/* No listener is needed; we poll readers in this function*/
void poll_data(orderedDataReader *ordered_reader[], int numreaders) {
struct DDS_SampleInfoSeq info_seq;
struct orderedSeq data_seq = DDS_SEQUENCE_INITIALIZER;
DDS_ReturnCode_t retcode = DDS_RETCODE_OK;
int r, i, ident;
for (r = 0; r < numreaders; ++r) {
retcode = orderedDataReader_take(ordered_reader[r], &data_seq,
&info_seq, DDS_LENGTH_UNLIMITED, DDS_ANY_SAMPLE_STATE,
DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
if (retcode == DDS_RETCODE_NO_DATA) {
/* Not an error */
continue;
} else if (retcode != DDS_RETCODE_OK) {
/* Is an error */
printf("take error: %d\n", retcode);
return;
}
for (i = 0; i < orderedSeq_get_length(&data_seq); ++i) {
ordered* data;
if (DDS_SampleInfoSeq_get_reference(&info_seq, i)->valid_data) {
data = orderedSeq_get_reference(&data_seq, i);
/* Make things a bit easier to read. */
ident = r;
while (ident--) {
printf("\t");
}
printf("Reader %d: Instance%d->value = %d\n", r, data->id,
data->value);
}
}
retcode = orderedDataReader_return_loan(ordered_reader[r], &data_seq,
&info_seq);
if (retcode != DDS_RETCODE_OK) {
printf("return loan error %d\n", retcode);
}
DDS_SampleInfoSeq_set_maximum(&info_seq, 0);
orderedSeq_set_maximum(&data_seq, 0);
}
}
void FidCt_StatCallback(void* listener_data, DDS_DataReader* reader)
{
FidCt_Stat *FidCtIssue;
struct DDS_SampleInfo* info = NULL;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
DDS_ReturnCode_t retcode;
DDS_Boolean result;
long i,numIssues;
struct FidCt_StatSeq data_seq = DDS_SEQUENCE_INITIALIZER;
FidCt_StatDataReader *FidCt_Stat_reader = NULL;
FidCt_Stat_reader = FidCt_StatDataReader_narrow(pFidCt_StatSub->pDReader);
if ( FidCt_Stat_reader == NULL)
{
errLogRet(LOGIT,debugInfo,"FidCt_StatCallback: DataReader narrow error\n");
return;
}
while(1)
{
// Given DDS_HANDLE_NIL as a parameter, take_next_instance returns
// a sequence containing samples from only the next (in a well-determined
// but unspecified order) un-taken instance.
retcode = FidCt_StatDataReader_take_next_instance(
FidCt_Stat_reader,
&data_seq, &info_seq, DDS_LENGTH_UNLIMITED,
&DDS_HANDLE_NIL,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
// retcode = Cntlr_CommDataReader_take(CntlrComm_reader,
// &data_seq, &info_seq,
// DDS_LENGTH_UNLIMITED, DDS_ANY_SAMPLE_STATE,
// DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
if (retcode == DDS_RETCODE_NO_DATA) {
break; // return;
} else if (retcode != DDS_RETCODE_OK) {
errLogRet(LOGIT,debugInfo,"FidCt_StatCallback: next instance error %d\n",retcode);
break; // return;
}
numIssues = FidCt_StatSeq_get_length(&data_seq);
for (i=0; i < numIssues; i++)
{
info = DDS_SampleInfoSeq_get_reference(&info_seq, i);
if (info->valid_data)
{
FidCtIssue = (FidCt_Stat *) Cntlr_CommSeq_get_reference(&data_seq,i);
DPRINT2(+3,"FidCt_StatCallback(): FID=%d, Ct=%d\n",
FidCtIssue->FidCt, FidCtIssue->Ct);
if (pCurrentStatBlock != NULL)
