DDS_DataReader createDataReader(DDS_Subscriber subscriber, DDS_Topic topic)
{
DDS_DataReader dataReader;
DDS_TopicQos* topicQos;
DDS_DataReaderQos* dataReaderQos;
// Create a DataWriter for this Topic (using the appropriate QoS).
dataReaderQos = DDS_DataReaderQos__alloc();
checkHandle(dataReaderQos, "DDS_DataReaderQos__alloc");
topicQos = DDS_TopicQos__alloc();
checkHandle(topicQos, "DDS_TopicQos__alloc");
g_status = DDS_Topic_get_qos(topic, topicQos);
checkStatus(g_status, "DDS_Topic_get_qos");
g_status = DDS_Subscriber_get_default_datareader_qos(subscriber, dataReaderQos);
checkStatus(g_status, "DDS_Subscriber_get_default_datareader_qos");
g_status = DDS_Subscriber_copy_from_topic_qos(subscriber, dataReaderQos, topicQos);
checkStatus(g_status, "DDS_Publisher_copy_from_topic_qos");
dataReader = DDS_Subscriber_create_datareader(subscriber, topic, dataReaderQos, NULL, DDS_ANY_STATUS);
checkHandle(dataReader, "DDS_Subscriber_create_datareader");
return dataReader;
}
void createReader()
{
// Create a DataWriter for the NameService Topic (using the appropriate QoS).
g_DataReaderQos = DDS_DataReaderQos__alloc();
checkHandle(g_DataReaderQos, "DDS_DataReaderQos__alloc");
g_status = DDS_Subscriber_get_default_datareader_qos(g_Subscriber, g_DataReaderQos);
checkStatus(g_status, "DDS_Subscriber_get_default_datareader_qos");
g_status = DDS_Subscriber_copy_from_topic_qos(g_Subscriber, g_DataReaderQos, g_TopicQos);
checkStatus(g_status, "DDS_Publisher_copy_from_topic_qos");
g_DataReader = DDS_Subscriber_create_datareader(g_Subscriber, g_Topic, g_DataReaderQos, NULL, DDS_ANY_STATUS);
checkHandle(g_DataReader, "DDS_Subscriber_create_datareader");
}
static void make_state_reader ()
{
DDS_DataReaderQos rd_qos;
DDS_ReturnCode_t error;
printf ("Create Reader\r\n");
/* === Create a subscriber === */
sub = DDS_DomainParticipant_create_subscriber (part, 0, NULL, 0);
if (!sub) {
fatal ("DDS_DomainParticipant_create_subscriber () returned an error!");
DDS_DomainParticipantFactory_delete_participant (part);
}
/* Test get_qos() fynctionality. */
if ((error = DDS_Subscriber_get_qos (sub, &sqos)) != DDS_RETCODE_OK)
fatal ("DDS_Subscriber_get_qos () failed (%s)!", DDS_error (error));
/* Setup reader QoS parameters. */
DDS_Subscriber_get_default_datareader_qos (sub, &rd_qos);
/* === create the reader === */
rd_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
rd_qos.history.depth = 1;
rd_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
rd_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
rd_qos.ownership.kind = DDS_EXCLUSIVE_OWNERSHIP_QOS;
dr = DDS_Subscriber_create_datareader (sub, topic_desc, &rd_qos, NULL, sm);
if (!dr)
fatal ("DDS_DomainParticipant_create_datareader () returned an error!");
DDS_DataReaderListener *l = DDS_DataReader_get_listener(dr);
if (NULL != l) {
l->on_data_available = dr_listener_data_available;
error = DDS_DataReader_set_listener(dr, l, DDS_DATA_AVAILABLE_STATUS);
}
error = DDS_DataReader_enable(dr);
/* === end program === */
if (test == 3)
return;
if (!writer)
while (1)
sleep (1);
}
static Endpoint_t *create_builtin_reader (Domain_t *dp,
Builtin_Type_t type,
const char *topic_name,
const char *type_name)
{
TopicType_t *typep;
Topic_t *tp;
Reader_t *rp;
DDS_TopicQos qos_data;
typep = type_create (dp, type_name, NULL);
if (!typep)
return (NULL);
typep->flags = EF_LOCAL | EF_BUILTIN;
typep->index = type;
tp = topic_create (&dp->participant, NULL, topic_name, type_name, NULL);
if (!tp)
return (NULL);
tp->entity.flags |= EF_ENABLED | EF_BUILTIN | EF_NOT_IGNORED;
qos_data = qos_def_topic_qos;
qos_data.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
qos_data.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
