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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 WaitsetSubscriberApp.cpp
*
*/
#include "WaitsetSubscriberApp.hpp"
#include <condition_variable>
#include <stdexcept>
#include <fastdds/dds/core/condition/GuardCondition.hpp>
#include <fastdds/dds/core/condition/WaitSet.hpp>
#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 "Application.hpp"
#include "CLIParser.hpp"
#include "HelloWorldPubSubTypes.hpp"
using namespace eprosima::fastdds::dds;
namespace eprosima {
namespace fastdds {
namespace examples {
namespace hello_world {
WaitsetSubscriberApp::WaitsetSubscriberApp(
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)
{
// 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 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, nullptr, StatusMask::all());
if (reader_ == nullptr)
{
throw std::runtime_error("DataReader initialization failed");
}
// Prepare a wait-set
wait_set_.attach_condition(reader_->get_statuscondition());
wait_set_.attach_condition(terminate_condition_);
}
WaitsetSubscriberApp::~WaitsetSubscriberApp()
{
if (nullptr != participant_)
{
// Delete DDS entities contained within the DomainParticipant
participant_->delete_contained_entities();
// Delete DomainParticipant
DomainParticipantFactory::get_instance()->delete_participant(participant_);
}
}
void WaitsetSubscriberApp::run()
{
while (!is_stopped())
{
ConditionSeq triggered_conditions;
ReturnCode_t ret_code = wait_set_.wait(triggered_conditions, eprosima::fastdds::dds::c_TimeInfinite);
if (RETCODE_OK != ret_code)
{
EPROSIMA_LOG_ERROR(SUBSCRIBER_WAITSET, "Error waiting for conditions");
continue;
}
for (Condition* cond : triggered_conditions)
{
StatusCondition* status_cond = dynamic_cast<StatusCondition*>(cond);
if (nullptr != status_cond)
{
Entity* entity = status_cond->get_entity();
StatusMask changed_statuses = entity->get_status_changes();
if (changed_statuses.is_active(StatusMask::subscription_matched()))
{
SubscriptionMatchedStatus status_;
reader_->get_subscription_matched_status(status_);
if (status_.current_count_change == 1)
{
std::cout << "Waitset Subscriber matched." << std::endl;
}
else if (status_.current_count_change == -1)
{
std::cout << "Waitset Subscriber unmatched." << std::endl;
}
else
{
std::cout << status_.current_count_change <<
" is not a valid value for SubscriptionMatchedStatus current count change" <<
std::endl;
}
}
if (changed_statuses.is_active(StatusMask::data_available()))
{
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();
}
}
}
}
}
}
}
}
bool WaitsetSubscriberApp::is_stopped()
{
return stop_.load();
}
void WaitsetSubscriberApp::stop()
{
stop_.store(true);
terminate_condition_.set_trigger_value(true);
}
} // namespace hello_world
} // namespace examples
} // namespace fastdds
} // namespace eprosima
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