1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
|
// 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.hpp
*
*/
#ifndef FASTDDS_FLOW_CONTROL_PUBLISHER_APP_HPP
#define FASTDDS_FLOW_CONTROL_PUBLISHER_APP_HPP
#include <atomic>
#include <condition_variable>
#include <cstdint>
#include <mutex>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include "Application.hpp"
#include "CLIParser.hpp"
#include "FlowControlPubSubTypes.hpp"
using namespace eprosima::fastdds::dds;
namespace eprosima {
namespace fastdds {
namespace examples {
namespace flow_control {
class PublisherApp : public Application, public DataWriterListener
{
public:
PublisherApp(
const CLIParser::flow_control_config& config);
~PublisherApp();
//! Publisher matched method
void on_publication_matched(
DataWriter* writer,
const PublicationMatchedStatus& info) override;
//! Run publisher
void run() override;
//! Stop publisher
void stop() override;
private:
//! Return the current state of execution
bool is_stopped();
//! Publish a sample
bool publish(
DataWriter* writer_,
FlowControl& msg);
DomainParticipant* participant_;
Publisher* publisher_;
Topic* topic_;
DataWriter* fast_writer_;
DataWriter* slow_writer_;
TypeSupport type_;
int16_t matched_;
uint16_t samples_;
std::mutex mutex_;
std::condition_variable cv_;
std::atomic<bool> stop_;
const uint32_t send_period_ = 2000; // in ms
};
} // namespace flow_control
} // namespace examples
} // namespace fastdds
} // namespace eprosima
#endif /* _FASTDDS_FLOW_CONTROL_PUBLISHER_APP_HPP */
|
