27 lines
789 B
C
27 lines
789 B
C
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#pragma once
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#include <fastdds/dds/subscriber/DataReaderListener.hpp>
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#include <fastdds/dds/subscriber/DataReader.hpp>
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#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
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#include <fastdds/dds/subscriber/SampleInfo.hpp>
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template <typename T>
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class DataReaderListenerImpl : public eprosima::fastdds::dds::DataReaderListener
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{
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public:
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DataReaderListenerImpl(std::function<void(const T &)> callback) : callback_(callback) {}
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void on_data_available(eprosima::fastdds::dds::DataReader *reader) override
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{
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eprosima::fastdds::dds::SampleInfo info;
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if (reader->take_next_sample(&data_, &info) == eprosima::fastdds::dds::RETCODE_OK
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&& info.valid_data) {
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callback_(data_);
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//qInfo() << "Data available";
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}
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}
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private:
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T data_;
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std::function<void(const T &)> callback_;
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};
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