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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.h
*
*/
#ifndef FASTDDS_EXAMPLES_CPP_TOPIC_INSTANCES__SUBSCRIBERAPP_HPP
#define FASTDDS_EXAMPLES_CPP_TOPIC_INSTANCES__SUBSCRIBERAPP_HPP
#include <atomic>
#include <condition_variable>
#include <mutex>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include "Application.hpp"
#include "CLIParser.hpp"
#include "ShapeTypePubSubTypes.hpp"
using namespace eprosima::fastdds::dds;
namespace eprosima {
namespace fastdds {
namespace examples {
namespace topic_instances {
class SubscriberApp : public Application, public DataReaderListener
{
public:
SubscriberApp(
const CLIParser::subscriber_config& config);
~SubscriberApp();
//! Subscription callback
void on_data_available(
DataReader* reader) override;
//! Subscriber matched method
void on_subscription_matched(
DataReader* reader,
const SubscriptionMatchedStatus& info) override;
//! Run the subscriber
void run() override;
//! Trigger the end of execution
void stop() override;
private:
//! Return the current state of execution
bool is_stopped();
//! Check if all instances have received all samples
bool instances_received_all_samples();
//! Check if all instances have been disposed
bool instances_disposed();
ShapeType shape_;
DomainParticipant* participant_;
Subscriber* subscriber_;
Topic* topic_;
DataReader* reader_;
TypeSupport type_;
std::condition_variable cv_;
std::mutex mutex_;
uint32_t samples_;
std::atomic<bool> stop_;
std::atomic<bool> stop_receiving_samples_;
std::map<InstanceHandle_t, uint32_t> samples_per_instance_;
std::vector<InstanceHandle_t> disposed_instances_;
};
} // namespace topic_instances
} // namespace examples
} // namespace fastdds
} // namespace eprosima
#endif // FASTDDS_EXAMPLES_CPP_TOPIC_INSTANCES__SUBSCRIBERAPP_HPP
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