UserDefinedTransportExampleReader.cpp

// 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.

#include "UserDefinedTransportExampleReader.h"
#include <memory>
#include <chrono>
#include <fastrtps/transport/UDPv4TransportDescriptor.h>

using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps;


my_ReaderListener::my_ReaderListener()
    : n_received(0)
{
}

my_ReaderListener::~my_ReaderListener()
{
}

void my_ReaderListener::onNewCacheChangeAdded(
        RTPSReader*,
        const CacheChange_t* const)
{
    n_received++;
    std::cout << "Received " << n_received << " samples so far" << std::endl;
}

void my_ReaderListener::onReaderMatched(
        RTPSReader*,
        MatchingInfo&)
{
    std::cout << "Matched with a Writer" << std::endl;
}

UserDefinedTransportExampleReader::UserDefinedTransportExampleReader()
    : my_participant(nullptr)
    , my_reader(nullptr)
    , initialized_(false)
{
}

UserDefinedTransportExampleReader::~UserDefinedTransportExampleReader()
{
    if (my_participant != nullptr)
    {
        RTPSDomain::removeRTPSParticipant(my_participant);
    }
}

void UserDefinedTransportExampleReader::init()
{
    //Creation of the participant
    auto customTransport = std::make_shared<UDPv4TransportDescriptor>();
    customTransport->sendBufferSize = 65536;
    customTransport->receiveBufferSize = 65536;

    pattr.userTransports.push_back(customTransport);
    pattr.useBuiltinTransports = false;
    my_participant = RTPSDomain::createParticipant(0, pattr);

    //Creation of the Reader
    my_listener = new my_ReaderListener();
    my_history = new ReaderHistory(hattr);
    my_reader = RTPSDomain::createRTPSReader(my_participant, rattr, my_history, my_listener);

    // Register type
    tattr.topicKind = NO_KEY;
    tattr.topicDataType = "string";
    tattr.topicName = "ExampleTopic";
    my_participant->registerReader(my_reader, tattr, rqos);
    initialized_ = true;
}

bool UserDefinedTransportExampleReader::read()
{
    while (my_listener->n_received < 9)
    {
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
    return true;
}

bool UserDefinedTransportExampleReader::isInitialized()
{
    return initialized_;
}