/*
Publish a message through the DataWritter
TODO: generalize and get rid of ChatMsg
*/
void publish(char* text_to_publish)
{
ChatMsg_t m;
char* buf = text_to_publish;
if (!h)
h = ChatMsg_register (dw, &m);
m.message = buf;
ChatMsg_write (dw, &m, h);
}
void do_dds_shell (DDS_DataWriter dw)
{
Vector3_t m;
DDS_InstanceHandle_t h;
char buf [256];
#if !defined (NUTTX_RTOS)
tty_init ();
DDS_Handle_attach (tty_stdin,
POLLIN | POLLPRI | POLLERR | POLLHUP | POLLNVAL,
tty_input,
NULL);
#endif
#if 0
printf ("Welcome to the Technicolor chatroom.\r\n");
printf ("Anything you type will be sent to all chatroom attendees.\r\n");
printf ("Type '!help' for chatroom options.\r\n");
m.chatroom = chatroom;
m.from = user_name;
#endif
h = 0;
while (!aborting) {
#if defined (NUTTX_RTOS)
/* Take into account that fgets reads the "\n" character at the end
of each line. Code should consider this aspect in every case */
fgets(buf, 256, stdin);
#else
tty_gets (sizeof (buf), buf, 0, 1);
#endif
if (buf [0] == '!') {
#if defined (NUTTX_RTOS)
if (!strcmp (buf + 1, "quit\n") ||
(buf [1] == 'q' && buf [2] == '\n')) {
#else
if (!strcmp (buf + 1, "quit") ||
(buf [1] == 'q' && buf [2] == '\0')) {
#endif
aborting = 1;
break;
}
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "list\n"))
#else
else if (!strcmp (buf + 1, "list"))
#endif
printf ("Attendees:\r\n\t%s\r\n", user_name);
#if defined (NUTTX_RTOS)
else if (!memcmp (buf + 1, "user\n", 4)) {
#else
else if (!memcmp (buf + 1, "user", 4)) {
#endif
if (h) {
Vector3_signal (dw, h, 1);
h = 0;
}
strcpy (user_name, buf + 6);
printf ("You are now: %s\r\n", user_name);
}
#if defined (NUTTX_RTOS)
else if (!memcmp (buf + 1, "room\n", 4)) {
#else
else if (!memcmp (buf + 1, "room", 4)) {
#endif
if (h) {
Vector3_signal (dw, h, 1);
h = 0;
}
strcpy (chatroom, buf + 6);
printf ("Switched to chatroom: %s\r\n", chatroom);
}
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "info\n"))
#else
else if (!strcmp (buf + 1, "info"))
#endif
printf ("Chatroom: %s, Username: %s\r\n",
chatroom, user_name);
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "busy\n"))
#else
else if (!strcmp (buf + 1, "busy"))
#endif
Vector3_signal (dw, h, 0);
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "away\n")) {
#else
else if (!strcmp (buf + 1, "away")) {
#endif
if (h) {
Vector3_signal (dw, h, 1);
h = 0;
}
}
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "help\n") ||
(buf [1] == 'h' && buf [2] == '\n\0') ||
(buf [1] == '?' && buf [2] == '\n\0')) {
#else
else if (!strcmp (buf + 1, "help") ||
(buf [1] == 'h' && buf [2] == '\0') ||
(buf [1] == '?' && buf [2] == '\0')) {
#endif
printf ("Commands:\r\n");
printf (" !room <room_name> -> set the chatroom name.\r\n");
printf (" !user <user_name> -> set the user name.\r\n");
printf (" !list -> list the attendees.\r\n");
printf (" !info -> show chatroom and user.\r\n");
printf (" !busy -> momentarily not involved.\r\n");
printf (" !away -> gone away.\r\n");
printf (" !help or !h or !? -> Show this info.\r\n");
printf (" !quit or !q -> Quit the chatroom.\r\n");
printf (" !!<command> -> DDS debug command.\r\n");
/* printf (" !$<command> -> Shell command.\r\n"); */
}
else if (buf [1] == '!')
