AuseftDDSPlugins/plugins/AQTPackageMachinePlug/hello_world_publisher.cxx

#include "hello_world_publisher.hpp"
#include <iostream>
#include <thread>

HelloWorldPublisher::PubListener::PubListener()
    : matched_(0)
{
}

HelloWorldPublisher::PubListener::~PubListener()
{
}

void HelloWorldPublisher::PubListener::on_publication_matched(
    DataWriter*,
    const PublicationMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        matched_ = info.total_count;
        std::cout << "Publisher matched." << std::endl;
    }
    else if (info.current_count_change == -1)
    {
        matched_ = info.total_count;
        std::cout << "Publisher unmatched." << std::endl;
    }
    else
    {
        std::cout << info.current_count_change
                  << " is not a valid value for PublicationMatchedStatus current count change." << std::endl;
    }
}

HelloWorldPublisher::HelloWorldPublisher()
    : participant_(nullptr)
    , publisher_(nullptr)
    , topic_(nullptr)
    , writer_(nullptr)
    , type_(new HelloWorldPubSubType())
{
}

HelloWorldPublisher::~HelloWorldPublisher()
{
    if (writer_ != nullptr)
    {
        publisher_->delete_datawriter(writer_);
    }
    if (publisher_ != nullptr)
    {
        participant_->delete_publisher(publisher_);
    }
    if (topic_ != nullptr)
    {
        participant_->delete_topic(topic_);
    }
    DomainParticipantFactory::get_instance()->delete_participant(participant_);
}

bool HelloWorldPublisher::init()
{
    hello_.index(0);
    hello_.message("HelloWorld");

    DomainParticipantQos participantQos;
    participantQos.name("Participant_publisher");
    participant_ = DomainParticipantFactory::get_instance()->create_participant(0, participantQos);

    if (participant_ == nullptr)
    {
        return false;
    }

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

    // Create the publications Topic
    topic_ = participant_->create_topic("HelloWorldTopic", "HelloWorld", TOPIC_QOS_DEFAULT);

    if (topic_ == nullptr)
    {
        return false;
    }

    // Create the Publisher
    publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);

    if (publisher_ == nullptr)
    {
        return false;
    }

    // Create the DataWriter
    writer_ = publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, &listener_);

    if (writer_ == nullptr)
    {
        return false;
    }
    return true;
}

bool HelloWorldPublisher::publish()
{
    if (listener_.matched_ > 0)
    {
        hello_.index(hello_.index() + 1);
        writer_->write(&hello_);
        return true;
    }
    return false;
}

std::string HelloWorldPublisher::getCurrentMessage() const
{
    return hello_.message();
}

int HelloWorldPublisher::getCurrentIndex() const
{
    return hello_.index();
}