subscriber_listener.h

Go to the documentation of this file.

/******************************************************************************
 * 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_SERVICE_DISCOVERY_COMMUNICATION_SUBSCRIBER_LISTENER_H_
#define CYBER_SERVICE_DISCOVERY_COMMUNICATION_SUBSCRIBER_LISTENER_H_

#include <functional>
#include <mutex>
#include <string>

#include "fastrtps/Domain.h"
#include "fastrtps/subscriber/SampleInfo.h"
#include "fastrtps/subscriber/Subscriber.h"
#include "fastrtps/subscriber/SubscriberListener.h"

namespace apollo {
namespace cyber {
namespace service_discovery {

class SubscriberListener : public eprosima::fastrtps::SubscriberListener {
 public:
  using NewMsgCallback = std::function<void(const std::string&)>;

  explicit SubscriberListener(const NewMsgCallback& callback);
  virtual ~SubscriberListener();

  void onNewDataMessage(eprosima::fastrtps::Subscriber* sub);
  void onSubscriptionMatched(eprosima::fastrtps::Subscriber* sub,
                             eprosima::fastrtps::MatchingInfo& info);  // NOLINT

 private:
  NewMsgCallback callback_;
  std::mutex mutex_;
};

}  // namespace service_discovery
}  // namespace cyber
}  // namespace apollo

#endif  // CYBER_SERVICE_DISCOVERY_COMMUNICATION_SUBSCRIBER_LISTENER_H_