tp->qos = qos_topic_new (&qos_data);
if (!tp->qos) {
topic_delete (&dp->participant, tp, NULL, NULL);
return (NULL);
}
rp = DDS_Subscriber_create_datareader (dp->builtin_subscriber,
(DDS_TopicDescription) tp,
DDS_DATAREADER_QOS_USE_TOPIC_QOS,
NULL, 0);
if (!rp) {
topic_delete (&dp->participant, tp, NULL, NULL);
return (NULL);
}
dp->builtin_readers [type] = rp;
#ifdef RTPS_USED
if (rtps_used)
disc_populate_builtin (dp, type);
#endif
return (&rp->r_ep);
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t wait_timeout = {1,0};
/* Additional variables for this example */
int i;
DDS_WaitSet *waitset = NULL;
DDS_QueryCondition* query_condition = NULL;
waitset_query_condDataReader *waitset_query_cond_reader = NULL;
const char* query_expression = DDS_String_dup("name MATCH %0");
struct DDS_StringSeq query_parameters;
struct DDS_ConditionSeq active_conditions_seq =
DDS_SEQUENCE_INITIALIZER;
struct waitset_query_condSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
/* Auxiliary variables */
char * odd_string = DDS_String_dup("'ODD'");
char * even_string = DDS_String_dup("'EVEN'");
/* The initial value of the param_list is EVEN string */
const char* param_list[] = {even_string};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
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 = waitset_query_condTypeSupport_get_type_name();
retcode = waitset_query_condTypeSupport_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 waitset_query_cond",
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;
}
/* 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, NULL, DDS_STATUS_MASK_NONE);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Narrow the reader into your specific data type */
waitset_query_cond_reader = waitset_query_condDataReader_narrow(reader);
if (waitset_query_cond_reader == NULL) {
printf("DataReader narrow error\n");
return -1;
}
/* Create query condition */
DDS_StringSeq_initialize(&query_parameters);
DDS_StringSeq_set_maximum(&query_parameters, 1);
/*Here we set the default filter using the param_list */
DDS_StringSeq_from_array(&query_parameters, param_list, 1);
query_condition = DDS_DataReader_create_querycondition(
reader,
DDS_NOT_READ_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_ANY_INSTANCE_STATE,
query_expression,
&query_parameters);
if (query_condition == NULL) {
printf("create_query_condition error\n");
subscriber_shutdown(participant);
return -1;
}
waitset = DDS_WaitSet_new();
if (waitset == NULL) {
printf("create waitset error\n");
subscriber_shutdown(participant);
return -1;
}
/* Attach Query Conditions */
retcode = DDS_WaitSet_attach_condition(waitset,
(DDS_Condition*)query_condition);
if (retcode != DDS_RETCODE_OK) {
printf("attach_condition error\n");
subscriber_shutdown(participant);
return -1;
}
printf ("\n>>>Timeout: %.0d sec & %d nanosec\n",wait_timeout.sec,
wait_timeout.nanosec);
printf (">>> Query conditions: name MATCH %%0\n");
printf ("\t%%0 = %s\n", param_list[0]);
printf ("---------------------------------\n\n");
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
/* We set a new parameter in the Query Condition after 7 secs */
if (count == 7) {
param_list[0] = odd_string;
printf ("CHANGING THE QUERY CONDITION\n");
printf ("\n>>> Query conditions: name MATCH %%0\n");
printf ("\t%%0 = %s\n", param_list[0]);
printf (">>> We keep one sample in the history\n");
printf ("-------------------------------------\n\n");
DDS_StringSeq_from_array(&query_parameters, param_list, 1);
DDS_QueryCondition_set_query_parameters(query_condition,
&query_parameters);
}
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout expires.