DDS_Debug_command (buf + 2);
/* else if (buf [1] == '$')
system (buf + 2); */
else
printf ("?%s\r\n", buf + 1);
continue;
} else {
printf("Writing to the other endpoints not allowed.\n");
#if 0
if (!h)
h = ChatMsg_register (dw, &m);
//sprintf(buf_t, "Embedded says %s\n", buf);
fetch_imu();
//m.message = buf_t;
m.message = buf;
ChatMsg_write (dw, &m, h);
#endif
printf ("Commands:\r\n");
printf (" !list -> list the attendees.\r\n");
printf (" !busy -> momentarily not involved.\r\n");
printf (" !away -> gone away.\r\n");
printf (" !help or !h or !? -> Show this info.\r\n");
printf (" !quit or !q -> Quit the chatroom.\r\n");
printf (" !!<command> -> DDS debug command.\r\n");
}
}
}
static void *dds_send_imu (void *args)
{
Vector3_t m;
DDS_InstanceHandle_t h;
h = 0;
for (;;){
sleep (1); // sleep 0.5 seconds
//sprintf(buf_t, "Embedded says %s\n", buf);
m.x_ = 1;
m.y_ = 2;
m.z_ = 3;
#if 0
/* According to https://github.com/brunodebus/tinq-core/issues/7#issuecomment-63740498:
the Vector3 shouldn't be registered if it doesn't contain a @key attribute
*/
if (!h)
h = Vector3_register (dw, &m);
#endif
Vector3_write (dw, &m, h);
}
}
void read_msg (DDS_DataReaderListener *l, DDS_DataReader dr)
{
Vector3_t msg;
DDS_InstanceStateKind kind;
int valid;
DDS_ReturnCode_t ret;
ARG_NOT_USED (l)
memset (&msg, 0, sizeof (msg));
ret = Vector3_read_or_take (dr, &msg, DDS_NOT_READ_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_ANY_INSTANCE_STATE, 1,
&valid, &kind);
if (ret == DDS_RETCODE_OK)
do {
#if 0
/* Use a from field within the message to avoid to read the messages that this
node sent.
*/
#ifndef DISPLAY_SELF
if (!strcmp (msg.from, user_name) &&
!strcmp (msg.chatroom, chatroom))
break;
#endif
#endif
if (valid)
printf ("IMU accel message: x=%f, y=%f and z=%f\r\n", msg.x_, msg.y_, msg.z_);
else if (kind == DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE)
printf ("DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE!\r\n");
else if (kind == DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE)
printf ("DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE!\r\n");
}
while (0);
Vector3_cleanup (&msg);
}
#ifdef WAITSETS
static void *imu_reader (void *args)
{
DDS_DynamicDataReader dr;
DDS_WaitSet ws;
DDS_SampleStateMask ss = DDS_NOT_READ_SAMPLE_STATE;
DDS_ViewStateMask vs = DDS_ANY_VIEW_STATE;
DDS_InstanceStateMask is = DDS_ANY_INSTANCE_STATE;
DDS_ReadCondition rc;
DDS_ConditionSeq conds = DDS_SEQ_INITIALIZER (DDS_Condition);
DDS_Duration_t to;
DDS_ReturnCode_t ret;
dr = args;
ws = DDS_WaitSet__alloc ();
if (!ws)
fatal ("Unable to allocate a WaitSet!");
if (verbose)
printf ("DDS Waitset allocated.\r\n");
rc = DDS_DataReader_create_readcondition (dr, ss, vs, is);
if (!rc)
fatal ("DDS_DataReader_create_readcondition () returned an error!");
if (verbose)
printf ("DDS Readcondition created.\r\n");
ret = DDS_WaitSet_attach_condition (ws, rc);
if (ret)
fatal ("Unable to attach condition to a WaitSet!");
while (!aborting) {
to.sec = 0;
to.nanosec = 200000000; /* Timeout after 200ms. */
ret = DDS_WaitSet_wait (ws, &conds, &to);
if (ret == DDS_RETCODE_TIMEOUT)
continue;
read_msg (NULL, dr);
}
ret = DDS_WaitSet_detach_condition (ws, rc);
if (ret)
