subscriber.cpp

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#include <iostream>
#include <string>
#include "ccpp_dds_dcps.h"
#include "opensplice_dds_comm/check_status.h"
#include "opensplice_dds_comm/ccpp_GSDFPacket.h"
#include "opensplice_dds_comm/example_main.h"
#include "opensplice_dds_comm/GSDFPacket_listener.h"

#include "opensplice_dds_comm/subscriber.h"

using namespace DDS;

namespace opensplice_dds_comm{
    
    Subscriber::Subscriber(const std::string& topic_name)
    {
        domain = 0;
        topic_name_ = topic_name.data();
        GSDFPacketTypeName = NULL;
    
        //Create a DomainParticipantFactory and a DomainParticipant (using Default QoS settings)
        dpf = DomainParticipantFactory::get_instance();
        checkHandle(dpf.in(), "DDS::DomainParticipantFactory::get_instance");
        participant = dpf->create_participant (
            domain,
            PARTICIPANT_QOS_DEFAULT,
            NULL,
            STATUS_MASK_NONE);
        checkHandle(participant, "DDS::DomainParticipantFactory::create_participant");
        
        //Register the required datatype for GSDFPacket
        GSDFPacketTS = new GSDFPacketTypeSupport();
        checkHandle(GSDFPacketTS.in(), "new GSDFPacketTypeSupport");
        GSDFPacketTypeName = GSDFPacketTS->get_type_name();
        status = GSDFPacketTS->register_type(
            participant.in(),
            GSDFPacketTypeName);
        checkStatus(status, "NetworkPartitionsData::GSDFPacketTypeSupport::register_type");

        //Set the ReliabilityQosPolicy to BEST_EFFORT_RELIABILITY
        status = participant->get_default_topic_qos(topic_qos);
        checkStatus(status, "DDS::DomainParticipant::get_default_topic_qos");
        
        topic_qos.reliability.kind = BEST_EFFORT_RELIABILITY_QOS;
        //topic_qos.reliability.kind = RELIABLE_RELIABILITY_QOS;
        topic_qos.durability_service.history_kind = KEEP_LAST_HISTORY_QOS;
        //topic_qos.durability_service.history_depth = 4000;

        //Make the tailored QoS the new default
        status = participant->set_default_topic_qos(topic_qos);
        checkStatus(status, "DDS::DomainParticipant::set_default_topic_qos");

        //Use the changed policy when defining the GSDFPacket topic
        GSDFPacketTopic = participant->create_topic(
            topic_name_,
            GSDFPacketTypeName,
            topic_qos,
            NULL,
            STATUS_MASK_NONE);
        checkHandle(GSDFPacketTopic.in(), "DDS::DomainParticipant::create_topic (GSDFPacket)");

        //Adapt the default SubscriberQos to read from the "micros_swarm_framework_partion" Partition
        status = participant->get_default_subscriber_qos (sub_qos);
        checkStatus(status, "DDS::DomainParticipant::get_default_subscriber_qos");
        sub_qos.partition.name.length(1);
        std::string partition_name="micros_swarm_framework_partion";
        sub_qos.partition.name[0] = partition_name.data();

        //Create a Subscriber for the MessageBoard application
        subscriber_ = participant->create_subscriber(sub_qos, NULL, STATUS_MASK_NONE);
        checkHandle(subscriber_.in(), "DDS::DomainParticipant::create_subscriber");
        
        status = subscriber_->get_default_datareader_qos(dr_qos);
        dr_qos.history.kind = KEEP_ALL_HISTORY_QOS;
        //dr_qos.history.kind = KEEP_LAST_HISTORY_QOS;
        dr_qos.destination_order.kind = BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS;
        //dr_qos.durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
        dr_qos.durability.kind = VOLATILE_DURABILITY_QOS;

        //Create a DataReader for the NamedMessage Topic (using the appropriate QoS)
        parentReader = subscriber_->create_datareader(
            GSDFPacketTopic.in(),
            dr_qos,
            NULL,
            STATUS_MASK_NONE);
        checkHandle(parentReader, "DDS::Subscriber::create_datareader");

        //Narrow the abstract parent into its typed representative
        GSDFPacketDR = GSDFPacketDataReader::_narrow(parentReader);
        checkHandle(GSDFPacketDR.in(), "NetworkPartitionsData::GSDFPacketDataReader::_narrow");
    }
    
    void Subscriber::subscribe(void (*callBack)(const GSDFPacket& packet))
    {
        GSDFPacketListener *myListener = new GSDFPacketListener();
        myListener->callBack_ = callBack;  //set callBack function
        //myListener->callBack_ = boost::bind(callBack, _1);  //set callBack function
        //myListener->GSDFPacketDR_ = GSDFPacketDataReader::_narrow(GSDFPacketDR.in());
        //checkHandle(myListener->GSDFPacketDR_.in(), "GSDFPacketDataReader::_narrow");

        //DDS::StatusMask mask = DDS::DATA_AVAILABLE_STATUS | DDS::REQUESTED_DEADLINE_MISSED_STATUS;
        DDS::StatusMask mask = DDS::DATA_AVAILABLE_STATUS;
        //myListener->GSDFPacketDR_->set_listener(myListener, mask);
        GSDFPacketDR->set_listener(myListener, mask);
    }
    
    void Subscriber::subscribe(boost::function<void(const GSDFPacket&)> callBack)
    {
        GSDFPacketListener *myListener = new GSDFPacketListener();
        myListener->callBack_ = callBack;  //set callBack function
        //myListener->GSDFPacketDR_ = GSDFPacketDataReader::_narrow(GSDFPacketDR.in());
        //checkHandle(myListener->GSDFPacketDR_.in(), "GSDFPacketDataReader::_narrow");

        //DDS::StatusMask mask = DDS::DATA_AVAILABLE_STATUS | DDS::REQUESTED_DEADLINE_MISSED_STATUS;
        DDS::StatusMask mask = DDS::DATA_AVAILABLE_STATUS;
        //myListener->GSDFPacketDR_->set_listener(myListener, mask);
        GSDFPacketDR->set_listener(myListener, mask);
    }
    
    Subscriber::~Subscriber()
    {
        //Remove the DataReade
        status = subscriber_->delete_datareader(GSDFPacketDR.in());
        checkStatus(status, "DDS::Subscriber::delete_datareader");

        //Remove the Subscriber
        status = participant->delete_subscriber(subscriber_.in());
        checkStatus(status, "DDS::DomainParticipant::delete_subscriber");

        //Remove the Topic
        status = participant->delete_topic(GSDFPacketTopic.in());
        checkStatus(status, "DDS::DomainParticipant::delete_topic (GSDFPacketTopic)");

        //De-allocate the type-names
        string_free(GSDFPacketTypeName);

        //Remove the DomainParticipant
        status = dpf->delete_participant(participant.in());
        checkStatus(status, "DDS::DomainParticipantFactory::delete_participant");
        
        //cout << "Completed subscriber" << endl;
    }
};