void RTPSWithRegistrationWriter::init()
{
//Create participant
RTPSParticipantAttributes pattr;
pattr.builtin.use_SIMPLE_RTPSParticipantDiscoveryProtocol = true;
pattr.builtin.use_WriterLivelinessProtocol = true;
pattr.builtin.domainId = (uint32_t)boost::interprocess::ipcdetail::get_current_process_id() % 230;
participant_ = RTPSDomain::createParticipant(pattr);
ASSERT_NE(participant_, nullptr);
//Create writerhistory
HistoryAttributes hattr;
hattr.payloadMaxSize = 255;
history_ = new WriterHistory(hattr);
//Create writer
WriterAttributes wattr;
eprosima::fastrtps::WriterQos Wqos;
configWriter(wattr, Wqos);
writer_ = RTPSDomain::createRTPSWriter(participant_, wattr, history_, &listener_);
ASSERT_NE(writer_, nullptr);
eprosima::fastrtps::TopicAttributes tattr;
tattr.topicKind = NO_KEY;
tattr.topicDataType = "string";
configTopic(tattr);
ASSERT_EQ(participant_->registerWriter(writer_, tattr, Wqos), true);
initialized_ = true;
}
int SettingsState::handleKey(int key) {
if (key == FL_F+3) {
Config->toggleContrast();
return(1);
}
if (key == FL_F+4) {
Config->toggleFont();
return(1);
}
if (key == FL_F+5) {
Config->toggleLinecount();
return(1);
}
if (key == FL_F+6) {
if (Config->getPIN().empty()) {
this->enteredNewPIN.clear();
std::string caption = _("Enter PIN");
pinInputState = new PINInputState(Commands, this, caption);
Commands->setNewState(pinInputState);
} else {
std::string emptyStr;
emptyStr.clear();
Config->setPIN(emptyStr);
// Set this as new state to refresh the screen
Commands->setNewState(this);
}
return(1);
}
// write changes to config file
SettingsPersistence configWriter(Config);
std::stringstream configFilename;
configFilename << configWriter.getHomeDir() << "/" << CONFIGFILENAME;
configWriter.write(configFilename.str());
Commands->setNewState(Commands->getTypingState());
return (1);
}