fatal ("Unable to detach condition from WaitSet (%s)!", DDS_error (ret));
DDS_WaitSet__free (ws);
return (NULL);
}
static void start_imu_reader (DDS_DynamicDataReader dr)
{
thread_create (rt, imu_reader, dr);
}
void do_chat (DDS_DataWriter dw)
{
ChatMsg_t m;
DDS_InstanceHandle_t h;
char buf [256];
#if !defined (NUTTX_RTOS)
tty_init ();
#endif
DDS_Handle_attach (tty_stdin,
POLLIN | POLLPRI | POLLERR | POLLHUP | POLLNVAL,
tty_input,
NULL);
printf ("Welcome to the ROS 2.0 DDS chatroom.\r\n");
printf ("Anything you type will be sent to all chatroom attendees.\r\n");
printf (" (Please write messages of less than 255 characters).\r\n");
printf ("Type '!help' for chatroom options.\r\n");
m.chatroom = chatroom;
m.from = user_name;
h = 0;
while (!aborting) {
#if defined (NUTTX_RTOS)
/* Take into account that fgets reads the "\n" character at the end
of each line. Code should consider this aspect in every case */
fgets(buf, 256, stdin);
#else
tty_gets (sizeof (buf), buf, 0, 1);
#endif
if (buf [0] == '!') {
#if defined (NUTTX_RTOS)
if (!strcmp (buf + 1, "quit\n") ||
(buf [1] == 'q' && buf [2] == '\n')) {
#else
if (!strcmp (buf + 1, "quit") ||
(buf [1] == 'q' && buf [2] == '\0')) {
#endif
aborting = 1;
break;
}
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "list\n"))
#else
else if (!strcmp (buf + 1, "list"))
#endif
printf ("Attendees:\r\n\t%s\r\n", user_name);
#if defined (NUTTX_RTOS)
else if (!memcmp (buf + 1, "user\n", 4)) {
#else
else if (!memcmp (buf + 1, "user", 4)) {
#endif
if (h) {
ChatMsg_signal (dw, h, 1);
h = 0;
}
strcpy (user_name, buf + 6);
printf ("You are now: %s\r\n", user_name);
}
#if defined (NUTTX_RTOS)
else if (!memcmp (buf + 1, "room\n", 4)) {
#else
else if (!memcmp (buf + 1, "room", 4)) {
#endif
if (h) {
ChatMsg_signal (dw, h, 1);
h = 0;
}
strcpy (chatroom, buf + 6);
printf ("Switched to chatroom: %s\r\n", chatroom);
}
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "info\n"))
#else
else if (!strcmp (buf + 1, "info"))
#endif
printf ("Chatroom: %s, Username: %s\r\n",
chatroom, user_name);
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "busy\n"))
#else
else if (!strcmp (buf + 1, "busy"))
#endif
ChatMsg_signal (dw, h, 0);
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "away\n")) {
#else
else if (!strcmp (buf + 1, "away")) {
#endif
if (h) {
ChatMsg_signal (dw, h, 1);
h = 0;
}
}
#if defined (NUTTX_RTOS)
else if (!strcmp (buf + 1, "help\n") ||
(buf [1] == 'h' && buf [2] == '\n\0') ||
(buf [1] == '?' && buf [2] == '\n\0')) {
#else
else if (!strcmp (buf + 1, "help") ||
(buf [1] == 'h' && buf [2] == '\0') ||
(buf [1] == '?' && buf [2] == '\0')) {
#endif
printf ("Commands:\r\n");
printf (" !room <room_name> -> set the chatroom name.\r\n");
printf (" !user <user_name> -> set the user name.\r\n");
printf (" !list -> list the attendees.\r\n");
printf (" !info -> show chatroom and user.\r\n");
printf (" !busy -> momentarily not involved.\r\n");
printf (" !away -> gone away.\r\n");
printf (" !help or !h or !? -> Show this info.\r\n");
printf (" !quit or !q -> Quit the chatroom.\r\n");
printf (" !!<command> -> DDS debug command.\r\n");
/* printf (" !$<command> -> Shell command.\r\n"); */
}
else if (buf [1] == '!')
