#pragma once

#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/subscriber/DataReader.hpp>
#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
#include <fastdds/dds/subscriber/SampleInfo.hpp>

template <typename T>
class DataReaderListenerImpl : public eprosima::fastdds::dds::DataReaderListener
{
public:
	DataReaderListenerImpl(std::function<void(const T &)> callback) : callback_(callback) {}

	void on_data_available(eprosima::fastdds::dds::DataReader *reader) override
	{
		eprosima::fastdds::dds::SampleInfo info;
		if (reader->take_next_sample(&data_, &info) == eprosima::fastdds::dds::RETCODE_OK
			&& info.valid_data) {
			callback_(data_);
			//qInfo() << "Data available";
		}
	}

private:
	T data_;
	std::function<void(const T &)> callback_;
};