DDS（Data Distribution Service）————PublisherLinstener(2)

DDS（Data Distribution Service）————PublisherListener（2）

4.PublisherListener

​ 在 DDS（Data Distribution Service）中，PublisherListener 是一个接口类，允许应用程序对与发布者相关的事件进行响应。通过实现并注册一个 PublisherListener，你可以处理发布者的各种状态变化和事件，例如数据写入、匹配的 DataReader 发生变化等。

4.1 创建Linstener（使用Qos实例）

​

 DomainParticipant* particioant = DomainParticipantFactory::get_instance()->create_participant(0,PARTICIPANT_QOS_DEFAULT);

    CustomPublisherListener cusListener;

	/* 创建含有PublisherLinster（监听器） 的 publisher */
    Publisher* pub1 = particioant->create_publisher(PUBLISHER_QOS_DEFAULT,&cusListener);

4.2 创建 Linstener（使用XML File）

DomainParticipantFactory::get_instance()->load_XML_profiles_file("profiles.xml");
DomainParticipant* participant =
        DomainParticipantFactory::get_instance()->create_participant(0, PARTICIPANT_QOS_DEFAULT);


/* Create a Publisher using a profile and no Listener */
Publisher* publisher_with_profile =
        participant->create_publisher_with_profile("publisher_profile");

/* 创建含有linstener的publisher */
CustomPublisherListener custom_listener;
Publisher* publisher_with_profile_and_custom_listener =
        participant->create_publisher_with_profile("publisher_profile", &custom_listener);

4.3 删除所属的实例，防止内存泄露

• 先删除Publisher所创建的实例
• 再删除对应的Publisher

// Delete the entities the Publisher created.
if (publisher->delete_contained_entities() != ReturnCode_t::RETCODE_OK)
{
    // Publisher failed to delete the entities it created.
    return;
}

// Delete the Publisher
if (participant->delete_publisher(publisher) != ReturnCode_t::RETCODE_OK)
{
    // Error
    return;
}