.. _program_listing_file_include_rmw_fastrtps_shared_cpp_custom_publisher_info.hpp:

Program Listing for File custom_publisher_info.hpp
==================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rmw_fastrtps_shared_cpp_custom_publisher_info.hpp>` (``include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2016-2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RMW_FASTRTPS_SHARED_CPP__CUSTOM_PUBLISHER_INFO_HPP_
   #define RMW_FASTRTPS_SHARED_CPP__CUSTOM_PUBLISHER_INFO_HPP_
   
   #include <mutex>
   #include <set>
   
   #include "fastdds/dds/core/policy/QosPolicies.hpp"
   #include "fastdds/dds/core/status/BaseStatus.hpp"
   #include "fastdds/dds/core/status/DeadlineMissedStatus.hpp"
   #include "fastdds/dds/core/status/IncompatibleQosStatus.hpp"
   #include "fastdds/dds/core/status/PublicationMatchedStatus.hpp"
   #include "fastdds/dds/publisher/DataWriter.hpp"
   #include "fastdds/dds/publisher/DataWriterListener.hpp"
   #include "fastdds/dds/topic/Topic.hpp"
   #include "fastdds/dds/topic/TypeSupport.hpp"
   
   #include "fastdds/rtps/common/Guid.h"
   #include "fastdds/rtps/common/InstanceHandle.h"
   
   #include "rcpputils/thread_safety_annotations.hpp"
   #include "rmw/rmw.h"
   
   #include "rmw_fastrtps_shared_cpp/custom_event_info.hpp"
   
   class RMWPublisherEvent;
   
   class CustomDataWriterListener final : public eprosima::fastdds::dds::DataWriterListener
   {
   public:
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     explicit CustomDataWriterListener(RMWPublisherEvent * pub_event);
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void
     on_publication_matched(
       eprosima::fastdds::dds::DataWriter * writer,
       const eprosima::fastdds::dds::PublicationMatchedStatus & status) override;
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void
     on_offered_deadline_missed(
       eprosima::fastdds::dds::DataWriter * writer,
       const eprosima::fastdds::dds::OfferedDeadlineMissedStatus & status) override;
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void
     on_liveliness_lost(
       eprosima::fastdds::dds::DataWriter * writer,
       const eprosima::fastdds::dds::LivelinessLostStatus & status) override;
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void
     on_offered_incompatible_qos(
       eprosima::fastdds::dds::DataWriter *,
       const eprosima::fastdds::dds::OfferedIncompatibleQosStatus & status) override;
   
   private:
     RMWPublisherEvent * publisher_event_;
   };
   
   typedef struct CustomPublisherInfo : public CustomEventInfo
   {
     virtual ~CustomPublisherInfo() = default;
   
     eprosima::fastdds::dds::DataWriter * data_writer_{nullptr};
     RMWPublisherEvent * publisher_event_{nullptr};
     CustomDataWriterListener * data_writer_listener_{nullptr};
     eprosima::fastdds::dds::TypeSupport type_support_;
     const void * type_support_impl_{nullptr};
     rmw_gid_t publisher_gid{};
     const char * typesupport_identifier_{nullptr};
   
     eprosima::fastdds::dds::Topic * topic_{nullptr};
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     EventListenerInterface *
     get_listener() const final;
   } CustomPublisherInfo;
   
   class RMWPublisherEvent final : public EventListenerInterface
   {
   public:
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     explicit RMWPublisherEvent(CustomPublisherInfo * info);
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     eprosima::fastdds::dds::StatusCondition & get_statuscondition() const override;
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     bool take_event(
       rmw_event_type_t event_type,
       void * event_info) override;
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void set_on_new_event_callback(
       rmw_event_type_t event_type,
       const void * user_data,
       rmw_event_callback_t callback) override;
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void update_inconsistent_topic(uint32_t total_count, uint32_t total_count_change) override;
   
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void track_unique_subscription(eprosima::fastrtps::rtps::GUID_t guid);
   
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void untrack_unique_subscription(eprosima::fastrtps::rtps::GUID_t guid);
   
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     size_t subscription_count() const;
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void update_deadline(uint32_t total_count, uint32_t total_count_change);
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void update_liveliness_lost(uint32_t total_count, uint32_t total_count_change);
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void update_offered_incompatible_qos(
       eprosima::fastdds::dds::QosPolicyId_t last_policy_id,
       uint32_t total_count, uint32_t total_count_change);
   
     RMW_FASTRTPS_SHARED_CPP_PUBLIC
     void update_matched(
       int32_t total_count,
       int32_t total_count_change,
       int32_t current_count,
       int32_t current_count_change);
   
   private:
     CustomPublisherInfo * publisher_info_ = nullptr;
   
     std::set<eprosima::fastrtps::rtps::GUID_t> subscriptions_
     RCPPUTILS_TSA_GUARDED_BY(subscriptions_mutex_);
   
     mutable std::mutex subscriptions_mutex_;
   
     bool deadline_changed_
     RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
   
     eprosima::fastdds::dds::OfferedDeadlineMissedStatus offered_deadline_missed_status_
     RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
   
     bool liveliness_changed_
     RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
   
     eprosima::fastdds::dds::LivelinessLostStatus liveliness_lost_status_
     RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
   
     bool incompatible_qos_changed_
     RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
   
     eprosima::fastdds::dds::OfferedIncompatibleQosStatus incompatible_qos_status_
     RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
   
     bool matched_changes_
     RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
   
     eprosima::fastdds::dds::PublicationMatchedStatus matched_status_
     RCPPUTILS_TSA_GUARDED_BY(on_new_event_m_);
   
     void trigger_event(rmw_event_type_t event_type);
   };
   
   #endif  // RMW_FASTRTPS_SHARED_CPP__CUSTOM_PUBLISHER_INFO_HPP_