*/
retcode = DDS_WaitSet_wait(
waitset, /* waitset */
&active_conditions_seq, /* active conditions sequence */
&wait_timeout); /* timeout */
/* We get to timeout if no conditions were triggered */
if (retcode == DDS_RETCODE_TIMEOUT) {
printf("Wait timed out!! No conditions were triggered.\n");
continue;
} else if (retcode != DDS_RETCODE_OK) {
printf("wait returned error: %d", retcode);
break;
}
retcode = DDS_RETCODE_OK;
while (retcode != DDS_RETCODE_NO_DATA) {
retcode =
waitset_query_condDataReader_take_w_condition(
waitset_query_cond_reader, &data_seq, &info_seq,
DDS_LENGTH_UNLIMITED,
DDS_QueryCondition_as_readcondition(query_condition));
for (i = 0; i < waitset_query_condSeq_get_length(&data_seq);
++i) {
if (!DDS_SampleInfoSeq_get_reference(
&info_seq, i)->valid_data) {
printf("Got metadata\n");
continue;
}
waitset_query_condTypeSupport_print_data(
waitset_query_condSeq_get_reference(&data_seq, i));
}
waitset_query_condDataReader_return_loan(
waitset_query_cond_reader, &data_seq, &info_seq);
}
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
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);
}
int
main (
int argc,
char *argv[])
{
/* Generic DDS entities */
DDS_DomainParticipantFactory dpf;
DDS_DomainParticipant participant;
DDS_Topic chatMessageTopic;
DDS_Topic nameServiceTopic;
DDS_MultiTopic namedMessageTopic;
DDS_Subscriber chatSubscriber;
/* Type-specific DDS entities */
Chat_ChatMessageTypeSupport chatMessageTS;
Chat_NameServiceTypeSupport nameServiceTS;
Chat_NamedMessageTypeSupport namedMessageTS;
Chat_NamedMessageDataReader chatAdmin;
DDS_sequence_Chat_NamedMessage *msgSeq;
DDS_SampleInfoSeq *infoSeq;
/* QosPolicy holders */
DDS_TopicQos *reliable_topic_qos;
DDS_TopicQos *setting_topic_qos;
DDS_SubscriberQos *sub_qos;
DDS_StringSeq *parameterList;
/* DDS Identifiers */
DDS_DomainId_t domain = NULL;
DDS_ReturnCode_t status;
/* Others */
DDS_unsigned_long i;
DDS_boolean terminated = FALSE;
char * partitionName;
char * chatMessageTypeName = NULL;
char * nameServiceTypeName = NULL;
char * namedMessageTypeName = NULL;
/* Options: MessageBoard [ownID] */
/* Messages having owner ownID will be ignored */
parameterList = DDS_StringSeq__alloc();
checkHandle(parameterList, "DDS_StringSeq__alloc");
parameterList->_length = 1;
parameterList->_maximum = 1;
parameterList->_buffer = DDS_StringSeq_allocbuf(1);
checkHandle(parameterList->_buffer, "DDS_StringSeq_allocbuf");
if (argc > 1) {
parameterList->_buffer[0] = DDS_string_alloc ( strlen(argv[1]) );
checkHandle(parameterList->_buffer[0], "DDS_string_alloc");
strcpy (parameterList->_buffer[0], argv[1]);
}
else
{
parameterList->_buffer[0] = DDS_string_alloc(1);
checkHandle(parameterList->_buffer[0], "DDS_string_alloc");
strcpy (parameterList->_buffer[0], "0");
}
/* Create a DomainParticipantFactory and a DomainParticipant (using Default QoS settings. */
dpf = DDS_DomainParticipantFactory_get_instance ();
checkHandle(dpf, "DDS_DomainParticipantFactory_get_instance");
participant = DDS_DomainParticipantFactory_create_participant (
dpf,
domain,
DDS_PARTICIPANT_QOS_DEFAULT,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(participant, "DDS_DomainParticipantFactory_create_participant");
/* Register the required datatype for ChatMessage. */
chatMessageTS = Chat_ChatMessageTypeSupport__alloc();
checkHandle(chatMessageTS, "Chat_ChatMessageTypeSupport__alloc");
chatMessageTypeName = Chat_ChatMessageTypeSupport_get_type_name(chatMessageTS);
status = Chat_ChatMessageTypeSupport_register_type(
chatMessageTS,
participant,
chatMessageTypeName);
checkStatus(status, "Chat_ChatMessageTypeSupport_register_type");
/* Register the required datatype for NameService. */
nameServiceTS = Chat_NameServiceTypeSupport__alloc();
checkHandle(nameServiceTS, "Chat_NameServiceTypeSupport__alloc");
nameServiceTypeName = Chat_NameServiceTypeSupport_get_type_name(nameServiceTS);
status = Chat_NameServiceTypeSupport_register_type(
nameServiceTS,
participant,
nameServiceTypeName);
checkStatus(status, "Chat_NameServiceTypeSupport_register_type");
/* Register the required datatype for NamedMessage. */
namedMessageTS = Chat_NamedMessageTypeSupport__alloc();
checkHandle(namedMessageTS, "Chat_NamedMessageTypeSupport__alloc");
namedMessageTypeName = Chat_NamedMessageTypeSupport_get_type_name(namedMessageTS);
status = Chat_NamedMessageTypeSupport_register_type(
namedMessageTS,
participant,
namedMessageTypeName);
checkStatus(status, "Chat_NamedMessageTypeSupport_register_type");
/* Set the ReliabilityQosPolicy to RELIABLE. */
reliable_topic_qos = DDS_TopicQos__alloc();
checkHandle(reliable_topic_qos, "DDS_TopicQos__alloc");
status = DDS_DomainParticipant_get_default_topic_qos(participant, reliable_topic_qos);
checkStatus(status, "DDS_DomainParticipant_get_default_topic_qos");
reliable_topic_qos->reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
/* Make the tailored QoS the new default. */
status = DDS_DomainParticipant_set_default_topic_qos(participant, reliable_topic_qos);
checkStatus(status, "DDS_DomainParticipant_set_default_topic_qos");
