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
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
|
// 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 <condition_variable>
#include <stdexcept>
#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;
namespace eprosima {
namespace fastdds {
namespace examples {
namespace hello_world {
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)
, expected_matches_(config.matched)
, stop_(false)
{
// Set up the data type with initial values
hello_.index(0);
hello_.message("Hello world");
// Create the participant
auto factory = DomainParticipantFactory::get_instance();
participant_ = factory->create_participant_with_default_profile(nullptr, StatusMask::none());
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;
writer_qos.history().depth = 5;
publisher_->get_default_datawriter_qos(writer_qos);
writer_ = publisher_->create_datawriter(topic_, writer_qos, this, StatusMask::all());
if (writer_ == nullptr)
{
throw std::runtime_error("DataWriter initialization failed");
}
}
PublisherApp::~PublisherApp()
{
if (nullptr != participant_)
{
// Delete DDS entities contained within the DomainParticipant
participant_->delete_contained_entities();
// Delete DomainParticipant
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
}
void PublisherApp::on_publication_matched(
DataWriter* /*writer*/,
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;
if (hello_.index() == 1u)
{
ReturnCode_t acked = RETCODE_ERROR;
do
{
dds::Duration_t acked_wait{1, 0};
acked = writer_->wait_for_acknowledgments(acked_wait);
}
while (acked != RETCODE_OK);
}
}
// 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_ >= expected_matches_) || 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 hello_world
} // namespace examples
} // namespace fastdds
} // namespace eprosima
|
