acsddsncDataReaderListener.h

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#ifndef _ACSDDSNC_DATAREADER_LISTENER_IMPL
#define _ACSDDSNC_DATAREADER_LISTENER_IMPL

#include <iostream>
#include "DataReaderListener.h"

namespace ddsnc{

template<class DRV, class DR, class D>
class ACSDDSNCDataReaderListener : 
        public ddsnc::DataReaderListenerImpl
{
        public:
        typedef void (*eventHandlerFunction)(D eventData, void *handlerParam);
        eventHandlerFunction templateFunction_mp;
        void *handlerParam_mp;

        ACSDDSNCDataReaderListener(eventHandlerFunction templateFunction, 
                        void * handlerParam=0) : 
                ddsnc::DataReaderListenerImpl()
        {
                templateFunction_mp = templateFunction;
                handlerParam_mp = handlerParam;
        }

        void on_data_available(DDS::DataReader_ptr reader) 
                throw (CORBA::SystemException)
        {
                num_reads_ ++;
                try {
                        DRV message_dr= DR::_narrow(reader);
                        if (CORBA::is_nil (message_dr.in ())) {
                                ::std::cerr << "read: _narrow failed." << ::std::endl;
                        }
                        D message;
                        DDS::SampleInfo si;
                        DDS::ReturnCode_t status = message_dr->take_next_sample(message, si);
                        if (status == DDS::RETCODE_OK) {
                                //::std::cerr << "SampleInfo.sample_rank = " << si.sample_rank << ::std::endl;
                                //::std::cerr << "SampleInfo.instance_state = " << si.instance_state << ::std::endl;
                                if (si.valid_data == 1){
                                        (*templateFunction_mp)(message, handlerParam_mp);
                                }else if (si.instance_state == DDS::NOT_ALIVE_DISPOSED_INSTANCE_STATE){
                                        ::std::cerr << "instance is disposed" << ::std::endl;
                                }else if (si.instance_state == DDS::NOT_ALIVE_NO_WRITERS_INSTANCE_STATE){
                                        ::std::cerr << "instance is unregistered" << ::std::endl;
                                }else {
                                        ACE_ERROR ((LM_ERROR, 
                                                                "(%P|%t)DataReaderListenerImpl::on_data_available:"
                                                                " received unknown instance state %d\n", 
                                                                si.instance_state));
                                }
                        }else if (status == DDS::RETCODE_NO_DATA) {
                                ::std::cerr << "ERROR: reader received DDS::RETCODE_NO_DATA!" << ::std::endl;
                        }else {
                                ::std::cerr << "ERROR: read Message: Error: " <<  status << ::std::endl;
                        }
                }catch (CORBA::Exception& e) {
                        ::std::cerr << "Exception caught in read:" << ::std::endl << e << ::std::endl;
                        exit(1);
                }
        }

};
}
#endif

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