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// Copyright 2021 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 Publisher.hpp
*/
#ifndef TEST_DDS_COMMUNICATION_PUBLISHERMODULE_HPP
#define TEST_DDS_COMMUNICATION_PUBLISHERMODULE_HPP
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <mutex>
#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantListener.hpp>
#include <fastdds/dds/publisher/PublisherListener.hpp>
#include <fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp>
#include "types/FixedSizedPubSubTypes.hpp"
#include "types/HelloWorldPubSubTypes.hpp"
namespace eprosima {
namespace fastdds {
namespace dds {
class PublisherModule
: public DomainParticipantListener
{
public:
PublisherModule(
bool exit_on_lost_liveliness,
bool fixed_type,
bool zero_copy)
: exit_on_lost_liveliness_(exit_on_lost_liveliness)
, fixed_type_(zero_copy || fixed_type) // If zero copy active, fixed type is required
, zero_copy_(zero_copy)
{
}
~PublisherModule();
void on_publication_matched(
DataWriter* /*publisher*/,
const PublicationMatchedStatus& info) override;
/**
* This method is called when a new Participant is discovered, or a previously discovered participant
* changes its QOS or is removed.
* @param p Pointer to the Participant
* @param info DiscoveryInfo.
*/
void on_participant_discovery(
DomainParticipant* /*participant*/,
fastdds::rtps::ParticipantDiscoveryStatus status,
const ParticipantBuiltinTopicData& info,
bool& should_be_ignored) override;
#if HAVE_SECURITY
void onParticipantAuthentication(
DomainParticipant* participant,
fastdds::rtps::ParticipantAuthenticationInfo&& info) override;
#endif // if HAVE_SECURITY
bool init(
uint32_t seed,
const std::string& magic);
void wait_discovery(
uint32_t how_many);
void run(
uint32_t samples,
const uint32_t rescan_interval,
uint32_t loops,
uint32_t interval);
private:
using DomainParticipantListener::on_participant_discovery;
std::mutex mutex_;
std::condition_variable cv_;
unsigned int matched_ = 0;
bool exit_on_lost_liveliness_ = false;
bool fixed_type_ = false;
bool zero_copy_ = false;
std::atomic_bool run_{true};
DomainParticipant* participant_ = nullptr;
TypeSupport type_;
Publisher* publisher_ = nullptr;
DataWriter* writer_ = nullptr;
Topic* topic_ = nullptr;
};
} // dds
} // fastdds
} // eprosima
#endif // TEST_DDS_COMMUNICATION_PUBLISHERMODULE_HPP
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