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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 SubscriberModule.hpp
*
*/
#ifndef TEST_COMMUNICATION_SUBSCRIBER_HPP
#define TEST_COMMUNICATION_SUBSCRIBER_HPP
#include <atomic>
#include <chrono>
#include <condition_variable>
#include <map>
#include <mutex>
#include <fastdds/dds/builtin/topic/ParticipantBuiltinTopicData.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantListener.hpp>
#include <fastdds/dds/subscriber/SubscriberListener.hpp>
#include "types/FixedSizedPubSubTypes.hpp"
#include "types/HelloWorldPubSubTypes.hpp"
namespace eprosima {
namespace fastdds {
namespace dds {
class SubscriberModule
: public DomainParticipantListener
{
public:
SubscriberModule(
const uint32_t publishers,
const uint32_t max_number_samples,
bool fixed_type,
bool zero_copy,
bool die_on_data_received)
: publishers_(publishers)
, max_number_samples_(max_number_samples)
, fixed_type_(zero_copy || fixed_type) // If zero copy active, fixed type is required
, zero_copy_(zero_copy)
, die_on_data_received_(die_on_data_received)
{
}
~SubscriberModule();
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
void on_subscription_matched(
DataReader* /*reader*/,
const SubscriptionMatchedStatus& info) override;
void on_data_available(
DataReader* reader) override;
void on_liveliness_changed(
DataReader* /*reader*/,
const eprosima::fastdds::dds::LivelinessChangedStatus& status) override;
bool init(
uint32_t seed,
const std::string& magic);
bool run(
bool notexit,
const uint32_t rescan_interval);
bool run_for(
bool notexit,
const uint32_t rescan_interval,
const std::chrono::milliseconds& timeout);
private:
using DomainParticipantListener::on_participant_discovery;
std::mutex mutex_;
std::condition_variable cv_;
const uint32_t publishers_ = 0;
const uint32_t max_number_samples_ = 0;
std::map<eprosima::fastdds::rtps::GUID_t, uint32_t> number_samples_;
bool fixed_type_ = false;
bool zero_copy_ = false;
std::atomic_bool run_{true};
DomainParticipant* participant_ = nullptr;
TypeSupport type_;
Subscriber* subscriber_ = nullptr;
DataReader* reader_ = nullptr;
Topic* topic_ = nullptr;
bool die_on_data_received_ = false;
};
} // dds
} // fastdds
} // eprosima
#endif // TEST_COMMUNICATION_SUBSCRIBER_HPP
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