66 lines
2.2 KiB
C++
66 lines
2.2 KiB
C++
#ifndef __DDS_SUBSCRIBER_HPP__
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#define __DDS_SUBSCRIBER_HPP__
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#include <iostream>
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#include <functional>
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#include <dds/dds.hpp>
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#include <thread>
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using namespace dds::sub;
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using namespace dds::domain;
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using namespace dds::topic;
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template<typename T>
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class DDSSubscriber {
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public:
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// Define a callback type for user-provided callbacks
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using UserCallback = std::function<void(const T&)>;
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private:
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DomainParticipant participant;
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Topic<T> topic;
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Subscriber subscriber;
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DataReader<T> reader;
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T latestMessage;
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UserCallback userCallback;
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// Internal Listener class
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class CustomListener : public NoOpDataReaderListener<msgs::LowCmd> {
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private:
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DDSSubscriber& parent;
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public:
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CustomListener(DDSSubscriber& parent) : parent(parent) {}
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void on_data_available(DataReader<T>& reader) override {
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// Take all available data
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dds::sub::LoanedSamples<T> samples = reader.take();
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if (samples.length() >0){
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for (auto sample_iter = samples.begin();
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sample_iter < samples.end();
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++sample_iter){
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parent.latestMessage = sample_iter->data(); // Update the latest message
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// If a user callback is provided, execute it
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if (parent.userCallback) {
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parent.userCallback(parent.latestMessage);
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}
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}
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}
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}
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};
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public:
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// Constructor
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DDSSubscriber(const std::string& topicName, UserCallback callback = nullptr, const int id = 0)
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: participant(id),
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topic(participant, topicName),
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subscriber(participant),
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userCallback(callback),
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reader(subscriber, topic, dds::sub::qos::DataReaderQos(), new CustomListener(*this), dds::core::status::StatusMask::data_available()) {}
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// Method to get the latest message
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msgs::LowCmd getLatestMessage() const {
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return latestMessage;
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}
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};
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#endif |