Program Listing for File custom_participant_info.hpp
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// 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_PARTICIPANT_INFO_HPP_
#define RMW_FASTRTPS_SHARED_CPP__CUSTOM_PARTICIPANT_INFO_HPP_
#include <map>
#include <mutex>
#include <string>
#include <vector>
#include "fastdds/dds/domain/DomainParticipant.hpp"
#include "fastdds/dds/domain/DomainParticipantListener.hpp"
#include "fastdds/dds/publisher/Publisher.hpp"
#include "fastdds/dds/subscriber/Subscriber.hpp"
#include "fastdds/rtps/participant/ParticipantDiscoveryInfo.h"
#include "fastdds/rtps/reader/ReaderDiscoveryInfo.h"
#include "fastdds/rtps/writer/WriterDiscoveryInfo.h"
#include "rcpputils/thread_safety_annotations.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/impl/cpp/key_value.hpp"
#include "rmw/qos_profiles.h"
#include "rmw/rmw.h"
#include "rmw_dds_common/context.hpp"
#include "rmw_fastrtps_shared_cpp/create_rmw_gid.hpp"
#include "rmw_fastrtps_shared_cpp/qos.hpp"
#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
using rmw_dds_common::operator<<;
class ParticipantListener;
enum class publishing_mode_t
{
ASYNCHRONOUS, // Asynchronous publishing mode
SYNCHRONOUS, // Synchronous publishing mode
AUTO // Use publishing mode set in XML file or Fast DDS default
};
typedef struct CustomParticipantInfo
{
eprosima::fastdds::dds::DomainParticipant * participant_{nullptr};
ParticipantListener * listener_{nullptr};
eprosima::fastdds::dds::Publisher * publisher_{nullptr};
eprosima::fastdds::dds::Subscriber * subscriber_{nullptr};
// Protects creation and destruction of topics, readers and writers
mutable std::mutex entity_creation_mutex_;
// Flag to establish if the QoS of the DomainParticipant,
// its DataWriters, and its DataReaders are going
// to be configured only from an XML file or if
// their settings are going to be overwritten by code
// with the default configuration.
bool leave_middleware_default_qos;
publishing_mode_t publishing_mode;
} CustomParticipantInfo;
class ParticipantListener : public eprosima::fastdds::dds::DomainParticipantListener
{
public:
explicit ParticipantListener(
const char * identifier,
rmw_dds_common::Context * context)
: context(context),
identifier_(identifier)
{}
void on_participant_discovery(
eprosima::fastdds::dds::DomainParticipant *,
eprosima::fastrtps::rtps::ParticipantDiscoveryInfo && info) override
{
switch (info.status) {
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT:
{
auto map = rmw::impl::cpp::parse_key_value(info.info.m_userData);
auto name_found = map.find("enclave");
if (name_found == map.end()) {
return;
}
auto enclave =
std::string(name_found->second.begin(), name_found->second.end());
context->graph_cache.add_participant(
rmw_fastrtps_shared_cpp::create_rmw_gid(
identifier_, info.info.m_guid),
enclave);
break;
}
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT:
// fall through
case eprosima::fastrtps::rtps::ParticipantDiscoveryInfo::DROPPED_PARTICIPANT:
context->graph_cache.remove_participant(
rmw_fastrtps_shared_cpp::create_rmw_gid(
identifier_, info.info.m_guid));
break;
default:
return;
}
}
void on_subscriber_discovery(
eprosima::fastdds::dds::DomainParticipant *,
eprosima::fastrtps::rtps::ReaderDiscoveryInfo && info) override
{
if (eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER != info.status) {
bool is_alive =
eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER == info.status;
process_discovery_info(info.info, is_alive, true);
}
}
void on_publisher_discovery(
eprosima::fastdds::dds::DomainParticipant *,
eprosima::fastrtps::rtps::WriterDiscoveryInfo && info) override
{
if (eprosima::fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER != info.status) {
bool is_alive =
eprosima::fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER == info.status;
process_discovery_info(info.info, is_alive, false);
}
}
private:
template<class T>
void
process_discovery_info(T & proxyData, bool is_alive, bool is_reader)
{
{
if (is_alive) {
rmw_qos_profile_t qos_profile = rmw_qos_profile_unknown;
rtps_qos_to_rmw_qos(proxyData.m_qos, &qos_profile);
context->graph_cache.add_entity(
rmw_fastrtps_shared_cpp::create_rmw_gid(
identifier_,
proxyData.guid()),
proxyData.topicName().to_string(),
proxyData.typeName().to_string(),
rmw_fastrtps_shared_cpp::create_rmw_gid(
identifier_,
iHandle2GUID(proxyData.RTPSParticipantKey())),
qos_profile,
is_reader);
} else {
context->graph_cache.remove_entity(
rmw_fastrtps_shared_cpp::create_rmw_gid(
identifier_,
proxyData.guid()),
is_reader);
}
}
}
rmw_dds_common::Context * context;
const char * const identifier_;
};
#endif // RMW_FASTRTPS_SHARED_CPP__CUSTOM_PARTICIPANT_INFO_HPP_