int main()
{
ParticipantAttributes participant_attributes;
Participant* participant = Domain::createParticipant(participant_attributes);
if(participant == nullptr)
return 1;
HelloWorldType type;
Domain::registerType(participant,&type);
PubListener listener;
//CREATE THE PUBLISHER
PublisherAttributes publisher_attributes;
publisher_attributes.topic.topicKind = NO_KEY;
publisher_attributes.topic.topicDataType = type.getName();
publisher_attributes.topic.topicName = "HelloWorldTopic";
publisher_attributes.qos.m_reliability.kind = RELIABLE_RELIABILITY_QOS;
Publisher* publisher = Domain::createPublisher(participant, publisher_attributes, &listener);
if(publisher == nullptr)
{
Domain::removeParticipant(participant);
return 1;
}
while(listener.matched_ == 0)
eClock::my_sleep(250);
HelloWorld data;
data.index(1);
data.message("HelloWorld");
while(1)
{
publisher->write((void*)&data);
if(data.index() == 4)
data.index() = 1;
else
++data.index();
eClock::my_sleep(250);
};
Domain::removeParticipant(participant);
return 0;
}
void PubSubKeepAllTransientReader::read(uint16_t lastvalue, const std::chrono::seconds &seconds)
{
std::unique_lock<std::mutex> lock(mutex_);
lastvalue_ = lastvalue;
while(!msgs_.empty() && lastvalue_ == *msgs_.rbegin())
{
if(data_received_)
{
HelloWorld hello;
SampleInfo_t info;
if(subscriber_->takeNextData((void*)&hello, &info))
{
if(info.sampleKind == ALIVE)
{
newNumber(hello.index());
}
}
--data_received_;
}
else
{
if(cv_.wait_for(lock, seconds) == std::cv_status::timeout)
break;
}
}
}
void ReqRepHelloWorldReplier::newNumber(SampleIdentity sample_identity, uint16_t number)
{
waitDiscovery();
WriteParams wparams;
HelloWorld hello;
hello.index(number);
hello.message("GoodBye");
wparams.related_sample_identity(sample_identity);
ASSERT_EQ(reply_publisher_->write((void*)&hello, wparams), true);
}
void PubSubKeepAllTransientWriter::send(const std::list<uint16_t> &msgs)
{
waitDiscovery();
for(std::list<uint16_t>::const_iterator it = msgs.begin(); it != msgs.end(); ++it)
{
HelloWorld hello;
hello.index(*it);
hello.message("HelloWorld");
publisher_->write((void*)&hello);
}
}
void ReqRepHelloWorldRequester::send(const uint16_t number)
{
waitDiscovery();
WriteParams wparams;
HelloWorld hello;
hello.index(number);
hello.message("HelloWorld");
std::unique_lock<std::mutex> lock(mutex_);
ASSERT_EQ(request_publisher_->write((void*)&hello, wparams), true);
related_sample_identity_ = wparams.sample_identity();
current_number_ = number;
}
void PubSubHelloWorldReader::Listener::onNewDataMessage(Subscriber *sub)
{
ASSERT_NE(sub, nullptr);
HelloWorld hello;
SampleInfo_t info;
if(sub->takeNextData((void*)&hello, &info))
{
if(info.sampleKind == ALIVE)
{
reader_.newNumber(hello.index());
}
}
}
void ReqRepHelloWorldRequester::ReplyListener::onNewDataMessage(Subscriber *sub)
{
ASSERT_NE(sub, nullptr);
HelloWorld hello;
SampleInfo_t info;
if(sub->takeNextData((void*)&hello, &info))
{
if(info.sampleKind == ALIVE)
{
ASSERT_EQ(hello.message().compare("GoodBye"), 0);
requester_.newNumber(info.related_sample_identity, hello.index());
}
}
}