/* Use the changed policy when defining the ChatMessage topic */
chatMessageTopic = DDS_DomainParticipant_create_topic(
participant,
"Chat_ChatMessage",
chatMessageTypeName,
reliable_topic_qos,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(chatMessageTopic, "DDS_DomainParticipant_create_topic (ChatMessage)");
/* Set the DurabilityQosPolicy to TRANSIENT. */
setting_topic_qos = DDS_TopicQos__alloc();
checkHandle(setting_topic_qos, "DDS_TopicQos__alloc");
status = DDS_DomainParticipant_get_default_topic_qos(participant, setting_topic_qos);
checkStatus(status, "DDS_DomainParticipant_get_default_topic_qos");
setting_topic_qos->durability.kind = DDS_TRANSIENT_DURABILITY_QOS;
/* Create the NameService Topic. */
nameServiceTopic = DDS_DomainParticipant_create_topic(
participant,
"Chat_NameService",
nameServiceTypeName,
setting_topic_qos,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(nameServiceTopic, "DDS_DomainParticipant_create_topic");
/* Create a multitopic that substitutes the userID with its corresponding userName. */
namedMessageTopic = DDS_DomainParticipant_create_simulated_multitopic(
participant,
"Chat_NamedMessage",
namedMessageTypeName,
"SELECT userID, name AS userName, index, content "
"FROM Chat_NameService NATURAL JOIN Chat_ChatMessage WHERE userID <> %0",
parameterList);
checkHandle(namedMessageTopic, "DDS_DomainParticipant_simulate_multitopic");
/* Adapt the default SubscriberQos to read from the "ChatRoom" Partition. */
partitionName = "ChatRoom";
sub_qos = DDS_SubscriberQos__alloc();
checkHandle(sub_qos, "DDS_SubscriberQos__alloc");
status = DDS_DomainParticipant_get_default_subscriber_qos (participant, sub_qos);
checkStatus(status, "DDS_DomainParticipant_get_default_subscriber_qos");
sub_qos->partition.name._length = 1;
sub_qos->partition.name._maximum = 1;
sub_qos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
checkHandle(sub_qos->partition.name._buffer, "DDS_StringSeq_allocbuf");
sub_qos->partition.name._buffer[0] = DDS_string_alloc ( strlen(partitionName) );
checkHandle(sub_qos->partition.name._buffer[0], "DDS_string_alloc");
strcpy (sub_qos->partition.name._buffer[0], partitionName);
/* Create a Subscriber for the MessageBoard application. */
chatSubscriber = DDS_DomainParticipant_create_subscriber(participant, sub_qos, NULL, DDS_STATUS_MASK_NONE);
checkHandle(chatSubscriber, "DDS_DomainParticipant_create_subscriber");
/* Create a DataReader for the NamedMessage Topic (using the appropriate QoS). */
chatAdmin = DDS_Subscriber_create_datareader(
chatSubscriber,
namedMessageTopic,
DDS_DATAREADER_QOS_USE_TOPIC_QOS,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(chatAdmin, "DDS_Subscriber_create_datareader");
/* Print a message that the MessageBoard has opened. */
printf("MessageBoard has opened: send a ChatMessage with userID = -1 to close it....\n\n");
/* Allocate the sequence holders for the DataReader */
msgSeq = DDS_sequence_Chat_NamedMessage__alloc();
checkHandle(msgSeq, "DDS_sequence_Chat_NamedMessage__alloc");
infoSeq = DDS_SampleInfoSeq__alloc();
checkHandle(infoSeq, "DDS_SampleInfoSeq__alloc");
while (!terminated) {
/* Note: using read does not remove the samples from
unregistered instances from the DataReader. This means
that the DataRase would use more and more resources.
That's why we use take here instead. */
status = Chat_NamedMessageDataReader_take(
chatAdmin,
msgSeq,
infoSeq,
DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_ALIVE_INSTANCE_STATE );
checkStatus(status, "Chat_NamedMessageDataReader_take");
for (i = 0; i < msgSeq->_length; i++) {
Chat_NamedMessage *msg = &(msgSeq->_buffer[i]);
if (msg->userID == TERMINATION_MESSAGE) {
printf("Termination message received: exiting...\n");
terminated = TRUE;
} else {
printf ("%s: %s\n", msg->userName, msg->content);
}
}
status = Chat_NamedMessageDataReader_return_loan(chatAdmin, msgSeq, infoSeq);
checkStatus(status, "Chat_ChatMessageDataReader_return_loan");
/* Sleep for some amount of time, as not to consume too much CPU cycles. */
Sleep(100);
}
/* Remove the DataReader */
status = DDS_Subscriber_delete_datareader(chatSubscriber, chatAdmin);
checkStatus(status, "DDS_Subscriber_delete_datareader");
/* Remove the Subscriber. */
status = DDS_DomainParticipant_delete_subscriber(participant, chatSubscriber);
checkStatus(status, "DDS_DomainParticipant_delete_subscriber");
/* Remove the Topics. */
status = DDS_DomainParticipant_delete_simulated_multitopic(participant, namedMessageTopic);
checkStatus(status, "DDS_DomainParticipant_delete_simulated_multitopic");
status = DDS_DomainParticipant_delete_topic(participant, nameServiceTopic);
checkStatus(status, "DDS_DomainParticipant_delete_topic (nameServiceTopic)");
status = DDS_DomainParticipant_delete_topic(participant, chatMessageTopic);
checkStatus(status, "DDS_DomainParticipant_delete_topic (chatMessageTopic)");
/* De-allocate the QoS policies. */
DDS_free(reliable_topic_qos);
DDS_free(setting_topic_qos);
DDS_free(sub_qos); // Note that DDS_free recursively de-allocates all indirections as well!!
