sub_listener.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_SUB_LISTENER_H_
#define CYBER_TRANSPORT_RTPS_SUB_LISTENER_H_
 
#include <functional>
#include <iostream>
#include <memory>
#include <mutex>
#include <string>
 
#include "cyber/transport/message/message_info.h"
#include "cyber/transport/rtps/underlay_message.h"
#include "cyber/transport/rtps/underlay_message_type.h"
#include "fastrtps/Domain.h"
#include "fastrtps/subscriber/SampleInfo.h"
#include "fastrtps/subscriber/Subscriber.h"
#include "fastrtps/subscriber/SubscriberListener.h"
 
namespace apollo {
namespace cyber {
namespace transport {
 
class SubListener;
using SubListenerPtr = std::shared_ptr<SubListener>;
 
class SubListener : public eprosima::fastrtps::SubscriberListener {
 public:
  using NewMsgCallback = std::function<void(
      uint64_t channel_id, const std::shared_ptr<std::string>& msg_str,
      const MessageInfo& msg_info)>;
 
  explicit SubListener(const NewMsgCallback& callback);
  virtual ~SubListener();
 
  void onNewDataMessage(eprosima::fastrtps::Subscriber* sub);
  void onSubscriptionMatched(eprosima::fastrtps::Subscriber* sub,
                             eprosima::fastrtps::MatchingInfo& info);  // NOLINT
 
 private:
  NewMsgCallback callback_;
  MessageInfo msg_info_;
  std::mutex mutex_;
};
 
}  // namespace transport
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_TRANSPORT_RTPS_SUB_LISTENER_H_