Ejemplo n.º 1
0
Publisher::Publisher( const Options& options)
 : status_( 0),
   options_( options),
   participant_(0),
   publisher_(0),
   waiter_( new DDS::WaitSet)
{
  DDS::DomainParticipantFactory_var dpf = TheParticipantFactory;
  // Create the DomainParticipant
  this->participant_
    = dpf->create_participant(
        this->options_.domain(),
        PARTICIPANT_QOS_DEFAULT,
        DDS::DomainParticipantListener::_nil(),
        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
      );
  if( CORBA::is_nil( this->participant_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create a participant.\n")
    ));
    throw BadParticipantException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created participant in domain %d.\n"),
      this->options_.domain()
    ));
  }

  // Create and register the type support.
  DataTypeSupportImpl* testData = new DataTypeSupportImpl();
  CORBA::String_var type_name = testData->get_type_name();
  if( ::DDS::RETCODE_OK
   != testData->register_type( this->participant_.in(), 0)) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("unable to install type %C support.\n"),
      type_name.in()
    ));
    throw BadTypeSupportException ();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created type %C support.\n"),
      type_name.in()
    ));
  }

  // Create the topic.
  DDS::Topic_var topic = this->participant_->create_topic(
                           this->options_.topicName().c_str(),
                           type_name,
                           TOPIC_QOS_DEFAULT,
                           ::DDS::TopicListener::_nil(),
                           ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
                         );
  if( CORBA::is_nil( topic.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create topic %C.\n"),
      this->options_.topicName().c_str()
    ));
    throw BadTopicException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created topic %C.\n"),
      this->options_.topicName().c_str()
    ));
  }

  // Create the publisher.
  this->publisher_ = this->participant_->create_publisher(
      PUBLISHER_QOS_DEFAULT,
      ::DDS::PublisherListener::_nil(),
      ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
  );
  if( CORBA::is_nil(this->publisher_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create publisher.\n")
    ));
    throw BadPublisherException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created publisher.\n")
    ));
  }

  // Writer Qos policy values.
  ::DDS::DataWriterQos writerQos;
  this->publisher_->get_default_datawriter_qos( writerQos);

  writerQos.durability.kind                          = ::DDS::TRANSIENT_LOCAL_DURABILITY_QOS;
  writerQos.history.kind                             = ::DDS::KEEP_ALL_HISTORY_QOS;
  writerQos.resource_limits.max_samples_per_instance = ::DDS::LENGTH_UNLIMITED;
  writerQos.reliability.kind                         = ::DDS::RELIABLE_RELIABILITY_QOS;

  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("starting to create %d publications.\n"),
      this->options_.publications()
    ));
  }

  // Build as many publications as are specified.
  for( int index = 0; index < this->options_.publications(); ++index) {
    // Create the writer.
    DDS::DataWriter_var writer
      = this->publisher_->create_datawriter(
          topic.in(),
          writerQos,
          DDS::DataWriterListener::_nil(),
          ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
        );
    if( CORBA::is_nil( writer.in())) {
      ACE_ERROR((LM_ERROR,
        ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
        ACE_TEXT("failed to create writer.\n")
      ));
      throw BadWriterException();

    } else if( this->options_.verbose()) {
      ACE_DEBUG((LM_DEBUG,
        ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
        ACE_TEXT("created publication %d.\n"),
        (1+index)
      ));
    }

    // Create a publication and store it.
    this->publications_.push_back(
      new Writer( writer.in(), index, this->options_.verbose())
    );

    //
    // Grab, enable and attach the status condition for test
    // synchronization of the current publication.
    //
    DDS::StatusCondition_var status = writer->get_statuscondition();
    status->set_enabled_statuses( DDS::PUBLICATION_MATCHED_STATUS);
    this->waiter_->attach_condition( status.in());

    if( this->options_.verbose()) {
      ACE_DEBUG((LM_DEBUG,
        ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
        ACE_TEXT("created StatusCondition for publication %d.\n"),
        (1+index)
      ));
    }
  }
}
Ejemplo n.º 2
0
Publisher::Publisher( const Options& options)
 : options_( options),
   waiter_( new DDS::WaitSet)
{
  DDS::DomainParticipantFactory_var dpf = TheParticipantFactory;
  // Create the DomainParticipant
  this->participant_
    = dpf->create_participant(
        this->options_.domain(),
        PARTICIPANT_QOS_DEFAULT,
        DDS::DomainParticipantListener::_nil(),
        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
      );
  if( CORBA::is_nil( this->participant_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create a participant.\n")
    ));
    throw BadParticipantException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created participant in domain %d.\n"),
      this->options_.domain()
    ));
  }

