int DDS_TEST::test(ACE_TString host, u_short port)
{
if (host.empty() || port == 0) {
std::cerr << "ERROR: -h <host> and -p <port> options are required\n";
return 1;
}
// 0. initialization
ACE_INET_Addr remote_addr(port, host.c_str());
TransportInst_rch inst = TheTransportRegistry->create_inst("my_rtps",
"rtps_udp");
RtpsUdpInst* rtps_inst = dynamic_cast<RtpsUdpInst*>(inst.in());
if (!rtps_inst) {
std::cerr << "ERROR: Failed to cast to RtpsUdpInst\n";
return 1;
}
rtps_inst->datalink_release_delay_ = 0;
rtps_inst->heartbeat_period_ = ACE_Time_Value(0, 100*1000 /*microseconds*/);
TransportConfig_rch cfg = TheTransportRegistry->create_config("cfg");
cfg->instances_.push_back(inst);
TheTransportRegistry->global_config(cfg);
RepoIdBuilder local;
local.federationId(0x01234567); // guidPrefix1
local.participantId(0x89abcdef); // guidPrefix2
local.entityKey(0x012345);
local.entityKind(ENTITYKIND_USER_WRITER_WITH_KEY);
OpenDDS::RTPS::GUID_t local_guid(local);
const OpenDDS::RTPS::GuidPrefix_t& local_prefix = local_guid.guidPrefix;
RepoIdBuilder remote; // these values must match what's in subscriber.cpp
remote.federationId(0x01234567); // guidPrefix1
remote.participantId(0xefcdab89); // guidPrefix2
remote.entityKey(0x452310);
remote.entityKind(ENTITYKIND_USER_READER_WITH_KEY);
LocatorSeq locators;
locators.length(1);
locators[0].kind = (remote_addr.get_type() == AF_INET6)
? LOCATOR_KIND_UDPv6 : LOCATOR_KIND_UDPv4;
locators[0].port = port;
address_to_bytes(locators[0].address, remote_addr);
size_t size_locator = 0, padding_locator = 0;
gen_find_size(locators, size_locator, padding_locator);
ACE_Message_Block mb_locator(size_locator + padding_locator + 1);
Serializer ser_loc(&mb_locator, ACE_CDR_BYTE_ORDER, Serializer::ALIGN_CDR);
ser_loc << locators;
ser_loc << ACE_OutputCDR::from_boolean(false); // requires inline QoS
SimpleDataWriter sdw(local_guid);
sdw.enable_transport(true /*reliable*/, false /*durable*/);
AssociationData subscription;
subscription.remote_id_ = remote;
subscription.remote_reliable_ = false;
subscription.remote_data_.length(1);
subscription.remote_data_[0].transport_type = "rtps_udp";
subscription.remote_data_[0].data.replace(
static_cast<CORBA::ULong>(mb_locator.length()), &mb_locator);
if (!sdw.init(subscription)) {
std::cerr << "publisher TransportClient::associate() failed\n";
return 1;
}
// 1. send by directly writing an RTPS Message to the socket
const Header hdr = { {'R', 'T', 'P', 'S'}, PROTOCOLVERSION, VENDORID_OPENDDS,
{local_prefix[0], local_prefix[1], local_prefix[2], local_prefix[3],
local_prefix[4], local_prefix[5], local_prefix[6], local_prefix[7],
local_prefix[8], local_prefix[9], local_prefix[10], local_prefix[11]} };
const ACE_Time_Value now = ACE_OS::gettimeofday();
log_time(now);
const double conv = 4294.967296; // NTP fractional (2^-32) sec per microsec
const InfoTimestampSubmessage it = { {INFO_TS, 1, 8},
{static_cast<ACE_CDR::Long>(now.sec()),
static_cast<ACE_CDR::ULong>(now.usec() * conv)} };
DataSubmessage ds = { {DATA, 7, 20 + 24 + 12 + sizeof(text)}, 0, 16,
ENTITYID_UNKNOWN, local_guid.entityId, {0, 1}, ParameterList() };
TestMsg data;
data.key = 0x09230923;
data.value = text;
ds.inlineQos.length(1);
OpenDDS::RTPS::KeyHash_t hash;
marshal_key_hash(data, hash);
ds.inlineQos[0].key_hash(hash);
