【FastRTPS】Example--Qos

参考《FastRTPS User Manual.odt》第五章

基于时间的过滤和基于内容的过滤:

class MySubscriber : public SubscriberListener
{
	Subscriber *mp_sub;
	SubscriberAttributes m_att;
	SampleInfo_t m_lastInfo;
	void onNewDataMessage(Subscriber *sub)
	{
		TestType tp;
		SampleInfo_t info;
		if (mp_sub->readNextData((void *)&tp, &info))
		{ //Read Data
			if (info.sampleKind == ALIVE)
			{
				if (passTimeFilter(info) && passContentFilter(tp))
				{
					m_lastInfo = info;
					//USE THE DATA
				}
			}
		}
	}
	bool passTimeFilter(SampleInfo_t &info)
	{
		if (TimeConv::Time_tAbsDiff2DoubleMillisec(m_lastInfo.sourceTimestamp, info.sourceTimestamp) >=
			TimeConv::Time_t2MilliSecondsDouble(
				m_att.qos.m_timeBasedFilter.minimum_separation))
		{
			return true;
		}
		return false;
	}
	bool passContentFilter(TesType &tp)
	{
		//Check data against your filter and return true or false;
	}
}

 所有权OwnerShip：

该例子中，我们假设只有一个关键字。多个关键字的话题，需要实现拥有者向量，因为每一个关键字都会有一个不同的拥有者。

class MySubscriber : public SubscriberListener
{
	TestType tp;
	GUID_t ownerGUID;
	uint32_t ownerStrength = 0;
	bool hasOwner = false;
	Subscriber *sub;
	void MySubscriber::onNewDataMessage(Subscriber *sub)
	{
		if (sub->readNextData((void *)&tp, &info))
		{ //Read Data
			if (info.sampleKind == ALIVE)
			{
				if (!hasOwner || info.ownershipStrength > ownerStrength ||
					(info.ownershipStrength == ownerStrength &&
					 info.writerGUID < ownerGUID) //Change OWNER conditions
				)
				{
					hasOwner = true;
					ownerGUID = info.writerGUID;
					ownerStrength = info.ownershipStrength;
					sampleAccepted(tp);
				}
				else if (ownerGUID == writerGUID)
					sampleAccepted(tp);
			}
		}
	}
	void MySubscriber::sampleAccepted(TestType &tp)
	{
		//DO SOMETHING WITH THE SAMPLE
	}
	void MySubscriber::onSubscriptionMatched(Subscriber *sub, MatchingInfo info)
	{
		if (info.status == MATCHED_MATCHING)
		{
			cout << "Subscriber MATCHES Pub: " << info.remoteEndpointGuid << endl;
		}
		else if (info.status == REMOVED_MATCHING)
		{
			cout << "Subscriber REMOVED Pub: " << info.remoteEndpointGuid << endl;
			if (info.remoteEndpointGUID == ownerGUID)
			{
				hasOwner = false;
			}
		}
	}
}