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57 lines
1.6 KiB
C++
57 lines
1.6 KiB
C++
#ifndef FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
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#define FAST_DDS_GENERATED__SUBSCRIBERAPP_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/subscriber/DataReaderListener.hpp>
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#include <fastdds/dds/topic/TypeSupport.hpp>
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#include "WeighingDDSType.hpp"
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#include "MsgHandler.hpp"
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class SubscriberApp : public eprosima::fastdds::dds::DataReaderListener
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{
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public:
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SubscriberApp(
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const int& domain_id);
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virtual ~SubscriberApp();
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//! Subscription callback
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void on_data_available(
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eprosima::fastdds::dds::DataReader* reader) override;
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//! Subscriber matched method
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void on_subscription_matched(
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eprosima::fastdds::dds::DataReader* reader,
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const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;
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//! Run subscriber
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void run(std::shared_ptr<MsgHandler> handler);
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//! Trigger the end of execution
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void stop();
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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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std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
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eprosima::fastdds::dds::DomainParticipant* participant_;
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eprosima::fastdds::dds::Subscriber* subscriber_;
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eprosima::fastdds::dds::Topic* topic_;
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eprosima::fastdds::dds::DataReader* reader_;
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eprosima::fastdds::dds::TypeSupport type_;
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uint16_t samples_received_;
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std::atomic<bool> stop_;
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uint32_t period_ms_ = 100;
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mutable std::mutex terminate_cv_mtx_;
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std::condition_variable terminate_cv_;
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};
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#endif // FAST_DDS_GENERATED__SUBSCRIBERAPP_HPP
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