{
if ( (pCurrentStatBlock->Acqstate == ACQ_INACTIVE) && (FidCtIssue->FidCt == 0) && (FidCtIssue->Ct == 0) )
{
/* DPRINT(-5,"Set IDLE\n"); */
pCurrentStatBlock->Acqstate = ACQ_IDLE;
}
else if ( (pCurrentStatBlock->Acqstate == ACQ_IDLE) && (FidCtIssue->FidCt == -1) && (FidCtIssue->Ct == -1) )
{
pCurrentStatBlock->Acqstate = ACQ_INACTIVE;
/* DPRINT(-5,"Set INACTIVE\n"); */
}
if ( (pCurrentStatBlock->Acqstate != ACQ_ACQUIRE) || FidCtIssue->FidCt || FidCtIssue->Ct )
{
pCurrentStatBlock->AcqFidCnt = FidCtIssue->FidCt;
pCurrentStatBlock->AcqCtCnt = FidCtIssue->Ct;
sendConsoleStatus();
}
}
}
}
retcode = FidCt_StatDataReader_return_loan( FidCt_Stat_reader,
&data_seq, &info_seq);
DDS_SampleInfoSeq_set_maximum(&info_seq, 0);
} // while
return;
}
/* 4x callback */
void Lock_CmdCallback(void* listener_data, DDS_DataReader* reader)
{
Lock_Cmd *recvIssue;
DDS_ReturnCode_t retcode;
DDS_Boolean result;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
struct Lock_CmdSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfo* info = NULL;
long i,numIssues;
Lock_CmdDataReader *LockCmd_reader = NULL;
DDS_TopicDescription *topicDesc;
LockCmd_reader = Lock_CmdDataReader_narrow(pLockCmdSubs[0]->pDReader);
if ( LockCmd_reader == NULL)
{
errLogRet(LOGIT,debugInfo, "Lock_CmdCallback: DataReader narrow error.\n");
return;
}
topicDesc = DDS_DataReader_get_topicdescription(reader);
DPRINT2(-1,"Lock_CmdCallback; Type: '%s', Name: '%s'\n",
DDS_TopicDescription_get_type_name(topicDesc), DDS_TopicDescription_get_name(topicDesc));
while(1)
{
// Given DDS_HANDLE_NIL as a parameter, take_next_instance returns
// a sequence containing samples from only the next (in a well-determined
// but unspecified order) un-taken instance.
retcode = Lock_CmdDataReader_take_next_instance(
LockCmd_reader,
&data_seq, &info_seq, DDS_LENGTH_UNLIMITED,
&DDS_HANDLE_NIL,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
// retcode = Lock_CmdDataReader_take(LockCmd_reader,
// &data_seq, &info_seq,
// DDS_LENGTH_UNLIMITED, DDS_ANY_SAMPLE_STATE,
// DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
if (retcode == DDS_RETCODE_NO_DATA) {
break ; // return;
} else if (retcode != DDS_RETCODE_OK) {
errLogRet(LOGIT,debugInfo, "Lock_CmdCallback: next instance error %d\n",retcode);
break ; // return;
}
numIssues = Lock_CmdSeq_get_length(&data_seq);
for (i=0; i < numIssues; i++)
{
info = DDS_SampleInfoSeq_get_reference(&info_seq, i);
if ( info->valid_data)
{
recvIssue = Lock_CmdSeq_get_reference(&data_seq,i);
DPRINT5(-1,"Lock_Cmd CallBack: cmd: %d, arg1: %d, arg2: %d, arg3: %lf, arg4: %lf crc: 0x%lx\n",
recvIssue->cmd,recvIssue->arg1, recvIssue->arg2, recvIssue->arg3, recvIssue->arg4);
msgQSend(pMsgesToLockParser, (char*) recvIssue, sizeof(Lock_Cmd), NO_WAIT, MSG_PRI_NORMAL);
}
}
retcode = Lock_CmdDataReader_return_loan( LockCmd_reader,
&data_seq, &info_seq);
DDS_SampleInfoSeq_set_maximum(&info_seq, 0);
} // while
return;
}
