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// Copyright 2016 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 MemoryPublisher.h
*
*/
#ifndef MEMORYPUBLISHER_H_
#define MEMORYPUBLISHER_H_
#include <chrono>
#include <condition_variable>
#include <asio.hpp>
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicData.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
#include <fastdds/dds/xtypes/dynamic_types/DynamicPubSubType.hpp>
#include "MemoryTestTypes.h"
class MemoryTestPublisher
{
public:
MemoryTestPublisher();
virtual ~MemoryTestPublisher();
eprosima::fastdds::dds::DomainParticipant* participant_ {nullptr};
eprosima::fastdds::dds::Publisher* publisher_ {nullptr};
eprosima::fastdds::dds::Subscriber* subscriber_ {nullptr};
eprosima::fastdds::dds::TypeSupport command_type_ {new TestCommandDataType()};
eprosima::fastdds::dds::TypeSupport data_type_;
eprosima::fastdds::dds::Topic* command_pub_topic_ {nullptr};
eprosima::fastdds::dds::Topic* command_sub_topic_ {nullptr};
eprosima::fastdds::dds::Topic* data_topic_ {nullptr};
eprosima::fastdds::dds::DataWriter* command_writer_ {nullptr};
eprosima::fastdds::dds::DataWriter* data_writer_ {nullptr};
eprosima::fastdds::dds::DataReader* command_reader_ {nullptr};
int n_subscribers {0};
unsigned int n_samples {0};
std::mutex mutex_;
int disc_count_ {0};
std::condition_variable disc_cond_;
int comm_count_ {0};
std::condition_variable comm_cond_;
int data_count_ {0};
std::condition_variable data_cond_;
int m_status {0};
unsigned int n_received {0};
bool n_export_csv {false};
std::string m_exportPrefix;
bool init(
int n_sub,
int n_sam,
bool reliable,
uint32_t pid,
bool hostname,
bool export_csv,
const std::string& export_prefix,
const eprosima::fastdds::rtps::PropertyPolicy& part_property_policy,
const eprosima::fastdds::rtps::PropertyPolicy& property_policy,
const std::string& sXMLConfigFile,
uint32_t data_size,
bool dynamic_types);
void run(
uint32_t test_time);
bool test(
uint32_t test_time,
uint32_t datasize);
class DataPubListener : public eprosima::fastdds::dds::DataWriterListener
{
public:
DataPubListener(
MemoryTestPublisher* up)
: up_(up)
{
}
~DataPubListener() = default;
void on_publication_matched(
eprosima::fastdds::dds::DataWriter* writer,
const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
MemoryTestPublisher* up_ {nullptr};
int n_matched {0};
}
m_datapublistener {nullptr};
class CommandPubListener : public eprosima::fastdds::dds::DataWriterListener
{
public:
CommandPubListener(
MemoryTestPublisher* up)
: up_(up)
{
}
~CommandPubListener()
{
}
void on_publication_matched(
eprosima::fastdds::dds::DataWriter* writer,
const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
MemoryTestPublisher* up_ {nullptr};
int n_matched {0};
}
m_commandpublistener {nullptr};
class CommandSubListener : public eprosima::fastdds::dds::DataReaderListener
{
public:
CommandSubListener(
MemoryTestPublisher* up)
: up_(up)
{
}
~CommandSubListener()
{
}
void on_data_available(
eprosima::fastdds::dds::DataReader* reader) override;
void on_subscription_matched(
eprosima::fastdds::dds::DataReader* reader,
const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
MemoryTestPublisher* up_ {nullptr};
int n_matched {0};
}
m_commandsublistener {nullptr};
TestCommandDataType command_t;
std::string m_sXMLConfigFile;
bool reliable_;
uint32_t m_data_size {0};
bool dynamic_data_ {false};
// Static Data
MemoryType* memory_ {nullptr};
MemoryDataType memory_t;
// Dynamic Data
eprosima::fastdds::dds::DynamicData::_ref_type m_DynData;
eprosima::fastdds::dds::DynamicType::_ref_type m_pDynType;
eprosima::fastdds::dds::DynamicPubSubType* dynamic_type_support_ {nullptr};
};
#endif /* MEMORYPUBLISHER_H_ */
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