Weight/readcard/Subscriber.cxx

#include "Subscriber.hpp"

#include <condition_variable>
#include <stdexcept>

#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>
#include <fastdds/dds/subscriber/Subscriber.hpp>

#include "WeighingDDSTypePubSubTypes.hpp"

#include "msg.hpp"
#include "DEBUG.hpp"

using namespace eprosima::fastdds::dds;

SubscriberApp::SubscriberApp(
        const int& domain_id)
    : factory_(nullptr)
    , participant_(nullptr)
    , subscriber_(nullptr)
    , topic_(nullptr)
    , reader_(nullptr)
    , type_(new WeighingSystem::ReadCardReqPubSubType())
    , samples_received_(0)
    , stop_(false)
{
    // Create the participant
    DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
    pqos.name("ReadCard_sub_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("InternalSystem::ReadCardReq Participant initialization failed");
    }

    // Register the type
    type_.register_type(participant_);

    // Create the subscriber
    SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
    participant_->get_default_subscriber_qos(sub_qos);
    subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());
    if (subscriber_ == nullptr)
    {
        throw std::runtime_error("InternalSystem::ReadCardReq Subscriber initialization failed");
    }

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

    // Create the reader
    DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
    subscriber_->get_default_datareader_qos(reader_qos);
    reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    reader_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    reader_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    reader_ = subscriber_->create_datareader(topic_, reader_qos, this, StatusMask::all());
    if (reader_ == nullptr)
    {
        throw std::runtime_error("InternalSystem::ReadCardReq DataReader initialization failed");
    }
}

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

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

void SubscriberApp::on_subscription_matched(
        DataReader* reader,
        const SubscriptionMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        DEBUG(reader->get_topicdescription()->get_name() << " Subscriber matched.");
    }
    else if (info.current_count_change == -1)
    {
        DEBUG(reader->get_topicdescription()->get_name() << " Subscriber unmatched.");
    }
    else
    {
        DEBUG(info.current_count_change << " is not a valid value for SubscriptionMatchedStatus current count change");
    }
}

void SubscriberApp::on_data_available(
        DataReader* reader)
{
    SampleInfo info;
    std::string topic_name = reader->get_topicdescription()->get_name();
    DEBUG(topic_name << " Topic receviced.");

    if (topic_name == "ReadCardReq")
    {
        WeighingSystem::ReadCardReq sample_;
        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
        {
            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
            {
                {
                    std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_);
                    MsgData::ReadCardReq_queue_.push(std::move(sample_));
                    lock.unlock();
                }
            }
        }
    }
}

void SubscriberApp::run(std::shared_ptr<MsgHandler> handler)
{
    while (!is_stopped())
    {
        std::unique_lock<std::mutex> lock(MsgData::queue_cv_mtx_, std::try_to_lock);
        if (lock.owns_lock())
        {
            if (!MsgData::ReadCardReq_queue_.empty())
            {
                WeighingSystem::ReadCardReq req = std::move(MsgData::ReadCardReq_queue_.front());
                MsgData::ReadCardReq_queue_.pop();
                lock.unlock();
                handler->HandleDdsMsg(req.msg(), req.index());
            }
            else
            {
                lock.unlock();
            }
        }

        {
            std::unique_lock<std::mutex> period_lock(terminate_cv_mtx_);
            terminate_cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this](){return is_stopped();});
        }
    }
}

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

void SubscriberApp::stop()
{
    stop_.store(true);
    terminate_cv_.notify_all();
}