Add examples for ContentFilterTopic [14220]

examples/C++/DDS/ContentFilterTopic/CMakeLists.txt

@@ -38,6 +38,11 @@ set(CFT_DSF_SOURCES
     DefaultSQLFilterSubscriber.cpp
     DefaultSQLFilter_main.cpp)
 
+set(CFT_CF_SOURCES
+    CustomFilterPublisher.cpp
+    CustomFilterSubscriber.cpp
+    CustomFilter_main.cpp)
+
 
 add_executable(DefaultSQLFilter ${CFT_COMMON_SOURCES} ${CFT_DSF_SOURCES})
 target_compile_definitions(DefaultSQLFilter PRIVATE
@@ -49,12 +54,12 @@ target_link_libraries(DefaultSQLFilter fastrtps fastcdr)
 install(TARGETS DefaultSQLFilter
     RUNTIME DESTINATION examples/C++/DDS/ContentFilterTopic/${BIN_INSTALL_DIR})
 
-#add_executable(CustomFilter ${CFT_COMMON_SOURCES})
-#target_compile_definitions(CustomFilter PRIVATE
-#    $<$<AND:$<NOT:$<BOOL:${WIN32}>>,$<STREQUAL:"${CMAKE_BUILD_TYPE}","Debug">>:__DEBUG>
-#    $<$<BOOL:${INTERNAL_DEBUG}>:__INTERNALDEBUG> # Internal debug activated.
-#)
-#target_compile_features(CustomFilter PRIVATE cxx_std_11)
-#target_link_libraries(CustomFilter fastrtps fastcdr)
-#install(TARGETS CustomFilter
-#    RUNTIME DESTINATION examples/C++/DDS/ContentFilterTopic/${BIN_INSTALL_DIR})
+add_executable(CustomFilter ${CFT_COMMON_SOURCES} ${CFT_CF_SOURCES})
+target_compile_definitions(CustomFilter PRIVATE
+    $<$<AND:$<NOT:$<BOOL:${WIN32}>>,$<STREQUAL:"${CMAKE_BUILD_TYPE}","Debug">>:__DEBUG>
+    $<$<BOOL:${INTERNAL_DEBUG}>:__INTERNALDEBUG> # Internal debug activated.
+)
+target_compile_features(CustomFilter PRIVATE cxx_std_11)
+target_link_libraries(CustomFilter fastrtps fastcdr)
+install(TARGETS CustomFilter
+    RUNTIME DESTINATION examples/C++/DDS/ContentFilterTopic/${BIN_INSTALL_DIR})