/* De-allocate the type-names and TypeSupport objects. */
DDS_free(namedMessageTypeName);
DDS_free(nameServiceTypeName);
DDS_free(chatMessageTypeName);
DDS_free(namedMessageTS);
DDS_free(nameServiceTS);
DDS_free(chatMessageTS);
/* Remove the DomainParticipant. */
status = DDS_DomainParticipantFactory_delete_participant(dpf, participant);
checkStatus(status, "DDS_DomainParticipantFactory_delete_participant");
return 0;
}
static int subscriber_main(int domainId, int sample_count, int sel_cft)
{
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};
DDS_ContentFilteredTopic *cft = NULL;
/* If you want to modify datareader_qos programatically you
* will need to use the following structure. */
struct DDS_DataReaderQos datareader_qos = DDS_DataReaderQos_INITIALIZER;
/* For this filter we only allow 1 parameter*/
struct DDS_StringSeq parameters;
const char* param_list[] = {"SOME_STRING"};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
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 = cftTypeSupport_get_type_name();
retcode = cftTypeSupport_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 cft",
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;
}
DDS_StringSeq_initialize(¶meters);
DDS_StringSeq_set_maximum(¶meters, 1);
/* Here we set the default filter using the param_list */
DDS_StringSeq_from_array(¶meters, param_list, 1);
if (sel_cft) {
/* create_contentfilteredtopic_with_filter */
cft = DDS_DomainParticipant_create_contentfilteredtopic_with_filter(
participant,"ContentFilteredTopic", topic, "name MATCH %0",
¶meters, DDS_STRINGMATCHFILTER_NAME);
if (cft == NULL) {
printf("create_contentfilteredtopic error\n");
subscriber_shutdown(participant);
return -1;
}
}
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
cftListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
cftListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected =
cftListener_on_sample_rejected;
reader_listener.on_liveliness_changed =
cftListener_on_liveliness_changed;
reader_listener.on_sample_lost =
cftListener_on_sample_lost;
reader_listener.on_subscription_matched =
cftListener_on_subscription_matched;
reader_listener.on_data_available =
cftListener_on_data_available;
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
if (sel_cft) {
printf("Using ContentFiltered Topic\n");
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_ContentFilteredTopic_as_topicdescription(cft),
&DDS_DATAREADER_QOS_DEFAULT, &reader_listener, DDS_STATUS_MASK_ALL);
} else {
printf("Using Normal Topic\n");
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;
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the create_datareader
* calls above.
*/
/*
retcode = DDS_Subscriber_get_default_datareader_qos(subscriber,
&datareader_qos);
if (retcode != DDS_RETCODE_OK) {
printf("get_default_datareader_qos error\n");
return -1;
}
datareader_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
datareader_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
datareader_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
datareader_qos.history.depth = 20;
if (sel_cft) {
printf("Using ContentFiltered Topic\n");
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_ContentFilteredTopic_as_topicdescription(cft),
&datareader_qos, &reader_listener, DDS_STATUS_MASK_ALL);
} else {
printf("Using Normal Topic\n");
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&datareader_qos, &reader_listener, DDS_STATUS_MASK_ALL);
}
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
*/
/* Change the filter */
if (sel_cft) {
printf(">>> Now setting a new filter: name MATCH \"EVEN\"\n");
retcode = DDS_ContentFilteredTopic_append_to_expression_parameter(
cft, 0,"EVEN");
if (retcode != DDS_RETCODE_OK) {
printf("append_to_expression_parameter error\n");
subscriber_shutdown(participant);
return -1;
}
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
NDDS_Utility_sleep(&poll_period);
if (sel_cft == 0) {
continue;
}
if (count == 10) {
printf("\n===========================\n");
printf("Changing filter parameters\n");
printf("Append 'ODD' filter\n");
printf("===========================\n");
retcode = DDS_ContentFilteredTopic_append_to_expression_parameter(
cft, 0,"ODD");
if (retcode != DDS_RETCODE_OK) {
printf("append_to_expression_parameter error\n");
subscriber_shutdown(participant);
return -1;
}
} else if (count == 20) {
