int
ACE_TMAIN(int argc, ACE_TCHAR** argv)
{
parse_args(argc, argv);
ACE_DEBUG((LM_INFO, ACE_TEXT("(%P|%t) -> SUBSCRIBER STARTED\n")));
try
{
DDS::DomainParticipantFactory_var dpf =
TheParticipantFactoryWithArgs(argc, argv);
// Create Participant
DDS::DomainParticipant_var participant =
dpf->create_participant(42,
PARTICIPANT_QOS_DEFAULT,
DDS::DomainParticipantListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(participant.in()))
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l: main()")
ACE_TEXT(" create_participant failed!\n")), 1);
// Create Subscriber
DDS::Subscriber_var subscriber =
participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT,
DDS::SubscriberListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(subscriber.in()))
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l: main()")
ACE_TEXT(" create_subscriber failed!\n")), 2);
// Attach Transport
OpenDDS::DCPS::TransportImpl_rch transport =
TheTransportFactory->create_transport_impl(
OpenDDS::DCPS::DEFAULT_SIMPLE_TCP_ID,
"SimpleTcp");
OpenDDS::DCPS::SubscriberImpl* subscriber_i =
dynamic_cast<OpenDDS::DCPS::SubscriberImpl*>(subscriber.in());
if (subscriber_i == 0)
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l: main()")
ACE_TEXT(" dynamic_cast failed!\n")), 3);
OpenDDS::DCPS::AttachStatus status =
subscriber_i->attach_transport(transport.in());
if (status != OpenDDS::DCPS::ATTACH_OK)
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l: main()")
ACE_TEXT(" attach_transport failed!\n")), 4);
// Register Type (FooType)
FooTypeSupport_var ts = new FooTypeSupportImpl;
if (ts->register_type(participant.in(), "") != DDS::RETCODE_OK)
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l: main()")
ACE_TEXT(" register_type failed!\n")), 5);
// Create Topic (FooTopic)
DDS::Topic_var topic =
participant->create_topic("FooTopic",
ts->get_type_name(),
TOPIC_QOS_DEFAULT,
DDS::TopicListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(topic.in()))
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l: main()")
ACE_TEXT(" create_topic failed!\n")), 6);
// Create DataReader
ProgressIndicator progress =
ProgressIndicator("(%P|%t) SUBSCRIBER %d%% (%d samples received)\n",
expected_samples);
DDS::DataReaderListener_var listener =
new DataReaderListenerImpl(received_samples, progress);
DDS::DataReaderQos reader_qos;
subscriber->get_default_datareader_qos(reader_qos);
reader_qos.history.kind = DDS::KEEP_ALL_HISTORY_QOS;
DDS::DataReader_var reader =
subscriber->create_datareader(topic.in(),
reader_qos,
listener.in(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(reader.in()))
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l: main()")
ACE_TEXT(" create_datareader failed!\n")), 7);
// Block until Publisher completes
DDS::StatusCondition_var cond = reader->get_statuscondition();
cond->set_enabled_statuses(DDS::SUBSCRIPTION_MATCHED_STATUS);
DDS::WaitSet_var ws = new DDS::WaitSet;
ws->attach_condition(cond);
DDS::Duration_t timeout =
{ DDS::DURATION_INFINITE_SEC, DDS::DURATION_INFINITE_NSEC };
DDS::ConditionSeq conditions;
DDS::SubscriptionMatchedStatus matches = {0, 0, 0, 0, 0};
do
{
if (ws->wait(conditions, timeout) != DDS::RETCODE_OK)
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l: main()")
ACE_TEXT(" wait failed!\n")), 8);
if (reader->get_subscription_matched_status(matches) != ::DDS::RETCODE_OK)
{
ACE_ERROR ((LM_ERROR,
"ERROR: failed to get subscription matched status\n"));
return 1;
}
}
while (matches.current_count > 0 || matches.total_count < n_publishers);
ws->detach_condition(cond);
// Clean-up!
participant->delete_contained_entities();
dpf->delete_participant(participant.in());
TheTransportFactory->release();
TheServiceParticipant->shutdown();
}
catch (const CORBA::Exception& e)
{
e._tao_print_exception("caught in main()");
return 9;
}
ACE_DEBUG((LM_INFO, ACE_TEXT("(%P|%t) <- SUBSCRIBER FINISHED\n")));
if (received_samples != expected_samples) {
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("(%P|%t) ERROR: subscriber - ")
ACE_TEXT("received %d of expected %d samples.\n"),
received_samples,
expected_samples
));
return 10;
}
return 0;
}
void FocusCameraClient::postEvent (rts2core::Event *event)
{
switch (event->getType ())
{
case EVENT_EXP_CHECK:
if (getConnection ()->getState () & (CAM_EXPOSING | CAM_READING))
{
double fr = getConnection ()->getProgress (getNow ());
std::cout << ((getConnection ()->getState () & CAM_EXPOSING) ? "EXPOSING " : "READING ") << ProgressIndicator (fr, COLS - 20) << std::fixed << std::setprecision (1) << std::setw (5) << fr << "% \r";
std::cout.flush ();
}
break;
}
rts2image::DevClientCameraFoc::postEvent (event);
}
