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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 ParticipantModule.cpp
*/
# include "ParticipantModule.hpp"
#include <iostream>
#include <sstream>
#include <string>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/rtps/attributes/RTPSParticipantAttributes.hpp>
#include <fastdds/rtps/common/Locator.hpp>
#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp>
#include <fastdds/utils/IPLocator.hpp>
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastdds::rtps;
ParticipantModule::ParticipantModule(
const std::string& discovery_protocol,
const std::string& guid_prefix,
const std::string& unicast_metatraffic_port)
{
if (discovery_protocol.compare(ParticipantType::SERVER) == 0)
{
discovery_protocol_ = DiscoveryProtocol::SERVER;
std::istringstream server_guid_prefix_str(guid_prefix);
server_guid_prefix_str >> server_guid_prefix_;
unicast_metatraffic_port_ = atoi(unicast_metatraffic_port.c_str());
}
else if (discovery_protocol.compare(ParticipantType::CLIENT) == 0)
{
discovery_protocol_ = DiscoveryProtocol::CLIENT;
}
else
{
discovery_protocol_ = DiscoveryProtocol::SIMPLE;
}
}
ParticipantModule::~ParticipantModule()
{
if (nullptr != participant_)
{
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
}
bool ParticipantModule::init()
{
DomainParticipantQos participant_qos;
participant_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = discovery_protocol_;
if (DiscoveryProtocol::SERVER == discovery_protocol_)
{
participant_qos.wire_protocol().prefix = server_guid_prefix_;
Locator_t locator_server;
IPLocator::setIPv4(locator_server, "127.0.0.1");
locator_server.port = unicast_metatraffic_port_;
participant_qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator_server);
}
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, participant_qos, this);
if (nullptr == participant_)
{
return false;
}
return true;
}
void ParticipantModule::on_participant_discovery(
DomainParticipant* participant,
ParticipantDiscoveryStatus status,
const ParticipantBuiltinTopicData& info,
bool& should_be_ignored)
{
static_cast<void>(should_be_ignored);
if (status == ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
{
std::cout << "Participant " << participant->guid() << " discovered participant " << info.guid << ": "
<< ++matched_ << std::endl;
}
else if (status == ParticipantDiscoveryStatus::CHANGED_QOS_PARTICIPANT)
{
std::cout << "Participant " << participant->guid() << " detected changes on participant " << info.guid
<< std::endl;
}
else if (status == ParticipantDiscoveryStatus::REMOVED_PARTICIPANT ||
status == ParticipantDiscoveryStatus::DROPPED_PARTICIPANT)
{
std::cout << "Participant " << participant->guid() << " undiscovered participant " << info.guid << ": "
<< --matched_ << std::endl;
}
}
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