Queue/gatectrl/Publisher.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 Publisher.cxx
 * This file contains the implementation of the publisher functions.
 *
 * This file was generated by the tool fastddsgen.
 */

#include "Publisher.hpp"

#include <condition_variable>
#include <csignal>
#include <stdexcept>
#include <thread>

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/log/Log.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 "SystemPubSubTypes.hpp"

#include "msg.hpp"
#include "MsgHandler.hpp"

using namespace eprosima::fastdds::dds;

PublisherApp::PublisherApp(
        const int& domain_id)
    : factory_(nullptr)
    , participant_(nullptr)
    , publisher_(nullptr)
    , bar_topic_(nullptr)
    , bar_writer_(nullptr)
    , bar_type_(new WeighingSystem::BarUpdatePubSubType())
    , light_topic_(nullptr)
    , light_writer_(nullptr)
    , light_type_(new WeighingSystem::LightsUpdatePubSubType())
    , infrared_topic_(nullptr)
    , infrared_writer_(nullptr)
    , infrared_type_(new WeighingSystem::LightsUpdatePubSubType())
    , matched_(0)
    , samples_sent_(0)
    , stop_(false)
{
    //

    // Create the participant
    DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
    pqos.name("WeighingSystem_pub_participant");
    pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
    pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
    factory_ = DomainParticipantFactory::get_shared_instance();
    participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
    if (participant_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem Participant initialization failed");
    }

    // Register the type
    bar_type_.register_type(participant_);
    light_type_.register_type(participant_);
    infrared_type_.register_type(participant_);

    // Create the publisher
    PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
    participant_->get_default_publisher_qos(pub_qos);
    publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
    if (publisher_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem Publisher initialization failed");
    }

    // Create the topic
    TopicQos topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    bar_topic_ = participant_->create_topic("BarUpdate", bar_type_.get_type_name(), topic_qos);
    if (bar_topic_ == nullptr)
    {
        throw std::runtime_error("BarUpdate Topic initialization failed");
    }

    // Create the data writer
    DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    bar_writer_ = publisher_->create_datawriter(bar_topic_, writer_qos, this, StatusMask::all());
    if (bar_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::BarUpdate DataWriter initialization failed");
    }

    // Create the topic
    topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    light_topic_ = participant_->create_topic("LightsUpdate", light_type_.get_type_name(), topic_qos);
    if (light_topic_ == nullptr)
    {
        throw std::runtime_error("LightsUpdate Topic initialization failed");
    }

    // Create the data writer
    writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    light_writer_ = publisher_->create_datawriter(light_topic_, writer_qos, this, StatusMask::all());
    if (light_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::LightsUpdate DataWriter initialization failed");
    }

    // Create the topic
    topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    infrared_topic_ = participant_->create_topic("InfraredUpdate", infrared_type_.get_type_name(), topic_qos);
    if (infrared_topic_ == nullptr)
    {
        throw std::runtime_error("InfraredUpdate Topic initialization failed");
    }

    // Create the data writer
    writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    infrared_writer_ = publisher_->create_datawriter(infrared_topic_, writer_qos, this, StatusMask::all());
    if (infrared_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::InfraredUpdate DataWriter initialization failed");
    }
}

PublisherApp::~PublisherApp()
{
    if (nullptr != participant_)
    {
        // Delete DDS entities contained within the DomainParticipant
        participant_->delete_contained_entities();

        // Delete DomainParticipant
        factory_->delete_participant(participant_);
    }
}

void PublisherApp::on_publication_matched(
        DataWriter* writer,
        const PublicationMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        {
            std::lock_guard<std::mutex> lock(mutex_);
            matched_ = info.current_count;
        }
        std::cout << writer->get_topic()->get_name() << " Publisher matched." << std::endl;
        cv_.notify_one();
    }
    else if (info.current_count_change == -1)
    {
        {
            std::lock_guard<std::mutex> lock(mutex_);
            matched_ = info.current_count;
        }
        std::cout << writer->get_topic()->get_name() << " Publisher unmatched." << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
                  << " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
    }
}

void PublisherApp::run(std::shared_ptr<MsgHandler> handler)
{
    while (!is_stopped())
    {
        if(handler->isOpen() == true)
        {
            if(handler->HandleDeviceMsg())
            {
                // if ((handler->old_bar_state.FrontResistanceSignal != handler->new_bar_state.FrontResistanceSignal) ||
                //     (handler->old_bar_state.BackResistanceSignal != handler->new_bar_state.BackResistanceSignal))
                // {
                    WeighingSystem::InfraredUpdate info;
                    info.FrontResistanceSignal() = handler->new_bar_state.FrontResistanceSignal;
                    info.BackResistanceSignal() = handler->new_bar_state.BackResistanceSignal;
                    handler->old_bar_state.FrontResistanceSignal = handler->new_bar_state.FrontResistanceSignal;
                    handler->old_bar_state.BackResistanceSignal = handler->new_bar_state.BackResistanceSignal;

                    infrared_writer_->write(&info);
                // }
            }
        }

        if ((handler->old_bar_state.FrontBarState != handler->new_bar_state.FrontBarState) || \
            (handler->old_bar_state.BackBarState != handler->new_bar_state.BackBarState)
           )
        {
            WeighingSystem::BarUpdate info;
            info.FrontBarState() = handler->new_bar_state.FrontBarState;
            info.BackBarState() = handler->new_bar_state.BackBarState;
            handler->old_bar_state.FrontBarState = handler->new_bar_state.FrontBarState;
            handler->old_bar_state.BackBarState = handler->new_bar_state.BackBarState;

            bar_writer_->write(&info);
        }

        if ((handler->old_bar_state.FrontLEDState != handler->new_bar_state.FrontLEDState) || \
            (handler->old_bar_state.BackLEDState != handler->new_bar_state.BackLEDState)
           )
        {
            WeighingSystem::LightsUpdate info;
            info.FrontLEDState() = handler->new_bar_state.FrontLEDState;
            info.BackLEDState() = handler->new_bar_state.BackLEDState;
            handler->old_bar_state.FrontLEDState = handler->new_bar_state.FrontLEDState;
            handler->old_bar_state.BackLEDState = handler->new_bar_state.BackLEDState;

            light_writer_->write(&info);
        }

        // Wait for period or stop event
        std::unique_lock<std::mutex> period_lock(mutex_);
        cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()
                {
                    return is_stopped();
                });
    }
}


bool PublisherApp::publish()
{
    bool ret = false;
    // Wait for the data endpoints discovery
    std::unique_lock<std::mutex> matched_lock(mutex_);
    cv_.wait(matched_lock, [&]()
            {
                // at least one has been discovered
                return ((matched_ > 0) || is_stopped());
            });

    if (!is_stopped())
    {
        /* Initialize your structure here */
        WeighingSystem::BarUpdate sample_;
        ret = (RETCODE_OK == bar_writer_->write(&sample_));
    }
    return ret;
}

bool PublisherApp::is_stopped()
{
    return stop_.load();
}

void PublisherApp::stop()
{
    stop_.store(true);
    cv_.notify_one();
}