printf("\n===========================\n");
printf("Changing filter parameters\n");
printf("Removing 'EVEN' filter \n");
printf("===========================\n");
retcode = DDS_ContentFilteredTopic_remove_from_expression_parameter(
cft, 0,"EVEN");
if (retcode != DDS_RETCODE_OK) {
printf("append_to_expression_parameter error\n");
subscriber_shutdown(participant);
return -1;
}
}
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static void test_listener (void)
{
DDS_DomainParticipant p;
DDS_Topic t;
DDS_TopicDescription td;
DDS_Subscriber sub;
DDS_DataReader dr;
DDS_DataReaderListener *lp;
DDS_ReturnCode_t r;
p = DDS_DomainParticipantFactory_create_participant (0, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0);
fail_unless (p != NULL);
r = register_HelloWorldData_type (p);
fail_unless (r == DDS_RETCODE_OK);
t = DDS_DomainParticipant_create_topic (p, "HelloWorld", TYPE_NAME, DDS_TOPIC_QOS_DEFAULT, NULL, 0);
fail_unless (t != NULL);
td = DDS_DomainParticipant_lookup_topicdescription (p, "HelloWorld");
fail_unless (td != NULL);
sub = DDS_DomainParticipant_create_subscriber (p, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
v_printf (" - Test reader listener.\r\n");
dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr != NULL);
lp = DDS_DataReader_get_listener (dr);
fail_unless (lp != NULL &&
lp->on_sample_rejected == NULL &&
lp->on_liveliness_changed == NULL &&
lp->on_requested_deadline_missed == NULL &&
lp->on_requested_incompatible_qos == NULL &&
lp->on_data_available == NULL &&
lp->on_subscription_matched == NULL &&
lp->on_sample_lost == NULL);
v_printf (" - Test specific reader listener updates.\r\n");
r = DDS_DataReader_set_listener (dr, &r_listener,
DDS_SAMPLE_REJECTED_STATUS |
DDS_LIVELINESS_CHANGED_STATUS |
DDS_REQUESTED_DEADLINE_MISSED_STATUS |
DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS |
DDS_DATA_AVAILABLE_STATUS |
DDS_SUBSCRIPTION_MATCHED_STATUS |
DDS_SAMPLE_LOST_STATUS);
fail_unless (r == DDS_RETCODE_OK);
lp = DDS_DataReader_get_listener (dr);
fail_unless (lp != NULL &&
lp->on_sample_rejected == sample_rejected &&
lp->on_liveliness_changed == liveliness_changed &&
lp->on_requested_deadline_missed == requested_deadline_missed &&
lp->on_requested_incompatible_qos == requested_inc_qos &&
lp->on_data_available == data_available &&
lp->on_subscription_matched == subscription_matched &&
lp->on_sample_lost == sample_lost &&
lp->cookie == (void *) 0x44556677);
v_printf (" - Test default reader listener update.\r\n");
r = DDS_DataReader_set_listener (dr, NULL, DDS_REQUESTED_DEADLINE_MISSED_STATUS);
fail_unless (r == DDS_RETCODE_OK);
lp = DDS_DataReader_get_listener (dr);
fail_unless (lp != NULL &&
lp->on_sample_rejected == NULL &&
lp->on_liveliness_changed == NULL &&
lp->on_requested_deadline_missed == NULL &&
lp->on_requested_incompatible_qos == NULL &&
lp->on_data_available == NULL &&
lp->on_subscription_matched == NULL &&
lp->on_sample_lost == NULL);
r = DDS_Subscriber_delete_datareader (sub, dr);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_topic (p, t);
fail_unless (r == DDS_RETCODE_OK);
unregister_HelloWorldData_type (p);
r = DDS_DomainParticipantFactory_delete_participant (p);
fail_unless (r == DDS_RETCODE_OK);
}
int main_subscriber (int argc, const char **argv)
{
DDS_DataWriterQos wr_qos;
DDS_DataReaderQos rd_qos;
DDS_ReturnCode_t error;
sprintf (user_name, ".pid.%u", getpid ());
DDS_entity_name ("Technicolor Chatroom");
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
enable_security ();
#endif
part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0);
if (!part) {
printf ("Can't create participant!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Domain Participant created.\r\n");
ts = Vector3_type_new ();
if (!ts) {
printf ("Can't create vector3 message type!\r\n");
exit (1);
}
error = DDS_DynamicTypeSupport_register_type (ts, part, "simple_msgs::dds_::Vector3_");
if (error) {
printf ("Can't register vector3 message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Topic type ('%s') registered.\r\n", "simple_msgs::dds_::Vector3_");
topic = DDS_DomainParticipant_create_topic (part, "imu", "simple_msgs::dds_::Vector3_", NULL, NULL, 0);
if (!topic) {
printf ("Can't register vector3 message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Vector3 Topic created.\r\n");
td = DDS_DomainParticipant_lookup_topicdescription (part, "imu");
