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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 SubscriberApp.cpp
*
*/
#include "SubscriberApp.hpp"
#include <condition_variable>
#include <csignal>
#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include "HelloWorldPubSubTypes.hpp"
using namespace eprosima::fastdds::dds;
namespace eprosima {
namespace fastdds {
namespace examples {
namespace custom_payload_pool {
SubscriberApp::SubscriberApp(
const CLIParser::subscriber_config& config,
const std::string& topic_name)
: participant_(nullptr)
, subscriber_(nullptr)
, topic_(nullptr)
, reader_(nullptr)
, type_(new HelloWorldPubSubType())
, samples_(config.samples)
, received_samples_(0)
, stop_(false)
{
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 subscriber
SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
participant_->get_default_subscriber_qos(sub_qos);
subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());
if (subscriber_ == nullptr)
{
throw std::runtime_error("Subscriber 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 reader
DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
subscriber_->get_default_datareader_qos(reader_qos);
reader_ = subscriber_->create_datareader(topic_, reader_qos, this, StatusMask::all(), payload_pool_);
if (reader_ == nullptr)
{
throw std::runtime_error("DataReader initialization failed");
}
}
SubscriberApp::~SubscriberApp()
{
if (participant_ != nullptr)
{
participant_->delete_contained_entities();
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
}
void SubscriberApp::on_subscription_matched(
DataReader*,
const SubscriptionMatchedStatus& info)
{
if (info.current_count_change == 1)
{
std::cout << "Subscriber matched." << std::endl;
}
else if (info.current_count_change == -1)
{
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 SubscriberApp::on_data_available(
DataReader* reader)
{
SampleInfo info;
while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&hello_, &info)))
{
if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
{
received_samples_++;
// Print Hello world message data
std::cout << "Message: '" << hello_.message() << "' with index: '" << hello_.index()
<< "' RECEIVED" << std::endl;
if (samples_ > 0 && (received_samples_ >= samples_))
{
stop();
}
}
}
}
void SubscriberApp::run()
{
std::unique_lock<std::mutex> lck(terminate_cv_mtx_);
terminate_cv_.wait(lck, [&]
{
return is_stopped();
});
}
bool SubscriberApp::is_stopped()
{
return stop_.load();
}
void SubscriberApp::stop()
{
stop_.store(true);
terminate_cv_.notify_all();
}
} // namespace custom_payload_pool
} // namespace examples
} // namespace fastdds
} // namespace eprosima
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