modularization/src1/common/modulecomm_fastrtps/TopicsSubscriber.cxx

// 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 TopicsSubscriber.cpp
 * This file contains the implementation of the subscriber functions.
 *
 * This file was generated by the tool fastcdrgen.
 */

#include <fastrtps/participant/Participant.h>
#include <fastrtps/attributes/ParticipantAttributes.h>
#include <fastrtps/subscriber/Subscriber.h>
#include <fastrtps/attributes/SubscriberAttributes.h>

#include <fastrtps/Domain.h>

#include <fastcdr/FastBuffer.h>
#include <fastcdr/FastCdr.h>
#include <fastcdr/Cdr.h>

#include <fastrtps/participant/Participant.h>
#include <fastrtps/attributes/ParticipantAttributes.h>
#include <fastrtps/attributes/PublisherAttributes.h>
#include <fastrtps/publisher/Publisher.h>
#include <fastrtps/Domain.h>
#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
#include <fastdds/rtps/transport/UDPv4TransportDescriptor.h>

#include "TopicsSubscriber.h"

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

using namespace eprosima::fastdds::rtps;




#include <QDateTime>

TopicsSubscriber::TopicsSubscriber() : mp_participant(nullptr), mp_subscriber(nullptr) {}

TopicsSubscriber::~TopicsSubscriber() {	Domain::removeParticipant(mp_participant);}

bool TopicsSubscriber::init(const char * strtopic)
{

    strncpy(mstrtopic,strtopic,255);
    // Create RTPSParticipant

    ParticipantAttributes PParam;
    PParam.rtps.setName("Participant_subscriber"); //You can put the name you want

    PParam.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
    PParam.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
    PParam.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
    PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;

    // SharedMem transport configuration
    PParam.rtps.useBuiltinTransports = false;

    auto sm_transport = std::make_shared<SharedMemTransportDescriptor>();
    sm_transport->segment_size(100*1024*1024);
    PParam.rtps.userTransports.push_back(sm_transport);

    // UDP
    auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
    //udp_transport->interfaceWhiteList.push_back("127.0.0.1");
    PParam.rtps.userTransports.push_back(udp_transport);



    mp_participant = Domain::createParticipant(PParam);
    if(mp_participant == nullptr)
    {
        return false;
    }

    //Register the type

    Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));

    // Create Subscriber

    SubscriberAttributes Rparam;
    Rparam.topic.topicKind = NO_KEY;
    Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
    Rparam.topic.topicName = strtopic;//"TopicsPubSubTopic";

    Rparam.topic.historyQos.depth = 30;
    Rparam.topic.resourceLimitsQos.max_samples = 50;
    Rparam.topic.resourceLimitsQos.allocated_samples = 20;

    Rparam.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;


    mp_subscriber = Domain::createSubscriber(mp_participant,Rparam, static_cast<SubscriberListener*>(&m_listener));
    if(mp_subscriber == nullptr)
    {
        return false;
    }
    return true;
}

void TopicsSubscriber::SubListener::onSubscriptionMatched(Subscriber* sub,MatchingInfo& info)
{
    (void)sub;

    if (info.status == MATCHED_MATCHING)
    {
        n_matched++;
        std::cout << "Subscriber matched" << std::endl;
    }
    else
    {
        n_matched--;
        std::cout << "Subscriber unmatched" << std::endl;
    }
}


void TopicsSubscriber::SubListener::setReceivedTopicFunction(ModuleFun xFun)
{
    mFun = xFun;
    mbSetFun = true;
}
void TopicsSubscriber::SubListener::onNewDataMessage(Subscriber* sub)
{
    // Take data
    TopicSample::Message st;
    static int ncount = 0;

    static int nmaxlatancy = 0;

    std::cout<<"new msg"<<std::endl;


//    char * strbuf = new char[1000000];
//    eprosima::fastcdr::FastBuffer pbuf(strbuf,1000000);
//    eprosima::fastcdr::Cdr * pxcdr;//
//    pxcdr = new eprosima::fastcdr::Cdr(pbuf);

//    if(sub->takeNextData(pxcdr, &m_info))
//    {
//        if(m_info.sampleKind == ALIVE)
//        {
//            // Print your structure data here.
//            ++n_msg;
//            std::cout << "Sample received, count=" << n_msg<<std::endl;
//            st.deserialize(*pxcdr);

//            std::cout<<" size is "<<TopicSample::Message::getCdrSerializedSize(st)<<std::endl;
//        }
//    }

//    return;

//    sub->get_first_untaken_info(&m_info);
    std::cout<<"count is "<<sub->getUnreadCount()<<std::endl;

    if(sub->takeNextData(&st, &m_info))
    {
        if(m_info.sampleKind == ALIVE)
        {
            // Print your structure data here.
            ++n_msg;
            ncount++;
            std::cout << "Sample received, count=" << st.counter() <<" total: "<<ncount<<std::endl;
            qint64 timex = QDateTime::currentMSecsSinceEpoch();
            int nlatancy = (timex - st.sendtime());
            if(nlatancy>nmaxlatancy)nmaxlatancy = nlatancy;
            std::cout<<"  latency is "<<nlatancy<<" max: "<<nmaxlatancy<<std::endl;
            std::cout<<" size is "<<st.xdata().size()<<std::endl;
            QDateTime dt = QDateTime::fromMSecsSinceEpoch(st.sendtime());
            if(mbSetFun) mFun((char *)(st.xdata().data()),st.xdata().size(),st.counter(),&dt,st.msgname().data());


        }
    }
}

void TopicsSubscriber::setReceivedTopicFunction(ModuleFun xFun)
{
    m_listener.setReceivedTopicFunction(xFun);
}

void TopicsSubscriber::run()
{
    std::cout << "Waiting for Data, press Enter to stop the Subscriber. "<<std::endl;
    std::cin.ignore();
    std::cout << "Shutting down the Subscriber." << std::endl;
}