genSubReaderListener.hpp

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#ifndef RTCTK_GENSUBREADERLISTENER_H
#define RTCTK_GENSUBREADERLISTENER_H
 
#include <rtctk/componentFramework/dds.hpp>
 
#include <atomic>
#include <chrono>
#include <string>
 
// NOLINTNEXTLINE(google-global-names-in-headers): Private header
using namespace rtctk::componentFramework;

class GenSubReaderListener : public rtctk::componentFramework::DataReaderListener {
public:
    // Constructor
    GenSubReaderListener(const char* name, uint16_t topic_id);
 
    // Destructor
    ~GenSubReaderListener() override = default;
 
    void on_requested_deadline_missed(DataReader* reader,
                                      const RequestedDeadlineMissedStatus& status) override;
 
    void on_requested_incompatible_qos(DataReader* reader,
                                       const RequestedIncompatibleQosStatus& status) override;
 
    void on_liveliness_changed(DataReader* reader, const LivelinessChangedStatus& status) override;
 
    void
    on_subscription_matched(DataReader* reader, const SubscriptionMatchedStatus& status) override;
 
    void on_sample_rejected(DataReader* reader, const SampleRejectedStatus& status) override;
 
    void on_data_available(DataReader* reader) override;
 
    void ProcessSamples(const rtctk::componentFramework::AgnosticTopicSeq& data_seq,
                        const SampleInfoSeq& info_seq);
 
    void on_sample_lost(DataReader* reader, const SampleLostStatus& status) override;
 
    long GetNumSamples() const {
        return m_num_reads;
    }
 
    unsigned long GetLostSamples() const {
        return m_lost_samples;
    }
 
    void Enable() {
        m_enabled = true;
    }
 
    void Disable() {
        m_enabled = false;
    }
 
    unsigned int GetIndex() const {
        return m_topic_id;
    }
 
    const std::string& GetName() const {
        return m_list_name;
    }
 
    static int GetSleepPeriod() {
        return m_sleep_period;
    }
 
    static void SetSleepPeriod(int value) {
        m_sleep_period = value;
    }
 
    static int GetCheckRamp() {
        return m_check_ramp;
    }
 
    static void SetCheckRamp(bool value) {
        m_check_ramp = value;
    }
 
    static const std::string& GetExpectedPayloadPattern() {
        return m_expected_payload_pattern;
    }
 
    static void SetExpectedPayloadPattern(const std::string& value) {
        m_expected_payload_pattern = value;
    }
    static int GetExpectedSampleIdIncrement() {
        return m_expected_sample_id_increment;
    }
 
    static void SetExpectedSampleIdIncrement(uint32_t value) {
        m_expected_sample_id_increment = value;
    }
 
private:
    void CheckRamp(const rtctk::componentFramework::AgnosticTopic& sample);
    void CheckExpectedPayloadPattern(const rtctk::componentFramework::AgnosticTopic& sample);
 
    log4cplus::Logger& m_logger;
    long m_num_reads;
    unsigned long m_lost_samples;
    std::string m_list_name;
 
    std::uint32_t m_last_sample_id;
    std::uint32_t m_sample_id;
 
    std::chrono::high_resolution_clock::time_point m_start_time;
    std::chrono::duration<double> m_elapsed_time;
    // cppcheck-suppress-begin unusedStructMember
    double m_sum_send_time;
    float m_log_time;
    bool m_is_first;
    // cppcheck-suppress-end unusedStructMember
 
    rtctk::componentFramework::AgnosticTopicSeq m_data_seq;
    SampleInfoSeq m_info_seq;
 
    unsigned int m_topic_id;
    bool m_enabled;
 
    static std::atomic<int> m_sleep_period;
    static std::atomic<bool> m_check_ramp;
    static std::atomic<uint32_t> m_expected_sample_id_increment;
    static std::string m_expected_payload_pattern;
};
 
#endif  // RTCTK_GENSUBREADERLISTENER_H