StartLineProcessConnector::StartLineProcessConnector(const char* rd_topic) {
DDS_ReturnCode_t retcode_cache;
DDSDomainParticipant *participant = RTIConnector::getParticipant();
m_read_topic = NULL;
pt_rtc = NULL;
m_reader_cache = NULL;
if (rd_topic == NULL) {
g_cSystemLogger.LogMessage("(%s:%s:%d):: Error --->rd_topic is NULL \n", LOG_LOCATION);
return;
}
if (participant == NULL) {
g_cSystemLogger.LogMessage("(%s:%s:%d):: Error --->Participant is NULL \n", LOG_LOCATION);
return;
}
/* Register the type before creating the topic for RTC */
m_type_name_cache = MONITORING::leaseProcessStartTypeSupport::get_type_name();
retcode_cache = MONITORING::leaseProcessStartTypeSupport::register_type(participant, m_type_name_cache);
if (retcode_cache != DDS_RETCODE_OK) {
g_cSystemLogger.LogMessage("(%s:%s:%d):: Error --->Register Type RTC ERROR \n", LOG_LOCATION);
m_type_name_cache = NULL;
return;
}
if (NULL == m_read_topic) {
/* To customize the topic QoS, use the configuration file USER_QOS_PROFILES.xml */
m_read_topic = participant->create_topic(rd_topic, m_type_name_cache, DDS_TOPIC_QOS_DEFAULT, NULL /* listener */
, DDS_STATUS_MASK_NONE);
if (m_read_topic == NULL) {
g_cSystemLogger.LogMessage("(%s:%s:%d):: Error --->create topic success is NULL \n", LOG_LOCATION);
return;
}
}
g_cSystemLogger.LogMessage("(%s:%s:%d):: --->create topic success \n", LOG_LOCATION);
}
void MyPublisher::publish(unsigned short *image, const std::string& qosProfileName,
uint32_t domainId, const std::string& topic)
{
DDSDomainParticipant *participant = DDSDomainParticipantFactory::get_instance()->
create_participant_with_profile(
domainId,
"DataExchangeProfile",
qosProfileName.c_str(),
NULL,
DDS_STATUS_MASK_NONE);
if(participant == NULL) {
std::cout << "Error while creating participant" << std::endl;
}
DataExchangeTypeSupport::register_type(participant, DataExchangeTypeSupport::get_type_name());
DDSTopic *ddstopic = participant->create_topic(
topic.c_str(),
DataExchangeTypeSupport::get_type_name(),
DDS_TOPIC_QOS_DEFAULT,
NULL, /* listener */
DDS_STATUS_MASK_NONE);
if(ddstopic == NULL) {
std::cout << "Publisher: Error while creating topic: " << topic << std::endl;
std::cout << "With typename: " << DataExchangeTypeSupport::get_type_name() << std::endl;
}
DDSPublisher *publisher = participant->create_publisher(
DDS_PUBLISHER_QOS_DEFAULT,
NULL, /* listener */
DDS_STATUS_MASK_NONE);
if(publisher == NULL) {
std::cout << "Error while creating publisher" << std::endl;
}
DDSDataWriter *dataWriter = publisher->create_datawriter(
ddstopic,
DDS_DATAWRITER_QOS_DEFAULT,
NULL, /* listener */
DDS_STATUS_MASK_NONE);
if(dataWriter == NULL) {
std::cout << "Error while creating dataWriter" << std::endl;
}
DataExchangeDataWriter *dataExchangeWriter = NULL;
dataExchangeWriter = DataExchangeDataWriter::narrow(dataWriter);
DDS_Duration_t disc_period = {1,0};
NDDSUtility::sleep(disc_period);
DataExchange *instance = NULL;
instance = DataExchangeTypeSupport::create_data_ex(DDS_BOOLEAN_FALSE);
int rows = 1024;
int cols = 1024;
DDS_UnsignedShortSeq_ensure_length(&instance->pixels, rows*cols, MAX_PIXELS_SEQUENCE_LENGTH);
for (int i = 0; i < rows*cols; ++i) {
instance->pixels[i] = i;
}
std::cout << "Sending dataaa...";
instance->rows = rows;
instance->cols = cols;
dataExchangeWriter->write(*instance, DDS_HANDLE_NIL);
std::cout << " DONE!" << std::endl;
}
