::rtps_config& config,
const std::string& topic_name);
virtual ~WriterApp();
//! Run RTPS Writer
void run() override;
//! Writer matched method
void on_writer_matched(
RTPSWriter*,
const MatchingInfo& info) override;
//! Trigger the end of execution
void stop() override;
private:
//! Add a new change to Writer History
bool add_change_to_history();
//! Return the current state of execution
bool is_stopped();
//! Serialize payload
bool serialize_payload(
const HelloWorld* data,
eprosima::fastdds::rtps::SerializedPayload_t& payload);
uint16_t samples_;
uint16_t samples_sent_;
std::vector<GUID_t> remote_endpoints_guid;
RTPSParticipant* rtps_participant_;
RTPSWriter* rtps_writer_;
WriterHistory* writer_history_;
int16_t matched_;
uint16_t expected_matches_;
std::atomic<bool> stop_;
mutable std::mutex terminate_cv_mtx_;
std::condition_variable terminate_cv_;
const uint32_t period_ms_ = 100; // in ms
HelloWorld* data_;
};
} // namespace rtps
} // namespace examples
} // namespace fastdds
} // namespace eprosima
#endif // FASTDDS_EXAMPLES_CPP_RTPS__WRITERAPP_HPP
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