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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.hpp
*
*/
#ifndef FASTDDS_EXAMPLES_CPP_XTYPES__SUBSCRIBERAPP_HPP
#define FASTDDS_EXAMPLES_CPP_XTYPES__SUBSCRIBERAPP_HPP
#include <condition_variable>
#include <mutex>
#include <string>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantListener.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
#include <fastdds/dds/xtypes/type_representation/TypeObject.hpp>
#include "CLIParser.hpp"
#include "Application.hpp"
using namespace eprosima::fastdds::dds;
namespace eprosima {
namespace fastdds {
namespace examples {
namespace xtypes {
class SubscriberApp : public Application, public DomainParticipantListener
{
public:
SubscriberApp(
const CLIParser::config& config,
const std::string& topic_name);
~SubscriberApp();
//! Subscription callback
void on_data_available(
DataReader* reader) override;
//! Subscriber matched method
void on_subscription_matched(
DataReader* reader,
const SubscriptionMatchedStatus& info) override;
void on_data_writer_discovery(
DomainParticipant* participant,
eprosima::fastdds::rtps::WriterDiscoveryStatus reason,
const eprosima::fastdds::dds::PublicationBuiltinTopicData& info,
bool& should_be_ignored) override;
//! Run subscriber
void run() override;
//! Trigger the end of execution
void stop() override;
private:
//! Return the current state of execution
bool is_stopped();
//! Function to initialize the entities once the type is discovered
void initialize_entities();
DynamicData::_ref_type hello_;
::xtypes::TypeObject remote_type_object_;
::xtypes::TypeInformation remote_type_information_;
DynamicType::_ref_type remote_type_;
DomainParticipant* participant_;
Subscriber* subscriber_;
const std::string topic_name_;
Topic* topic_;
DataReader* reader_;
uint16_t samples_;
uint16_t received_samples_;
std::string type_discovered_;
std::atomic<bool> stop_;
mutable std::mutex mtx_;
std::condition_variable cv_;
};
} // namespace xtypes
} // namespace examples
} // namespace fastdds
} // namespace eprosima
#endif // FASTDDS_EXAMPLES_CPP_XTYPES__SUBSCRIBERAPP_HPP
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