DDS_Debug_command (buf + 2);
/* else if (buf [1] == '$')
system (buf + 2); */
else
printf ("?%s\r\n", buf + 1);
continue;
}
if (!h)
h = ChatMsg_register (dw, &m);
m.message = buf;
ChatMsg_write (dw, &m, h);
}
}
void read_msg (DDS_DataReaderListener *l, DDS_DataReader dr)
{
ChatMsg_t msg;
DDS_InstanceStateKind kind;
int valid;
DDS_ReturnCode_t ret;
ARG_NOT_USED (l)
memset (&msg, 0, sizeof (msg));
ret = ChatMsg_read_or_take (dr, &msg, DDS_NOT_READ_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_ANY_INSTANCE_STATE, 1,
&valid, &kind);
if (ret == DDS_RETCODE_OK)
do {
#ifndef DISPLAY_SELF
if (!strcmp (msg.from, user_name) &&
!strcmp (msg.chatroom, chatroom))
break;
#endif
if (valid)
printf ("%s: %s\r\n", msg.from, msg.message);
else if (kind == DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE)
printf ("%s is busy!\r\n", msg.from);
else if (kind == DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE)
printf ("%s has left!\r\n", msg.from);
}
while (0);
ChatMsg_cleanup (&msg);
}
#ifdef WAITSETS
static void *chat_reader (void *args)
{
DDS_DynamicDataReader dr;
DDS_WaitSet ws;
DDS_SampleStateMask ss = DDS_NOT_READ_SAMPLE_STATE;
DDS_ViewStateMask vs = DDS_ANY_VIEW_STATE;
DDS_InstanceStateMask is = DDS_ANY_INSTANCE_STATE;
DDS_ReadCondition rc;
DDS_ConditionSeq conds = DDS_SEQ_INITIALIZER (DDS_Condition);
DDS_Duration_t to;
DDS_ReturnCode_t ret;
dr = args;
ws = DDS_WaitSet__alloc ();
if (!ws)
fatal ("Unable to allocate a WaitSet!");
if (verbose)
printf ("DDS Waitset allocated.\r\n");
rc = DDS_DataReader_create_readcondition (dr, ss, vs, is);
if (!rc)
fatal ("DDS_DataReader_create_readcondition () returned an error!");
if (verbose)
printf ("DDS Readcondition created.\r\n");
ret = DDS_WaitSet_attach_condition (ws, rc);
if (ret)
fatal ("Unable to attach condition to a WaitSet!");
while (!aborting) {
to.sec = 0;
to.nanosec = 200000000; /* Timeout after 200ms. */
ret = DDS_WaitSet_wait (ws, &conds, &to);
if (ret == DDS_RETCODE_TIMEOUT)
continue;
read_msg (NULL, dr);
}
ret = DDS_WaitSet_detach_condition (ws, rc);
if (ret)
fatal ("Unable to detach condition from WaitSet (%s)!", DDS_error (ret));
DDS_WaitSet__free (ws);
return (NULL);
}
static void start_chat_reader (DDS_DynamicDataReader dr)
{
thread_create (rt, chat_reader, dr);
}
static void stop_chat_reader (DDS_DynamicDataReader dr)
{
ARG_NOT_USED (dr)
thread_wait (rt, NULL);
}
#else
static DDS_DataReaderListener msg_listener = {
NULL, /* Sample rejected. */
NULL, /* Liveliness changed. */
NULL, /* Requested Deadline missed. */
NULL, /* Requested incompatible QoS. */
read_msg, /* Data available. */
NULL, /* Subscription matched. */
NULL, /* Sample lost. */
NULL /* Cookie */
};
#endif
#ifdef DDS_SECURITY
#define fail_unless assert
static void enable_security (void)
{
DDS_Credentials credentials;
DDS_ReturnCode_t error;
#ifdef MSECPLUG_WITH_SECXML
/*int dhandle, thandle;*/
#endif
error = DDS_SP_set_policy ();
if (error)
fatal ("DDS_SP_set_policy() returned error (%s)!", DDS_error (error));
#ifdef MSECPLUG_WITH_SECXML