if (!td) {
printf ("Can't get topicdescription.\r\n");
exit (1);
}
pub = DDS_DomainParticipant_create_publisher (part, NULL, NULL, 0);
if (!pub) {
printf ("DDS_DomainParticipant_create_publisher () failed!\r\n");
exit (1);
}
DDS_Publisher_get_default_datawriter_qos (pub, &wr_qos);
#ifdef TRANSIENT_LOCAL
wr_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
wr_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
wr_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
wr_qos.history.depth = DDS_LENGTH_UNLIMITED;
wr_qos.resource_limits.max_samples_per_instance = HISTORY;
wr_qos.resource_limits.max_instances = HISTORY * 10;
wr_qos.resource_limits.max_samples = HISTORY * 4;
#else
wr_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
wr_qos.history.depth = HISTORY;
#endif
/* Create a Data Writer. */
dw = DDS_Publisher_create_datawriter (pub, topic, &wr_qos, NULL, 0);
if (!dw) {
printf ("Unable to create vector3 message writer.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Vector3 message writer created.\r\n");
sub = DDS_DomainParticipant_create_subscriber (part, NULL, NULL, 0);
if (!sub) {
printf ("DDS_DomainParticipant_create_subscriber () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Subscriber created.\r\n");
DDS_Subscriber_get_default_datareader_qos (sub, &rd_qos);
#ifdef TRANSIENT_LOCAL
rd_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
rd_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
rd_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
rd_qos.history.depth = DDS_LENGTH_UNLIMITED;
rd_qos.resource_limits.max_samples_per_instance = HISTORY;
rd_qos.resource_limits.max_instances = HISTORY * 10;
rd_qos.resource_limits.max_samples = HISTORY * 4;
#else
rd_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
rd_qos.history.depth = HISTORY;
#endif
dr = DDS_Subscriber_create_datareader (sub, td, &rd_qos,
#ifndef WAITSETS
&msg_listener, DDS_DATA_AVAILABLE_STATUS);
#else
NULL, 0);
#endif
if (!dr) {
printf ("DDS_DomainParticipant_create_datareader () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Vector message reader created.\r\n");
#ifdef WAITSETS
start_imu_reader (dr);
#endif
// publisher thread
//thread_create (rt2, dds_send_imu, dr);
// DDS Debug shell thread
do_dds_shell (dw);
#ifdef WAITSETS
stop_imu_reader (dr);
#endif
DDS_Publisher_delete_datawriter (pub, dw);
usleep (200000);
error = DDS_DomainParticipant_delete_contained_entities (part);
if (verbose)
printf ("DDS Entities deleted (error = %u).\r\n", error);
Vector3_type_free (ts);
if (verbose)
printf ("Vector3 Type deleted.\r\n");
error = DDS_DomainParticipantFactory_delete_participant (part);
if (verbose)
printf ("DDS Participant deleted (error = %u).\r\n", error);
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
cleanup_security ();
#endif
return (0);
}
int main(int argc, char* argv[])
{
int startTime = mstime();
DDS_PoolConstraints reqs;
DDS_DomainParticipant domainParticipant;
DDS_Publisher publisher;
DDS_Subscriber subscriber;
DDS_ReturnCode_t retCode;
char *configTopicName[nofConfigTopics];
DDS_Topic configTopic[nofConfigTopics];
DDS_Topic stateTopic[nofStateTopics];
DDS_Topic statisticTopic[nofStatisticTopics];
DDS_DataWriterQos dataWriterQos;
DDS_DataWriter configDataWriter[nofConfigTopics];
DDS_DataWriter stateDataWriter[nofStateTopics];
DDS_DataWriter statisticDataWriter[nofStatisticTopics];
DDS_DataReaderQos dataReaderQos;
DDS_DataReader configDataReader[nofConfigTopics];
acceptance_high_end_Config config;
acceptance_high_end_State state;
acceptance_high_end_Statistic statistic;
DDS_InstanceHandle_t configInstance[nofConfigTopics][nofConfigInstances];
DDS_InstanceHandle_t stateInstance[nofStateTopics][nofStateInstances];
DDS_InstanceHandle_t statisticInstance[nofStatisticTopics][nofStatisticInstances];
int i = 0;
int j = 0;
int firstConfigTopic = (argc > 1) ? atoi(argv[1]) : 0;
int firstStateTopic = (argc > 2) ? atoi(argv[2]) : 0;
int firstStatisticTopic = (argc > 3) ? atoi(argv[3]) : 0;
int stagedLoading = (argc > 4) ? atoi(argv[4]) : 0;
printf("[0] Config topics start at %d...\r\n", firstConfigTopic);
printf("[0] State topics start at %d...\r\n", firstStateTopic);
printf("[0] Statistic topics start at %d...\r\n", firstStatisticTopic);
printf("[0] Staged loading %s.\r\n", stagedLoading ? "on" : "off");
if (stagedLoading) {