examples/C++/DDS/ContentFilterTopic/CustomFilterPublisher.cpp

@@ -0,0 +1,185 @@
+// Copyright 2022 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.
+
+/**
+ * @file CustomFilterPublisher.cpp
+ *
+ */
+
+#include "CustomFilterPublisher.hpp"
+#include <fastrtps/attributes/ParticipantAttributes.h>
+#include <fastrtps/attributes/PublisherAttributes.h>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
+#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
+#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
+
+#include <thread>
+
+using namespace eprosima::fastdds::dds;
+
+CustomFilterPublisher::CustomFilterPublisher()
+    : participant_(nullptr)
+    , publisher_(nullptr)
+    , topic_(nullptr)
+    , writer_(nullptr)
+    , type_(new HelloWorldPubSubType())
+{
+}
+
+bool CustomFilterPublisher::init()
+{
+    hello_.index(0);
+    hello_.message("HelloWorld");
+    DomainParticipantQos pqos;
+    pqos.name("Participant_pub");
+    participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
+
+    if (participant_ == nullptr)
+    {
+        return false;
+    }
+
+    //REGISTER THE TYPE
+    type_.register_type(participant_);
+
+    //CREATE THE PUBLISHER
+    publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);
+
+    if (publisher_ == nullptr)
+    {
+        return false;
+    }
+
+    topic_ = participant_->create_topic("HelloWorldTopic", "HelloWorld", TOPIC_QOS_DEFAULT);
+
+    if (topic_ == nullptr)
+    {
+        return false;
+    }
+
+    // CREATE THE WRITER
+    writer_ = publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, &listener_);
+
+    if (writer_ == nullptr)
+    {
+        return false;
+    }
+    return true;
+}
+
+CustomFilterPublisher::~CustomFilterPublisher()
+{
+    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_);
+}
+
+void CustomFilterPublisher::PubListener::on_publication_matched(
+        eprosima::fastdds::dds::DataWriter*,
+        const eprosima::fastdds::dds::PublicationMatchedStatus& info)
+{
+    if (info.current_count_change == 1)
+    {
+        matched_ = info.total_count;
+        firstConnected_ = true;
+        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;
+    }
+}
+
+void CustomFilterPublisher::runThread(
+        uint32_t samples,
+        uint32_t sleep)
+{
+    if (samples == 0)
+    {
+        while (!stop_)
+        {
+            if (publish(false))
+            {
+                std::cout << "Message: " << hello_.message() << " with index: " << hello_.index()
+                          << " SENT" << std::endl;
+            }
+            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
+        }
+    }
+    else
+    {
+        for (uint32_t i = 0; i < samples; ++i)
+        {
+            if (!publish())
+            {
+                --i;
+            }
+            else
+            {
+                std::cout << "Message: " << hello_.message() << " with index: " << hello_.index()
+                          << " SENT" << std::endl;
+            }
+            std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
+        }
+    }
+}
+
+void CustomFilterPublisher::run(
+        uint32_t samples,
+        uint32_t sleep)
+{
+    stop_ = false;
+    std::thread thread(&CustomFilterPublisher::runThread, this, samples, sleep);
+    if (samples == 0)
+    {
+        std::cout << "Publisher running. Please press enter to stop the Publisher at any time." << std::endl;
+        std::cin.ignore();
+        stop_ = true;
+    }
+    else
+    {
+        std::cout << "Publisher running " << samples << " samples." << std::endl;
+    }
+    thread.join();
+}
+
+bool CustomFilterPublisher::publish(
+        bool waitForListener)
+{
+    if (listener_.firstConnected_ || !waitForListener || listener_.matched_ > 0)
+    {
+        hello_.index(hello_.index() + 1);
+        writer_->write(&hello_);
+        return true;
+    }
+    return false;
+}

examples/C++/DDS/ContentFilterTopic/CustomFilterPublisher.hpp

@@ -0,0 +1,96 @@
+// Copyright 2022 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.
+
+/**
+ * @file CustomFilterPublisher.hpp
+ *
+ */
+
+#ifndef _DEFAULTSQLFILTERPUBLISHER_H_
+#define _DEFAULTSQLFILTERPUBLISHER_H_
+
+#include "HelloWorldPubSubTypes.h"
+
+#include <fastdds/dds/publisher/DataWriterListener.hpp>
+#include <fastdds/dds/topic/TypeSupport.hpp>
+#include <fastdds/dds/domain/DomainParticipant.hpp>
+
+class CustomFilterPublisher
+{
+public:
+
+    CustomFilterPublisher();
+
+    virtual ~CustomFilterPublisher();
+
+    //!Initialize
+    bool init();
+
+    //!Publish a sample
+    bool publish(
+            bool waitForListener = true);
+
+    //!Run for number samples
+    void run(
+            uint32_t number,
+            uint32_t sleep);
+
+private:
+
+    HelloWorld hello_;
+
+    eprosima::fastdds::dds::DomainParticipant* participant_;
+
+    eprosima::fastdds::dds::Publisher* publisher_;
+
+    eprosima::fastdds::dds::Topic* topic_;
+
+    eprosima::fastdds::dds::DataWriter* writer_;
+
+    bool stop_;
+
+    class PubListener : public eprosima::fastdds::dds::DataWriterListener
+    {
+    public:
+
+        PubListener()
+            : matched_(0)
+            , firstConnected_(false)
+        {
+        }
+
+        ~PubListener() override
+        {
+        }
+
+        void on_publication_matched(
+                eprosima::fastdds::dds::DataWriter* writer,
+                const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
+
+        int matched_;
+
+        bool firstConnected_;
+    }
+    listener_;
+
+    void runThread(
+            uint32_t number,
+            uint32_t sleep);
+
+    eprosima::fastdds::dds::TypeSupport type_;
+};
+
+
+
+#endif // _DEFAULTSQLFILTERPUBLISHER_H_