.. _program_listing_file_ecal_core_include_ecal_ecal_subscriber.h:

Program Listing for File ecal_subscriber.h
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_ecal_core_include_ecal_ecal_subscriber.h>` (``ecal/core/include/ecal/ecal_subscriber.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /* ========================= eCAL LICENSE =================================
    *
    * Copyright (C) 2016 - 2019 Continental Corporation
    *
    * 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.
    *
    * ========================= eCAL LICENSE =================================
   */
   
   #pragma once
   
   #include <ecal/ecal_os.h>
   #include <ecal/ecal_callback.h>
   #include <ecal/ecal_qos.h>
   
   #include <set>
   #include <string>
   
   #ifndef ECAL_C_DLL
   
   namespace eCAL
   {
     class CDataReader;
   
     class ECAL_API CSubscriber
     {
     public:
       CSubscriber();
   
       CSubscriber(const std::string& topic_name_, const std::string& topic_type_ = "", const std::string& topic_desc_ = "");
   
       virtual ~CSubscriber();
   
       CSubscriber(const CSubscriber&) = delete;
   
       CSubscriber& operator=(const CSubscriber&) = delete;
   
       CSubscriber(CSubscriber&& rhs) noexcept;
   
       CSubscriber& operator=(CSubscriber&& rhs) noexcept;
   
       bool Create(const std::string& topic_name_, const std::string& topic_type_ = "", const std::string& topic_desc_ = "");
   
       bool Destroy();
   
       bool SetQOS(const QOS::SReaderQOS& qos_);
   
       QOS::SReaderQOS GetQOS();
   
       bool SetID(const std::set<long long>& id_set_);
   
       size_t Receive(std::string& buf_, long long* time_ = nullptr, int rcv_timeout_ = 0) const;
   
       bool AddReceiveCallback(ReceiveCallbackT callback_);
   
       bool RemReceiveCallback();
   
       bool AddEventCallback(eCAL_Subscriber_Event type_, SubEventCallbackT callback_);
   
       bool RemEventCallback(eCAL_Subscriber_Event type_);
   
       bool IsCreated() const {return(m_created);}
   
       std::string GetTopicName() const;
   
       std::string GetTypeName() const;
   
       std::string GetDescription() const;
   
       bool SetTimeout(int timeout_);
   
       std::string Dump(const std::string& indent_ = "") const;
   
     protected:
       void InitializeQOS();
   
       // class members
       CDataReader*                     m_datareader;
       struct ECAL_API QOS::SReaderQOS  m_qos;
       bool                             m_created;
       bool                             m_initialized;
     };
   };
   
   #else /* ! ECAL_C_DLL */
   
   #include <ecal/ecalc.h>
   
   namespace eCAL
   {
     class CSubscriber
     {
     public:
       CSubscriber() :
         m_subscriber(nullptr),
         m_created(false)
       {
         InitializeQOS();
       }
   
       CSubscriber(const std::string& topic_name_, const std::string& topic_type_ = "", const std::string& topic_desc_ = "") :
         m_subscriber(nullptr),
         m_created(false)
       {
         InitializeQOS();
   
         Create(topic_name_, topic_type_, topic_desc_);
       }
   
       virtual ~CSubscriber()
       {
         Destroy();
       }
   
       // this object must not be copied.
       CSubscriber(const CSubscriber&) = delete;
       CSubscriber& operator=(const CSubscriber&) = delete;
   
       CSubscriber(CSubscriber&& rhs)
         : m_subscriber(rhs.m_subscriber)
         , m_topic_name(std::move(rhs.m_topic_name))
         , m_topic_type(std::move(rhs.m_topic_type))
         , m_topic_desc(std::move(rhs.m_topic_desc))
         , m_qos(rhs.m_qos)
         , m_receive_callback(std::move(rhs.m_receive_callback))
         , m_event_callback(std::move(rhs.m_event_callback))
         , m_created(rhs.m_created)
       {
         InitializeQOS();
   
         rhs.m_subscriber = nullptr;
         rhs.m_created    = false;
       }
   
       CSubscriber& operator=(CSubscriber&& rhs)
       {
         m_subscriber       = rhs.m_subscriber;
         m_topic_name       = std::move(rhs.m_topic_name);
         m_topic_type       = std::move(rhs.m_topic_type);
         m_topic_desc       = std::move(rhs.m_topic_desc);
         m_qos              = rhs.m_qos;
         m_receive_callback = std::move(rhs.m_receive_callback);
         m_event_callback   = std::move(rhs.m_event_callback);
         m_created          = rhs.m_created;
   
         InitializeQOS();
         rhs.m_subscriber = nullptr;
         rhs.m_created    = false;
   
         return *this;
       }
   
       bool Create(const std::string& topic_name_, const std::string& topic_type_ = "", const std::string& topic_desc_ = "")
       {
         if(m_created) return(false);
   
         // create new instance
         m_subscriber = eCAL_Sub_New();
         if (!m_subscriber) return(false);
   
         // set qos
         struct SReaderQOSC qos;
         qos.history_kind       = static_cast<eQOSPolicy_HistoryKindC>(m_qos.history_kind);
         qos.history_kind_depth = m_qos.history_kind_depth;;
         qos.reliability        = static_cast<eQOSPolicy_ReliabilityC>(m_qos.reliability);
         eCAL_Sub_SetQOS(m_subscriber, qos);
   
