static void
in_discoveryWatchSpliced(
v_serviceStateKind spliceDaemonState,
c_voidp usrData)
{
switch(spliceDaemonState){
case STATE_TERMINATING:
case STATE_TERMINATED:
case STATE_DIED:
in_printf(IN_LEVEL_INFO, "Splicedaemon is terminating and so am I...\n");
terminate = TRUE;
u_serviceChangeState(u_service(participant), STATE_TERMINATING);
os_mutexLock (&gluelock);
if (vclientReader)
v_networkReaderTrigger(vclientReader, queueId);
os_mutexUnlock (&gluelock);
break;
default:
break;
}
}
int
main(
int argc,
char* argv[])
{
int result = 0;
v_participantQos participantQos;
u_result uresult;
os_boolean success;
v_subscriberQos subscriberQos;
c_time resolution;
c_base base;
v_kernel kernel;
/* Necessary to initialize the user layer. Do this just once per process.*/
mlv_init ();
uresult = u_userInitialise();
mlv_setforreal (1);
if(uresult == U_RESULT_OK){
/* Allocate default participant qos*/
participantQos = u_participantQosNew(NULL);
{
os_mutexAttr mattr;
os_mutexAttrInit (&mattr);
mattr.scopeAttr = OS_SCOPE_PRIVATE;
os_mutexInit (&gluelock, &mattr);
}
if(participantQos){
if(argc > 1){
SERVICE_NAME = argv[1];
}
if(argc > 2){
SERVICE_URI = argv[2];
}
/*create participant*/
participant = u_participant(u_serviceNew(
SERVICE_URI, 0, SERVICE_NAME,
NULL,
U_SERVICE_NETWORKING,
(v_qos)participantQos));
if(participant){
struct cfgst *cfgst;
ddsi2_participant_gid = u_entityGid (u_entity (participant));
/*Notify kernel that I am initializing. */
u_serviceChangeState(u_service(participant),STATE_INITIALISING);
/*Start monitoring the splicedaemon state. I need to terminate if he says so*/
u_serviceWatchSpliceDaemon(
u_service(participant),
in_discoveryWatchSpliced,
&terminate);
if ((cfgst = config_init (participant, SERVICE_NAME)) != NULL)
{
unsigned rtps_flags = 0;
struct nn_servicelease *servicelease;
open_tracing_file ();
/* Dependencies between default values is not
handled automatically by the config processing
(yet) */
if (config.many_sockets_mode)
{
if (config.max_participants == 0)
config.max_participants = 100;
}
if (NN_STRICT_P)
{
/* Should not be sending invalid messages when strict */
config.respond_to_rti_init_zero_ack_with_invalid_heartbeat = 0;
config.acknack_numbits_emptyset = 1;
}
config_print_and_free_cfgst (cfgst);
servicelease = nn_servicelease_new (participant);
nn_servicelease_start_renewing (servicelease);
myNetworkId = getNetworkId ();
u_entityAction(u_entity(participant), resolveKernelService, NULL);
base = c_getBase(service);
kernel = v_object(service)->kernel;
rtps_init (base, kernel, config.domainId, config.participantIndex,
rtps_flags, config.networkAddressString, config.peers);
/* Initialize entity administration. */
success = in_entityAdminInit(participant);
if(success){
/*Create subscriber to receive client writers' messages.*/
subscriberQos = u_subscriberQosNew(NULL);
os_free(subscriberQos->partition);
subscriberQos->partition = NULL;
clientSubscriber = u_subscriberNew(
participant,
"clientSubscriber",
subscriberQos,
TRUE);
if(clientSubscriber){
/*Create networkReader to be able to receive client writers' messages.*/
clientReader = u_networkReaderNew(
clientSubscriber,
"clientReader",
NULL,
TRUE);
if(clientReader){
resolution.seconds = 0;
resolution.nanoseconds = 10 * 1000 * 1000; /*10 ms*/
/*Create network queue*/
uresult = u_networkReaderCreateQueue(
clientReader,
1000, 0, FALSE, FALSE,
resolution,
TRUE, &queueId,
"DDSi");
if(uresult == U_RESULT_OK){
struct builtin_datareader_set drset;
u_entityAction(u_entity(clientReader), resolveKernelReader, NULL);
uresult = create_builtin_readers (&drset, participant);
if (uresult == U_RESULT_OK)
{
u_serviceChangeState(u_service(participant),STATE_OPERATIONAL);
uresult = attachAndMonitor(participant, &drset);
if((uresult != U_RESULT_OK) &&
(uresult != U_RESULT_DETACHING))
{
nn_log (LC_ERROR, "Abnormal termination...\n");
result = -1;
} else {
nn_log (LC_INFO, "Deleting entities...\n");
}
destroy_builtin_readers (&drset);
} else {
nn_log (LC_FATAL, "Could not create subscription + readers for builtin topics.\n");
result = -1;
}
terminate = TRUE;
v_networkReaderTrigger(vclientReader, queueId);
os_threadWaitExit(clientWriterThread, NULL);
} else {
nn_log (LC_FATAL, "Could not create networkQueue.\n");
result = -1;
}
/*Clean up networkReader*/
os_mutexLock (&gluelock);
u_networkReaderFree(clientReader);
clientReader = NULL;
vclientReader = NULL;
os_mutexUnlock (&gluelock);
} else {
nn_log (LC_FATAL, "Could not create networkReader.\n");
result = -1;
}
/*Clean up subscriber*/
u_subscriberFree(clientSubscriber);
} else {
nn_log (LC_FATAL, "Could not create subscriber.\n");
result = -1;
}
/*Clean up entity administration*/
in_entityAdminDestroy();
} else {
nn_log (LC_FATAL, "Could not initialize entity adminstration.\n");
result = -1;
}
/* RTPS layer now defines types, cleanup before detaching */
rtps_term();
/*Notify kernel that I've terminated*/
u_serviceChangeState(u_service(participant),STATE_TERMINATED);
nn_servicelease_free (servicelease);
/*Delete participant*/
uresult = u_serviceFree(u_service(participant));
if(uresult != U_RESULT_OK){
nn_log (LC_FATAL, "Deletion of participant failed.\n");
result = -1;
}
} else {
nn_log (LC_FATAL, "Initialization of configuration failed.\n");
result = -1;
}
} else {
nn_log (LC_FATAL, "Could not create participant.\n");
result = -1;
}
u_participantQosFree (participantQos);
} else {
nn_log (LC_FATAL, "Could not allocate participantQos.\n");
result = -1;
}
os_mutexDestroy (&gluelock);
/* Detach user layer */
mlv_setforreal (0);
uresult = u_userDetach();
mlv_fini ();
if(uresult != U_RESULT_OK){
nn_log (LC_FATAL, "Detachment of user layer failed.\n");
result = -1;
}
} else {
nn_log (LC_FATAL, "Initialization of user layer failed.\n");
result = -1;
}
nn_log (LC_INFO, "Finis.\n");
/* Must be really late, or nn_log becomes unhappy -- but it should
be before os_osExit (which appears to be called from
u_userExit(), which is not called by u_userDetach but by an
exit handler, it appears.) */
config_fini ();
return result;
}