if (DDS_SP_parse_xml ("security.xml"))
fatal ("SP: no DDS security rules in 'security.xml'!\r\n");
#else
DDS_SP_add_domain();
if (!realm_name)
DDS_SP_add_participant ();
else
DDS_SP_set_participant_access (DDS_SP_add_participant (), strcat(realm_name, "*"), 2, 0);
#endif
if (!cert_path || !key_path)
fatal ("Error: you must provide a valid certificate path and a valid private key path\r\n");
if (engine_id) {
DDS_SP_init_engine (engine_id, init_engine_fs);
credentials.credentialKind = DDS_ENGINE_BASED;
credentials.info.engine.engine_id = engine_id;
credentials.info.engine.cert_id = cert_path;
credentials.info.engine.priv_key_id = key_path;
}
else {
credentials.credentialKind = DDS_FILE_BASED;
credentials.info.filenames.private_key_file = key_path;
credentials.info.filenames.certificate_chain_file = cert_path;
}
error = DDS_Security_set_credentials ("Technicolor Chatroom", &credentials);
}
void do_chat (DDS_DataWriter dw)
{
ChatMsg_t m;
DDS_InstanceHandle_t h;
char buf [256];
tty_init ();
DDS_Handle_attach (tty_stdin,
POLLIN | POLLPRI | POLLERR | POLLHUP | POLLNVAL,
tty_input,
NULL);
printf ("Welcome to the Technicolor chatroom.\r\n");
printf ("Anything you type will be sent to all chatroom attendees.\r\n");
printf ("Type '!help' for chatroom options.\r\n");
m.chatroom = chatroom;
m.from = user_name;
h = 0;
while (!aborting) {
tty_gets (sizeof (buf), buf, 0, 1);
if (buf [0] == '!') {
if (!strcmp (buf + 1, "quit") ||
(buf [1] == 'q' && buf [2] == '\0')) {
aborting = 1;
break;
}
else if (!strcmp (buf + 1, "list"))
printf ("Attendees:\r\n\t%s\r\n", user_name);
else if (!memcmp (buf + 1, "user", 4)) {
if (h) {
ChatMsg_signal (dw, h, 1);
h = 0;
}
strcpy (user_name, buf + 6);
printf ("You are now: %s\r\n", user_name);
}
else if (!memcmp (buf + 1, "room", 4)) {
if (h) {
ChatMsg_signal (dw, h, 1);
h = 0;
}
strcpy (chatroom, buf + 6);
printf ("Switched to chatroom: %s\r\n", chatroom);
}
else if (!strcmp (buf + 1, "info"))
printf ("Chatroom: %s, Username: %s\r\n",
chatroom, user_name);
else if (!strcmp (buf + 1, "busy"))
ChatMsg_signal (dw, h, 0);
else if (!strcmp (buf + 1, "away")) {
if (h) {
ChatMsg_signal (dw, h, 1);
h = 0;
}
}
else if (!strcmp (buf + 1, "help") ||
(buf [1] == 'h' && buf [2] == '\0') ||
(buf [1] == '?' && buf [2] == '\0')) {
printf ("Commands:\r\n");
printf (" !room <room_name> -> set the chatroom name.\r\n");
printf (" !user <user_name> -> set the user name.\r\n");
printf (" !list -> list the attendees.\r\n");
printf (" !info -> show chatroom and user.\r\n");
printf (" !busy -> momentarily not involved.\r\n");
printf (" !away -> gone away.\r\n");
printf (" !help or !h or !? -> Show this info.\r\n");
printf (" !quit or !q -> Quit the chatroom.\r\n");
printf (" !!<command> -> DDS debug command.\r\n");
/* printf (" !$<command> -> Shell command.\r\n"); */
}
else if (buf [1] == '!')
DDS_Debug_command (buf + 2);
/* else if (buf [1] == '$')
system (buf + 2); */
else
printf ("?%s\r\n", buf + 1);
continue;
}
if (!h)
h = ChatMsg_register (dw, &m);
m.message = buf;
ChatMsg_write (dw, &m, h);
}
}