text: /****************************************************************************
   *
   * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
   * Copyright (c) 2018-2021 PX4 Development Team. All rights reserved.
   *
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   *
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   * list of conditions and the following disclaimer.
   *
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   * this list of conditions and the following disclaimer in the documentation
   * and/or other materials provided with the distribution.
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   * may be used to endorse or promote products derived from this software without
   * specific prior written permission.
   *
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   ****************************************************************************/
  
  /*!
   * @file timesync_Publisher.h
   * This header file contains the declaration of the publisher functions.
   *
   * This file was adapted from the fastrtpsgen tool.
   */
  
  
  #ifndef _timesync__PUBLISHER_H_
  #define _timesync__PUBLISHER_H_
  
  #include <fastrtps/fastrtps_fwd.h>
  #include <fastrtps/publisher/PublisherListener.h>
  
  #include "timesyncPubSubTypes.h"
  
  using namespace eprosima::fastrtps;
  using namespace eprosima::fastrtps::rtps;
  
  using timesync_msg_t = timesync;
  using timesync_msg_datatype = timesyncPubSubType;
  
  class timesync_Publisher
  {
  public:
  	timesync_Publisher();
  	virtual ~timesync_Publisher();
  	bool init(const std::string &ns, std::string topic_name = "");
  	void run();
  	void publish(timesync_msg_t *st);
  private:
  	Participant *mp_participant;
  	Publisher *mp_publisher;
  
  	class PubListener : public PublisherListener
  	{
  	public:
  		PubListener() : n_matched(0) {};
  		~PubListener() {};
  		void onPublicationMatched(Publisher *pub, MatchingInfo &info);
  		int n_matched;
  	} m_listener;
  	timesync_msg_datatype timesyncDataType;
  };
  
  #endif // _timesync__PUBLISHER_H_
  