const ACE_CDR::ULong encap = 0x00000100; // {CDR_LE, options} in BE format
size_t size = 0, padding = 0;
gen_find_size(hdr, size, padding);
gen_find_size(it, size, padding);
gen_find_size(ds, size, padding);
find_size_ulong(size, padding);
gen_find_size(data, size, padding);
ACE_Message_Block msg(size + padding);
Serializer ser(&msg, host_is_bigendian, Serializer::ALIGN_CDR);
bool ok = (ser << hdr) && (ser << it) && (ser << ds)
&& (ser << encap) && (ser << data);
if (!ok) {
std::cerr << "ERROR: failed to serialize RTPS message\n";
return 1;
}
ACE_INET_Addr local_addr;
ACE_SOCK_Dgram sock(local_addr);
ssize_t res = sock.send(msg.rd_ptr(), msg.length(), remote_addr);
if (res < 0) {
std::cerr << "ERROR: error in send()\n";
return 1;
} else {
std::ostringstream oss;
oss << "Sent " << res << " bytes.\n";
ACE_DEBUG((LM_INFO, oss.str().c_str()));
}
// 2a. send control messages through the OpenDDS transport
// Send an instance registration
{
TestMsg control_sample;
control_sample.key = 0x04030201;
DataSampleHeader dsh;
dsh.message_id_ = INSTANCE_REGISTRATION;
dsh.sequence_ = SequenceNumber::SEQUENCENUMBER_UNKNOWN();
dsh.publication_id_ = local_guid;
dsh.key_fields_only_ = true;
// Calculate the data buffer length
size = 0;
padding = 0;
OpenDDS::DCPS::KeyOnly<const TestMsg> ko_instance_data(control_sample);
find_size_ulong(size, padding); // encap
gen_find_size(ko_instance_data, size, padding);
dsh.message_length_ = static_cast<ACE_UINT32>(size + padding);
ACE_Message_Block* ir_mb = new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA,
new ACE_Message_Block(dsh.message_length_));
*ir_mb << dsh;
OpenDDS::DCPS::Serializer serializer(ir_mb->cont(),
host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (serializer << encap) && (serializer << ko_instance_data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for instance registration\n";
return 1;
}
::DDS_TEST::force_inline_qos(false); // No inline QoS
sdw.send_control(dsh, ir_mb);
// Send a dispose instance
{
dsh.message_id_ = DISPOSE_INSTANCE;
ACE_Message_Block* di_mb = new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA,
new ACE_Message_Block(dsh.message_length_));
*di_mb << dsh;
OpenDDS::DCPS::Serializer serializer(di_mb->cont(),
host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (serializer << encap) && (serializer << ko_instance_data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for dispose instance\n";
return 1;
}
::DDS_TEST::force_inline_qos(true); // Inline QoS
sdw.inline_qos_mode_ = SimpleDataWriter::PARTIAL_MOD_QOS;
sdw.send_control(dsh, di_mb);
}
// Send an unregister instance
{
dsh.message_id_ = UNREGISTER_INSTANCE;
ACE_Message_Block* ui_mb = new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA,
new ACE_Message_Block(dsh.message_length_));
*ui_mb << dsh;
OpenDDS::DCPS::Serializer serializer(ui_mb->cont(),
host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (serializer << encap) && (serializer << ko_instance_data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for unregister instance\n";
return 1;
}
::DDS_TEST::force_inline_qos(true); // Inline QoS
sdw.inline_qos_mode_ = SimpleDataWriter::FULL_MOD_QOS;
sdw.send_control(dsh, ui_mb);
}
// Send a dispose & unregister instance
{
dsh.message_id_ = DISPOSE_UNREGISTER_INSTANCE;