  // Create the transport.
  OpenDDS::DCPS::TransportConfig_rch transport =
    TheTransportRegistry->get_config(this->options_.transportKey());

  if (transport.is_nil()) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to get %C transport.\n"),
      this->options_.transportKey().c_str()
    ));
    throw BadTransportException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created %C transport.\n"),
      this->options_.transportKey().c_str()
    ));
  }

  // Create and register the type support.
  DataTypeSupportImpl* testData = new DataTypeSupportImpl();
  if( ::DDS::RETCODE_OK
   != testData->register_type( this->participant_.in(), 0)) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("unable to install type %C support.\n"),
      testData->get_type_name()
    ));
    throw BadTypeSupportException ();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created type %C support.\n"),
      testData->get_type_name()
    ));
  }

  // Create the topic.
  this->topic_ = this->participant_->create_topic(
                   this->options_.topicName().c_str(),
                   testData->get_type_name(),
                   TOPIC_QOS_DEFAULT,
                   ::DDS::TopicListener::_nil(),
                   ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
                 );
  if( CORBA::is_nil( this->topic_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create topic %C.\n"),
      this->options_.topicName().c_str()
    ));
    throw BadTopicException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created topic %C.\n"),
      this->options_.topicName().c_str()
    ));
  }

  // Create the publisher.
  this->publisher_ = this->participant_->create_publisher(
                       PUBLISHER_QOS_DEFAULT,
                       ::DDS::PublisherListener::_nil(),
                       ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
                     );
  if( CORBA::is_nil( this->publisher_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create publisher.\n")
    ));
    throw BadPublisherException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created publisher.\n")
    ));
  }

  TheTransportRegistry->bind_config(transport, this->publisher_);

  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("attached transport to publisher.\n")
    ));
  }

  // Writer Qos policy values.
  ::DDS::DataWriterQos writerQos;
  this->publisher_->get_default_datawriter_qos( writerQos);

  writerQos.durability.kind                          = ::DDS::TRANSIENT_LOCAL_DURABILITY_QOS;
  writerQos.history.kind                             = ::DDS::KEEP_ALL_HISTORY_QOS;
  writerQos.resource_limits.max_samples_per_instance = ::DDS::LENGTH_UNLIMITED;

  // Reliability varies with the transport implementation.
  switch( this->options_.transportType()) {
    case Options::TCP:
    case Options::MC:
      writerQos.reliability.kind = ::DDS::RELIABLE_RELIABILITY_QOS;
      break;

    case Options::UDP:
      writerQos.reliability.kind = ::DDS::BEST_EFFORT_RELIABILITY_QOS;
      break;

    case Options::TRANSPORT_NONE:
    default:
      ACE_ERROR((LM_ERROR,
        ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
        ACE_TEXT("unrecognized transport when setting up Qos policies.\n")
      ));
      throw BadQosException();
  }

  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("starting to create %d publications.\n"),
      this->options_.profiles().size()
    ));
  }

  // Build as many publications as are specified.
  for( unsigned int index = 0; index < this->options_.profiles().size(); ++index) {
    // This publications priority is needed when creating the writer.
    writerQos.transport_priority.value = this->options_.profiles()[ index]->priority();

    // Create the writer.
    DDS::DataWriter_var writer
      = this->publisher_->create_datawriter(
          this->topic_.in(),
          writerQos,
          DDS::DataWriterListener::_nil(),
          ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
        );
    if( CORBA::is_nil( writer.in())) {
      ACE_ERROR((LM_ERROR,
        ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
        ACE_TEXT("failed to create writer.\n")
      ));
      throw BadWriterException();

    } else if( this->options_.verbose()) {
      ACE_DEBUG((LM_DEBUG,
        ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
        ACE_TEXT("created writer for publication %C ")
        ACE_TEXT("with priority %d.\n"),
        this->options_.profiles()[ index]->name().c_str(),
        writerQos.transport_priority.value
      ));
    }

    // Create a publication and store it.
    this->publications_[ this->options_.profiles()[ index]->name()]
      = new Writer(
              writer.in(),
              *this->options_.profiles()[ index],
              this->options_.verbose()
            );

    //
    // Grab, enable and attach the status condition for test
    // synchronization of the current publication.
    //
    DDS::StatusCondition_var status = writer->get_statuscondition();
    status->set_enabled_statuses( DDS::PUBLICATION_MATCHED_STATUS);
    this->waiter_->attach_condition( status.in());

    if( this->options_.verbose()) {
      ACE_DEBUG((LM_DEBUG,
        ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
        ACE_TEXT("created StatusCondition for publication %C.\n"),
        this->options_.profiles()[ index]->name().c_str()
      ));
    }
  }
}