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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 PublisherApp.cpp
*
*/
#include "PublisherApp.hpp"
#include <csignal>
#include <thread>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include "HelloWorldPubSubTypes.hpp"
using namespace eprosima::fastdds::dds;
using namespace eprosima::fastdds::rtps;
namespace eprosima {
namespace fastdds {
namespace examples {
namespace custom_payload_pool {
PublisherApp::PublisherApp(
const CLIParser::publisher_config& config,
const std::string& topic_name)
: participant_(nullptr)
, publisher_(nullptr)
, topic_(nullptr)
, writer_(nullptr)
, type_(new HelloWorldPubSubType())
, matched_(0)
, samples_(config.samples)
, stop_(false)
, period_ms_(config.interval)
{
// Set up the data type with initial values
hello_.index(0);
hello_.message("HelloWorld");
payload_pool_ = std::make_shared<CustomPayloadPool>();
// Create the participant
DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
auto factory = DomainParticipantFactory::get_instance();
participant_ = factory->create_participant(config.domain, pqos);
if (participant_ == nullptr)
{
throw std::runtime_error("Participant initialization failed");
}
// Register the type
type_.register_type(participant_);
// Create the publisher
PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
participant_->get_default_publisher_qos(pub_qos);
publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
if (publisher_ == nullptr)
{
throw std::runtime_error("Publisher initialization failed");
}
// Create the topic
TopicQos topic_qos = TOPIC_QOS_DEFAULT;
participant_->get_default_topic_qos(topic_qos);
topic_ = participant_->create_topic(topic_name, type_.get_type_name(), topic_qos);
if (topic_ == nullptr)
{
throw std::runtime_error("Topic initialization failed");
}
// Create the data writer
DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
publisher_->get_default_datawriter_qos(writer_qos);
writer_ = publisher_->create_datawriter(topic_, writer_qos, this, StatusMask::all(), payload_pool_);
if (writer_ == nullptr)
{
throw std::runtime_error("DataWriter initialization failed");
}
}
PublisherApp::~PublisherApp()
{
if (participant_ != nullptr)
{
participant_->delete_contained_entities();
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
}
void PublisherApp::on_publication_matched(
DataWriter*,
const PublicationMatchedStatus& info)
{
if (info.current_count_change == 1)
{
matched_ = static_cast<int16_t>(info.current_count);
std::cout << "Publisher matched." << std::endl;
cv_.notify_one();
}
else if (info.current_count_change == -1)
{
matched_ = static_cast<int16_t>(info.current_count);
std::cout << "Publisher unmatched." << std::endl;
}
else
{
std::cout << info.current_count_change
<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
}
}
void PublisherApp::run()
{
while (!is_stopped() && ((samples_ == 0) || (hello_.index() < samples_)))
{
if (publish())
{
std::cout << "Message: '" << hello_.message() << "' with index: '" << hello_.index()
<< "' SENT" << std::endl;
}
// Wait for period or stop event
std::unique_lock<std::mutex> period_lock(mutex_);
cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [&]()
{
return is_stopped();
});
}
}
bool PublisherApp::publish()
{
bool ret = false;
// Wait for the data endpoints discovery
std::unique_lock<std::mutex> matched_lock(mutex_);
cv_.wait(matched_lock, [&]()
{
// at least one has been discovered
return ((matched_ > 0) || is_stopped());
});
if (!is_stopped())
{
hello_.index(hello_.index() + 1);
ret = (RETCODE_OK == writer_->write(&hello_));
}
return ret;
}
bool PublisherApp::is_stopped()
{
return stop_.load();
}
void PublisherApp::stop()
{
stop_.store(true);
cv_.notify_one();
}
} // namespace custom_payload_pool
} // namespace examples
} // namespace fastdds
} // namespace eprosima
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