3.3.5. DataWriterListener

DataWriterListener is an abstract class defining the callbacks that will be triggered in response to state changes on the DataWriter. By default, all these callbacks are empty and do nothing. The user should implement a specialization of this class overriding the callbacks that are needed on the application. Callbacks that are not overridden will maintain their empty implementation.

DataWriterListener defines the following callbacks:

• on_publication_matched(): The DataWriter has found a DataReader that matches the Topic and has a common partition and a compatible QoS, or has ceased to be matched with a DataReader that was previously considered to be matched.

• on_offered_deadline_missed(): The DataWriter failed to provide data within the deadline period configured on its DataWriterQos. It will be called for each deadline period and data instance for which the DataWriter failed to provide data.

• on_offered_incompatible_qos(): The DataWriter has found a DataReader that matches the Topic and has a common partition, but with a requested QoS that is incompatible with the one defined on the DataWriter.

• on_liveliness_lost(): The DataWriter did not respect the liveliness configuration on its DataWriterQos, and therefore, DataReader entities will consider the DataWriter as no longer active.

class CustomDataWriterListener : public DataWriterListener
{

public:

    CustomDataWriterListener()
        : DataWriterListener()
    {
    }

    virtual ~CustomDataWriterListener()
    {
    }

    virtual void on_publication_matched(
            DataWriter* writer,
            const PublicationMatchedStatus& info)
    {
        (void)writer
        ;
        if (info.current_count_change == 1)
        {
            std::cout << "Matched a remote Subscriber for one of our Topics" << std::endl;
        }
        else if (info.current_count_change == -1)
        {
            std::cout << "Unmatched a remote Subscriber" << std::endl;
        }
    }

    virtual void on_offered_deadline_missed(
            DataWriter* writer,
            const OfferedDeadlineMissedStatus& status)
    {
        (void)writer, (void)status;
        std::cout << "Some data could not be delivered on time" << std::endl;
    }

    virtual void on_offered_incompatible_qos(
            DataWriter* /*writer*/,
            const OfferedIncompatibleQosStatus& status)
    {
        std::cout << "Found a remote Topic with incompatible QoS (QoS ID: " << status.last_policy_id <<
            ")" << std::endl;
    }

    virtual void on_liveliness_lost(
            DataWriter* writer,
            const LivelinessLostStatus& status)
    {
        (void)writer, (void)status;
        std::cout << "Liveliness lost. Matched Subscribers will consider us offline" << std::endl;
    }

};