New DDS example: Basic Configuration HelloWorld [12329]

examples/C++/DDS/BasicConfigurationExample/BasicConfigurationPublisher.cpp

@@ -0,0 +1,295 @@
+// 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 BasicConfigurationPublisher.cpp
+ *
+ */
+
+#include <csignal>
+#include <thread>
+
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
+#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
+#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
+#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
+#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>
+#include <fastdds/rtps/transport/UDPv6TransportDescriptor.h>
+#include <fastrtps/attributes/ParticipantAttributes.h>
+#include <fastrtps/attributes/PublisherAttributes.h>
+
+#include "BasicConfigurationPublisher.h"
+
+using namespace eprosima::fastdds::dds;
+using namespace eprosima::fastdds::rtps;
+
+std::atomic<bool> HelloWorldPublisher::stop_(false);
+std::mutex HelloWorldPublisher::PubListener::wait_matched_cv_mtx_;
+std::condition_variable HelloWorldPublisher::PubListener::wait_matched_cv_;
+
+HelloWorldPublisher::HelloWorldPublisher()
+    : participant_(nullptr)
+    , publisher_(nullptr)
+    , topic_(nullptr)
+    , writer_(nullptr)
+    , type_(new HelloWorldPubSubType())
+{
+}
+
+bool HelloWorldPublisher::is_stopped()
+{
+    return stop_;
+}
+
+void HelloWorldPublisher::stop()
+{
+    stop_ = true;
+    PubListener::awake();
+}
+
+bool HelloWorldPublisher::init(
+        const std::string& topic_name,
+        uint32_t domain,
+        uint32_t num_wait_matched,
+        bool async,
+        TransportType transport,
+        bool reliable,
+        bool transient)
+{
+    hello_.index(0);
+    memcpy(hello_.message().data(), "HelloWorld ", strlen("HelloWorld") + 1);
+
+    DomainParticipantQos pqos;
+    pqos.name("Participant_pub");
+    listener_.set_num_wait_matched(num_wait_matched);
+
+    // TRANSPORT CONFIG
+    // If it is set, not use default and set the transport
+    if (transport != DEFAULT)
+    {
+        pqos.transport().use_builtin_transports = false;
+
+        if (transport == UDPv4)
+        {
+            auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
+            pqos.transport().user_transports.push_back(udp_transport);
+        }
+        else if (transport == UDPv6)
+        {
+            auto udp_transport = std::make_shared<UDPv6TransportDescriptor>();
+            pqos.transport().user_transports.push_back(udp_transport);
+        }
+    }
+
+    // CREATE THE PARTICIPANT
+    participant_ = DomainParticipantFactory::get_instance()->create_participant(domain, pqos);
+
+    if (participant_ == nullptr)
+    {
+        return false;
+    }
+
+    // REGISTER THE TYPE
+    type_.register_type(participant_);
+
+    // CREATE THE PUBLISHER
+    publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);
+
+    if (publisher_ == nullptr)
+    {
+        return false;
+    }
+
+    // CREATE THE TOPIC
+    topic_ = participant_->create_topic(topic_name, "HelloWorld", TOPIC_QOS_DEFAULT);
+
+    if (topic_ == nullptr)
+    {
+        return false;
+    }
+
+    // CREATE THE WRITER
+    DataWriterQos wqos = DATAWRITER_QOS_DEFAULT;
+
+    // Data sharing set in endpoint. If it is not default, set it to off
+    if (transport != DEFAULT)
+    {
+        wqos.data_sharing().off();
+    }
+    else
+    {
+        wqos.data_sharing().automatic();  // default
+    }
+
+    if (async)
+    {
+        wqos.publish_mode().kind = ASYNCHRONOUS_PUBLISH_MODE;
+    }
+    else
+    {
+        wqos.publish_mode().kind = SYNCHRONOUS_PUBLISH_MODE;    // default
+    }
+
+    if (reliable)
+    {
+        wqos.reliability().kind = RELIABLE_RELIABILITY_QOS;
+        wqos.history().kind = KEEP_ALL_HISTORY_QOS;
+    }
+    else
+    {
+        wqos.reliability().kind = BEST_EFFORT_RELIABILITY_QOS;  // default in this example (although default value for
+                                                                // writters' qos actually is RELIABLE)