         // create it
         eCAL_Sub_Create(m_subscriber, topic_name_.c_str(), topic_type_.c_str(), topic_desc_.c_str(), static_cast<int>(topic_desc_.size()));
   
         m_topic_name = topic_name_;
         m_topic_type = topic_type_;
         m_topic_desc = topic_desc_;
   
         m_created = true;
         return(true);
       }
   
       bool Destroy()
       {
         if(!m_created) return(false);
         if(m_subscriber) eCAL_Sub_Destroy(m_subscriber);
   
         m_subscriber  = nullptr;
         m_topic_name  = "";
         m_topic_type  = "";
         m_created     = false;
         return(true);
       }
   
       bool SetQOS(const QOS::SReaderQOS& qos_)
       {
         // can not be set after Create
         if (m_subscriber) return(false);
         m_qos = qos_;
         return(true);
       }
   
       QOS::SReaderQOS GetQOS()
       {
         return(m_qos);
       }
   
       size_t Receive(std::string& buf_, long long* time_ = nullptr, int rcv_timeout_ = 0) const
       {
         if(!m_subscriber) return(0);
         void* buf = nullptr;
         size_t buf_len = eCAL_Sub_Receive_Alloc(m_subscriber, &buf, time_, rcv_timeout_);
         if(buf_len > 0)
         {
           buf_ = std::string(static_cast<char*>(buf), buf_len);
           eCAL_FreeMem(buf);
         }
         else
         {
           buf_.clear();
         }
         return(buf_.size());
       }
   
       static void ReceiveCallback(const char* topic_name_, const struct SReceiveCallbackDataC* data_, void* par_)
       {
         if(par_ == nullptr) return;
         CSubscriber* sub = static_cast<CSubscriber*>(par_);
         SReceiveCallbackData data;
         data.buf   = data_->buf;
         data.size  = data_->size;
         data.id    = data_->id;
         data.time  = data_->time;
         data.clock = data_->clock;
         sub->m_receive_callback(topic_name_, &data);
       }
       bool AddReceiveCallback(ReceiveCallbackT callback_)
       {
         if(!m_subscriber) return(false);
         m_receive_callback = callback_;
         return(eCAL_Sub_AddReceiveCallbackC(m_subscriber, &CSubscriber::ReceiveCallback, this) != 0);
       }
   
       bool RemReceiveCallback()
       {
         if(!m_subscriber) return(false);
         return(eCAL_Sub_RemReceiveCallback(m_subscriber) != 0);
       }
   
       static void SubEventCallback(const char* topic_name_, const struct SSubEventCallbackDataC* data_, void* par_)
       {
         if (par_ == nullptr) return;
         CSubscriber* sub = static_cast<CSubscriber*>(par_);
         SSubEventCallbackData data;
         data.type = data_->type;
         data.time = data_->time;
         sub->m_event_callback(topic_name_, &data);
       }
       bool AddEventCallback(eCAL_Subscriber_Event type_, SubEventCallbackT callback_)
       {
         if (!m_subscriber) return(false);
         m_event_callback = callback_;
         return(eCAL_Sub_AddEventCallbackC(m_subscriber, type_, &CSubscriber::SubEventCallback, this) != 0);
       }
   
       bool RemEventCallback(eCAL_Subscriber_Event type_)
       {
         if (!m_subscriber) return(false);
         return(eCAL_Sub_RemEventCallback(m_subscriber, type_) != 0);
       }
   
       bool IsCreated() const {return(m_created);}
   
       const std::string GetTopicName() const {return(m_topic_name);}
   
       const std::string GetTypeName() const {return(m_topic_type);}
   
       std::string GetDescription() const
       {
         if(!m_subscriber) return("");
         std::string desc;
         void* buf = nullptr;
         size_t buf_len = eCAL_Sub_GetDescription(m_subscriber, &buf, ECAL_ALLOCATE_4ME);
         if(buf_len > 0)
         {
           desc = std::string(static_cast<char*>(buf), buf_len);
           eCAL_FreeMem(buf);
         }
         return(desc);
       }
   
       bool SetTimeout(int timeout_)
       {
         if (!m_subscriber) return(false);
         return(eCAL_Sub_SetTimeout(m_subscriber, timeout_) != 0);
       }
   
       void InitializeQOS()
       {
         m_qos.history_kind       = QOS::keep_last_history_qos;
         m_qos.history_kind_depth = 8;
         m_qos.reliability        = QOS::reliable_reliability_qos;
       }
   
       std::string Dump() const
       {
         if(!m_subscriber) return("");
         void* buf = nullptr;
         size_t buf_len = eCAL_Sub_Dump(m_subscriber, &buf, ECAL_ALLOCATE_4ME);
         if(buf_len == 0) return("");
         std::string dbuf = std::string(static_cast<char*>(buf), buf_len);
         eCAL_FreeMem(buf);
         return(dbuf);
       }
   
     protected:
       ECAL_HANDLE       m_subscriber;
       std::string       m_topic_name;
       std::string       m_topic_type;
       std::string       m_topic_desc;
       QOS::SReaderQOS   m_qos;
       ReceiveCallbackT  m_receive_callback;
       SubEventCallbackT m_event_callback;
       bool              m_created;
   
   #if defined(_MSC_VER) && (_MSC_VER < 1900) // VS2015 and newer
     private:
       // this object must not be copied.
       CSubscriber(const CSubscriber&);
       CSubscriber& operator=(const CSubscriber&);
   #endif /* defined(_MSC_VER) && (_MSC_VER <= 1900) */
   
     };
   };
   
   #endif /* ! ECAL_C_DLL */