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89 lines
3.0 KiB
C++
89 lines
3.0 KiB
C++
// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*!
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* @file PublisherApp.hpp
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* This header file contains the declaration of the publisher functions.
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*
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* This file was generated by the tool fastddsgen.
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*/
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#ifndef FAST_DDS_GENERATED__PUBLISHERAPP_HPP
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#define FAST_DDS_GENERATED__PUBLISHERAPP_HPP
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#include <condition_variable>
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#include <fastdds/dds/domain/DomainParticipant.hpp>
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#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
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#include <fastdds/dds/publisher/DataWriterListener.hpp>
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#include <fastdds/dds/topic/TypeSupport.hpp>
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#include "mqtt/async_client.h"
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class PublisherApp : public eprosima::fastdds::dds::DataWriterListener
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{
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public:
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PublisherApp(
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const int& domain_id);
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~PublisherApp();
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//! Publisher matched method
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void on_publication_matched(
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eprosima::fastdds::dds::DataWriter* writer,
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const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
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//! Run publisher
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void run(std::shared_ptr<mqtt::async_client> dev);
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//! Trigger the end of execution
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void stop();
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bool bar_ctrl(const std::map<std::string, std::string>& ctrl);
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bool light_ctrl(const std::map<std::string, std::string>& ctrl);
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bool print_receipt(const std::map<std::string, std::string>& msg);
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private:
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//! Return the current state of execution
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bool is_stopped();
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//! Publish a sample
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bool publish();
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std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
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eprosima::fastdds::dds::DomainParticipant* participant_;
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eprosima::fastdds::dds::Publisher* publisher_;
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eprosima::fastdds::dds::Topic* bar_topic_;
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eprosima::fastdds::dds::DataWriter* bar_writer_;
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eprosima::fastdds::dds::TypeSupport bar_type_;
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eprosima::fastdds::dds::Topic* light_topic_;
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eprosima::fastdds::dds::DataWriter* light_writer_;
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eprosima::fastdds::dds::TypeSupport light_type_;
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eprosima::fastdds::dds::Topic* summary_topic_;
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eprosima::fastdds::dds::DataWriter* summary_writer_;
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eprosima::fastdds::dds::TypeSupport summary_type_;
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eprosima::fastdds::dds::Topic* print_topic_;
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eprosima::fastdds::dds::DataWriter* print_writer_;
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eprosima::fastdds::dds::TypeSupport print_type_;
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std::condition_variable cv_;
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int32_t matched_;
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std::mutex mutex_;
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const uint32_t period_ms_ = 100; // in ms
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uint16_t samples_sent_;
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std::atomic<bool> stop_;
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};
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#endif // FAST_DDS_GENERATED__PUBLISHERAPP_HPP
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