ACE_Message_Block* ui_mb = new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA,
new ACE_Message_Block(dsh.message_length_));
*ui_mb << dsh;
OpenDDS::DCPS::Serializer serializer(ui_mb->cont(),
host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (serializer << encap) && (serializer << ko_instance_data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for dispose unregister instance\n";
return 1;
}
::DDS_TEST::force_inline_qos(true); // Inline QoS
sdw.inline_qos_mode_ = SimpleDataWriter::FULL_MOD_QOS;
sdw.send_control(dsh, ui_mb);
}
}
// 2b. send sample data through the OpenDDS transport
TransportSendElementAllocator alloc(2, sizeof(TransportSendElementAllocator));
DataSampleElement elements[] = {
DataSampleElement(local_guid, &sdw, 0, &alloc, 0), // Data Sample
DataSampleElement(local_guid, &sdw, 0, &alloc, 0), // Data Sample (key=99 means end)
};
SendStateDataSampleList list;
list.head_ = elements;
list.size_ = sizeof(elements) / sizeof(elements[0]);
list.tail_ = &elements[list.size() - 1];
for (int i = 0; i < list.size() - 1; ++i) {
DDS_TEST::set_next_send_sample(elements[i], &elements[i + 1]);
}
// Send a regular data sample
int index = 0;
DataSampleHeader& dsh = elements[index].header_;
dsh.message_id_ = SAMPLE_DATA;
dsh.publication_id_ = local_guid;
dsh.sequence_ = 3; // test GAP generation
const ACE_Time_Value tv = ACE_OS::gettimeofday();
log_time(tv);
DDS::Time_t st = time_value_to_time(tv);
dsh.source_timestamp_sec_ = st.sec;
dsh.source_timestamp_nanosec_ = st.nanosec;
// Calculate the data buffer length
size = 0;
padding = 0;
find_size_ulong(size, padding); // encap
gen_find_size(data, size, padding);
dsh.message_length_ = static_cast<ACE_UINT32>(size + padding);
elements[index].sample_ =
new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA, new ACE_Message_Block(dsh.message_length_));
*elements[index].sample_ << dsh;
Serializer ser2(elements[index].sample_->cont(), host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (ser2 << encap) && (ser2 << data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for elements[" << index << "]\n";
return 1;
}
// Send a data sample with a key of 99 to terminate the subscriber
index++;
DataSampleHeader& dsh2 = elements[index].header_;
dsh2.sequence_ = dsh.sequence_+1;
dsh2.message_id_ = SAMPLE_DATA;
dsh.publication_id_ = local_guid;
dsh2.key_fields_only_ = false;
const ACE_Time_Value tv2 = ACE_OS::gettimeofday();
log_time(tv2);
DDS::Time_t st2 = time_value_to_time(tv2);
dsh2.source_timestamp_sec_ = st2.sec;
dsh2.source_timestamp_nanosec_ = st2.nanosec;
data.key = 99;
data.value = "";
// Calculate the data buffer length
size = 0;
padding = 0;
find_size_ulong(size, padding); // encap
gen_find_size(data, size, padding);
dsh2.message_length_ = static_cast<ACE_UINT32>(size + padding);
elements[index].sample_ =
new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA, new ACE_Message_Block(dsh2.message_length_));
*elements[index].sample_ << dsh2;
Serializer ser3(elements[index].sample_->cont(), host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (ser3 << encap) && (ser3 << data.key) && (ser3 << data.value);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for elements[" << index << "]\n";
return 1;
}
sdw.callbacks_expected_ = list.size();
::DDS_TEST::force_inline_qos(true); // Inline QoS