+    }
+
+    if (transient)
+    {
+        wqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;
+        wqos.history().kind = KEEP_ALL_HISTORY_QOS;     // store previously sent samples so they can be resent to newly
+                                                        // matched DataReaders
+    }
+    else
+    {
+        wqos.durability().kind = VOLATILE_DURABILITY_QOS;   // default in this example (although default value for
+                                                            // writters' qos actually is TRANSIENT_LOCAL)
+    }
+
+    writer_ = publisher_->create_datawriter(topic_, wqos, &listener_);
+
+    if (writer_ == nullptr)
+    {
+        return false;
+    }
+    return true;
+}
+
+HelloWorldPublisher::~HelloWorldPublisher()
+{
+    if (participant_ != nullptr)
+    {
+        if (publisher_ != nullptr)
+        {
+            if (writer_ != nullptr)
+            {
+                publisher_->delete_datawriter(writer_);
+            }
+            participant_->delete_publisher(publisher_);
+        }
+        if (topic_ != nullptr)
+        {
+            participant_->delete_topic(topic_);
+        }
+        DomainParticipantFactory::get_instance()->delete_participant(participant_);
+    }
+}
+
+void HelloWorldPublisher::PubListener::on_publication_matched(
+        eprosima::fastdds::dds::DataWriter*,
+        const eprosima::fastdds::dds::PublicationMatchedStatus& info)
+{
+    if (info.current_count_change == 1)
+    {
+        matched_ = info.current_count;
+        std::cout << "Publisher matched." << std::endl;
+        if (enough_matched())
+        {
+            awake();
+        }
+    }
+    else if (info.current_count_change == -1)
+    {
+        matched_ = info.current_count;
+        std::cout << "Publisher unmatched." << std::endl;
+    }
+    else
+    {
+        std::cout << info.current_count_change
+                  << " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
+    }
+}
+
+void HelloWorldPublisher::PubListener::set_num_wait_matched(
+        uint32_t num_wait_matched)
+{
+    num_wait_matched_ = num_wait_matched;
+}
+
+bool HelloWorldPublisher::PubListener::enough_matched()
+{
+    return matched_ >= num_wait_matched_;
+}
+
+void HelloWorldPublisher::PubListener::wait()
+{
+    std::unique_lock<std::mutex> lck(wait_matched_cv_mtx_);
+    wait_matched_cv_.wait(lck, [this]
+            {
+                return enough_matched() || is_stopped();
+            });
+}
+
+void HelloWorldPublisher::PubListener::awake()
+{
+    wait_matched_cv_.notify_all();
+}
+
+void HelloWorldPublisher::runThread(
+        uint32_t samples,
+        uint32_t sleep)
+{
+    while (!is_stopped() && (samples == 0 || hello_.index() < samples))
+    {
+        if (listener_.enough_matched())
+        {
+            publish();
+            std::cout << "Message: " << hello_.message().data() << " with index: " << hello_.index()
+                      << " SENT" << std::endl;
+            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
+        }
+        else
+        {
+            listener_.wait();
+        }
+    }
+}
+
+void HelloWorldPublisher::run(
+        uint32_t samples,
+        uint32_t sleep)
+{
+    stop_ = false;
+    std::thread thread(&HelloWorldPublisher::runThread, this, samples, sleep);
+    if (samples == 0)
+    {
+        std::cout << "Publisher running. Please press CTRL+C to stop the Publisher at any time." << std::endl;
+    }
+    else
+    {
+        std::cout << "Publisher running " << samples <<
+            " samples. Please press CTRL+C to stop the Publisher at any time." << std::endl;
+    }
+    signal(SIGINT, [](int signum)
+            {
+                std::cout << "SIGINT received, stopping Publisher execution." << std::endl;
+                static_cast<void>(signum); HelloWorldPublisher::stop();
+            });
+    thread.join();
+}
+
+void HelloWorldPublisher::publish()
+{
+    hello_.index(hello_.index() + 1);
+    writer_->write(&hello_);
+}