int
dds_participant_create (
dds_entity_t * pp,
const dds_domainid_t domain,
const dds_qos_t * qos,
const dds_participantlistener_t * listener)
{
DDS_ReturnCode_t result = DDS_RETCODE_OK;
DDS_DomainParticipantFactory factory;
struct DomainParticipantInfo *info;
struct DDS_DomainParticipantListener dpl;
struct DDS_DomainParticipantListener *lp = NULL;
DDS_StatusMask mask = (listener) ? DDS_STATUS_MASK_ANY : 0;
DDS_DomainParticipantQos *pQos;
DDS_REPORT_STACK();
if (pp) {
info = dds_participant_info_new();
if (listener) {
info->listener = os_malloc(sizeof(dds_participantlistener_t));
*info->listener = *listener;
lp = &dpl;
dds_participant_listener_init(&dpl, info);
}
factory = DDS_DomainParticipantFactory_get_instance();
if (factory) {
if (qos) {
pQos = DDS_DomainParticipantQos__alloc();
result = DDS_DomainParticipantFactory_get_default_participant_qos(factory, pQos);
if (result == DDS_RETCODE_OK) {
dds_qos_to_participant_qos(pQos, qos);
*pp = DDS_DomainParticipantFactory_create_participant(factory, domain, pQos, lp, mask);
}
DDS_free(pQos);
} else {
*pp = DDS_DomainParticipantFactory_create_participant(factory, domain, DDS_PARTICIPANT_QOS_DEFAULT, lp, mask);
}
if (*pp) {
result = DDS_Entity_set_user_data(*pp, (DDS_EntityUserData)info);
} else {
result = dds_report_get_error_code();
}
} else {
result = dds_report_get_error_code();
}
DDS_Entity_release_user_data((DDS_EntityUserData)info);
} else {
result = DDS_RETCODE_BAD_PARAMETER;
DDS_REPORT(result, "Entity parameter is NULL.");
}
DDS_REPORT_FLUSH(NULL, result != DDS_RETCODE_OK);
return DDS_ERRNO(result, DDS_MOD_KERNEL, DDS_ERR_Mx);
}
static int subscriber_main(int domain_id, int sample_count,
char *participant_auth) {
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
struct DDS_DataReaderListener reader_listener =
DDS_DataReaderListener_INITIALIZER;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = { 1, 0 };
struct DDS_DomainParticipantQos participant_qos =
DDS_DomainParticipantQos_INITIALIZER;
int len, max;
retcode = DDS_DomainParticipantFactory_get_default_participant_qos(
DDS_TheParticipantFactory, &participant_qos);
if (retcode != DDS_RETCODE_OK) {
printf("get_default_participant_qos error\n");
return -1;
}
/* The maximum length for USER_DATA QoS field is set by default
to 256 bytes. To increase it programmatically uncomment the
following line of code. */
/*
participant_qos.resource_limits.participant_user_data_max_length = 1024;
*/
/* We include the subscriber credentials into de USER_DATA QoS. */
len = strlen(participant_auth) + 1;
max = participant_qos.resource_limits.participant_user_data_max_length;
if (len > max) {
printf("error, participant user_data exceeds resource limits\n");
} else {
/*
* DDS_Octet is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
DDS_OctetSeq_from_array(&participant_qos.user_data.value,
(DDS_Octet*) (participant_auth), len);
}
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domain_id, &participant_qos,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* Done! All the listeners are installed, so we can enable the
* participant now.
*/
if (DDS_Entity_enable((DDS_Entity*) participant) != DDS_RETCODE_OK) {
printf("***Error: Failed to Enable Participant\n");
return -1;
}
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(participant,
&DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = msgTypeSupport_get_type_name();
retcode = msgTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(participant, "Example msg",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
msgListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
msgListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected = msgListener_on_sample_rejected;
reader_listener.on_liveliness_changed = msgListener_on_liveliness_changed;
reader_listener.on_sample_lost = msgListener_on_sample_lost;
reader_listener.on_subscription_matched =
msgListener_on_subscription_matched;
reader_listener.on_data_available = msgListener_on_data_available;
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader = DDS_Subscriber_create_datareader(subscriber,
DDS_Topic_as_topicdescription(topic), &DDS_DATAREADER_QOS_DEFAULT,
&reader_listener, DDS_STATUS_MASK_ALL);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Main loop */
for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
/*
printf("msg subscriber sleeping for %d sec...\n",
poll_period.sec);
*/
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
