participant.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * 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 CYBER_TRANSPORT_RTPS_PARTICIPANT_H_
#define CYBER_TRANSPORT_RTPS_PARTICIPANT_H_
 
#include <atomic>
#include <memory>
#include <mutex>
#include <string>
 
#include "cyber/transport/rtps/underlay_message_type.h"
#include "fastrtps/Domain.h"
#include "fastrtps/attributes/ParticipantAttributes.h"
#include "fastrtps/participant/Participant.h"
#include "fastrtps/participant/ParticipantListener.h"
#include "fastrtps/rtps/common/Locator.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
class Participant;
using ParticipantPtr = std::shared_ptr<Participant>;
 
class Participant {
 public:
  Participant(const std::string& name, int send_port,
              eprosima::fastrtps::ParticipantListener* listener = nullptr);
  virtual ~Participant();
 
  void Shutdown();
 
  eprosima::fastrtps::Participant* fastrtps_participant();
  bool is_shutdown() const { return shutdown_.load(); }
 
 private:
  void CreateFastRtpsParticipant(
      const std::string& name, int send_port,
      eprosima::fastrtps::ParticipantListener* listener);
 
  std::atomic<bool> shutdown_;
  std::string name_;
  int send_port_;
  eprosima::fastrtps::ParticipantListener* listener_;
  UnderlayMessageType type_;
  eprosima::fastrtps::Participant* fastrtps_participant_;
  std::mutex mutex_;
};
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_TRANSPORT_RTPS_PARTICIPANT_H_