AuseftDDSPlugins/plugins/AQTPackageMachinePlug/hello_world_publisher.hpp

#pragma once

#include "HelloWorldPubSubTypes.hpp"
#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>
#include <string>

using namespace eprosima::fastdds::dds;

class HelloWorldPublisher
{
public:
    HelloWorldPublisher();
    virtual ~HelloWorldPublisher();

    bool init();
    bool publish();
    std::string getCurrentMessage() const;
    int getCurrentIndex() const;

private:
    HelloWorld hello_;
    DomainParticipant* participant_;
    Publisher* publisher_;
    Topic* topic_;
    DataWriter* writer_;
    TypeSupport type_;

    class PubListener : public DataWriterListener
    {
    public:
        PubListener();
        ~PubListener() override;
        void on_publication_matched(DataWriter*, const PublicationMatchedStatus& info) override;
        std::atomic_int matched_;
    } listener_;
};