sdw.send(list);
while (sdw.callbacks_expected_) {
ACE_OS::sleep(1);
}
// Allow enough time for a HEARTBEAT message to be generated
ACE_OS::sleep(rtps_inst->heartbeat_period_ * 2.0);
// 3. cleanup
sdw.disassociate(subscription.remote_id_);
TheServiceParticipant->shutdown();
ACE_Thread_Manager::instance()->wait();
return 0;
}
int
ACE_TMAIN(int argc, ACE_TCHAR* argv[])
{
try {
TheParticipantFactoryWithArgs(argc, argv);
std::cerr << "STARTING MAIN IN SUBSCRIBER\n";
ACE_TString host;
u_short port = 0;
ACE_Get_Opt opts(argc, argv, ACE_TEXT("h:p:"));
int option = 0;
while ((option = opts()) != EOF) {
switch (option) {
case 'h':
host = opts.opt_arg();
break;
case 'p':
port = static_cast<u_short>(ACE_OS::atoi(opts.opt_arg()));
break;
}
}
if (host.empty() || port == 0) {
std::cerr << "ERROR: -h <host> and -p <port> options are required\n";
return 1;
}
TransportInst_rch inst = TheTransportRegistry->create_inst("my_rtps",
"rtps_udp");
RtpsUdpInst* rtps_inst = dynamic_cast<RtpsUdpInst*>(inst.in());
#ifdef OPENDDS_SAFETY_PROFILE
if (host == "localhost") {
host = "127.0.0.1";
}
#endif
rtps_inst->local_address(port, ACE_TEXT_ALWAYS_CHAR(host.c_str()));
rtps_inst->datalink_release_delay_ = 0;
TransportConfig_rch cfg = TheTransportRegistry->create_config("cfg");
cfg->instances_.push_back(inst);
TheTransportRegistry->global_config(cfg);
RepoIdBuilder local;
local.federationId(0x01234567); // guidPrefix1
local.participantId(0xefcdab89); // guidPrefix2
local.entityKey(0x452310);
local.entityKind(ENTITYKIND_USER_READER_WITH_KEY);
RepoIdBuilder remote; // these values must match what's in publisher.cpp
remote.federationId(0x01234567); // guidPrefix1
remote.participantId(0x89abcdef); // guidPrefix2
remote.entityKey(0x012345);
remote.entityKind(ENTITYKIND_USER_WRITER_WITH_KEY);
SimpleDataReader sdr(local);
sdr.enable_transport(false /*reliable*/, false /*durable*/);
// Write a file so that test script knows we're ready
FILE* file = std::fopen("subready.txt", "w");
std::fprintf(file, "Ready\n");
std::fclose(file);
std::cerr << "***Ready written to subready.txt\n";
AssociationData publication;
publication.remote_id_ = remote;
publication.remote_reliable_ = true;
publication.remote_data_.length(1);
publication.remote_data_[0].transport_type = "rtps_udp";
publication.remote_data_[0].data.length(5);
for (CORBA::ULong i = 0; i < 5; ++i) {
publication.remote_data_[0].data[i] = 0;
}
std::cerr << "***Association Data created for Publication for SimpleDataReader to init\n";
std::cout << "Associating with pub..." << std::endl;
if (!sdr.init(publication)) {
std::cerr << "subscriber TransportClient::associate() failed\n";
return 1;
}
std::cerr << "***Simple Data Reader init:: publication completed\n";
while (!sdr.done_) {
ACE_OS::sleep(1);
}
if (sdr.control_msg_count_ != 4) {
ACE_DEBUG((LM_ERROR, "ERROR: Expected 4 control messages, received %d\n",
sdr.control_msg_count_));
}
sdr.disassociate(publication.remote_id_);
TheServiceParticipant->shutdown();
ACE_Thread_Manager::instance()->wait();
return 0;
} catch (const OpenDDS::DCPS::Transport::NotConfigured& ) {
ACE_DEBUG((LM_ERROR,
"ERROR: caught OpenDDS::DCPS::Transport::NotConfigured exception.\n"));
return 1;
} catch (const CORBA::BAD_PARAM& ex) {
ex._tao_print_exception("Exception caught in subscriber.cpp:");
return 1;
}
}