char file_name[24];
sprintf(file_name, "/tmp/acceptStageLoad%d", firstConfigTopic);
struct stat buf;
if (stat(file_name, &buf)) {
printf ("[%d] Waiting for %s\r\n", mstime() - startTime, file_name);
do {
sleep(1);
}
while (stat(file_name, &buf));
printf ("[%d] Got %s!\r\n", mstime() - startTime, file_name);
}
}
DDS_program_name (&argc, argv);
DDS_entity_name ("Technicolor Limits Component");
DDS_get_default_pool_constraints(&reqs, ~0, 100);
#ifdef MINIMAL_POOLS
configure_minimal_pool_constraints (&reqs);
#else
configure_optimal_pool_constraints (&reqs);
#endif
DDS_set_pool_constraints(&reqs);
#ifdef DDS_DEBUG
DDS_Debug_start ();
#endif
/* Create domain participant... */
domainParticipant = DDS_DomainParticipantFactory_create_participant(0, NULL, NULL, 0);
if (!domainParticipant) {
fprintf(stderr, "Error creating domain participant.\r\n");
return -1;
}
printf("[%d] Created domain participant.\r\n", mstime() - startTime);
sleep(1);
/* Create publisher... */
publisher = DDS_DomainParticipant_create_publisher(domainParticipant, NULL, NULL, 0);
if (!publisher) {
fprintf(stderr, "Error creating publisher.\r\n");
return -1;
}
printf("[%d] Created publisher.\r\n", mstime() - startTime);
sleep(1);
/* Create subscriber... */
subscriber = DDS_DomainParticipant_create_subscriber(domainParticipant, NULL, NULL, 0);
if (!subscriber) {
fprintf(stderr, "Error creating subscriber.\r\n");
return -1;
}
printf("[%d] Created subscriber.\r\n", mstime() - startTime);
sleep(1);
/* Register types... */
retCode = acceptance_high_end_ConfigTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered config type.\r\n", mstime() - startTime);
retCode = acceptance_high_end_StateTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered state type.\r\n", mstime() - startTime);
retCode = acceptance_high_end_StatisticTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered statistic type.\r\n", mstime() - startTime);
sleep(1);
/* Create topics... */
for (i = 0; i < nofConfigTopics; i++) {
char topicName[32];
sprintf(topicName, "ConfigTopic%d", firstConfigTopic + i);
configTopicName[i] = strdup (topicName);
configTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_ConfigTypeSupport_get_type_name(), NULL, NULL, 0);
if (!configTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d config topics.\r\n", mstime() - startTime, nofConfigTopics);
for (i = 0; i < nofStateTopics; i++) {
char topicName[32];
sprintf(topicName, "StateTopic%d", firstStateTopic + i);
stateTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_StateTypeSupport_get_type_name(), NULL, NULL, 0);
if (!stateTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d state topics.\r\n", mstime() - startTime, nofStateTopics);
for (i = 0; i < nofStatisticTopics; i++) {
char topicName[32];
sprintf(topicName, "StatisticTopic%d", firstStatisticTopic + i);
statisticTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_StatisticTypeSupport_get_type_name(), NULL, NULL, 0);
if (!statisticTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d statistic topics.\r\n", mstime() - startTime, nofStatisticTopics);
sleep(1);
/* Create data writers... */
DDS_Publisher_get_default_datawriter_qos(publisher, &dataWriterQos);
dataWriterQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataWriterQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofConfigTopics; i++) {
configDataWriter[i] = DDS_Publisher_create_datawriter(publisher, configTopic[i], &dataWriterQos, NULL, 0);
if (!configDataWriter[i]) {
fprintf(stderr, "Error creating data writer.\r\n");
return -1;
}
}
printf("[%d] Created %d config data writers.\r\n", mstime() - startTime, nofConfigTopics);
DDS_Publisher_get_default_datawriter_qos(publisher, &dataWriterQos);
dataWriterQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataWriterQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofStateTopics; i++) {
stateDataWriter[i] = DDS_Publisher_create_datawriter(publisher, stateTopic[i], &dataWriterQos, NULL, 0);
if (!stateDataWriter[i]) {
fprintf(stderr, "Error creating data writer.\r\n");
return -1;
}
}
printf("[%d] Created %d state data writers.\r\n", mstime() - startTime, nofStateTopics);
DDS_Publisher_get_default_datawriter_qos(publisher, &dataWriterQos);
for (i = 0; i < nofStatisticTopics; i++) {
statisticDataWriter[i] = DDS_Publisher_create_datawriter(publisher, statisticTopic[i], &dataWriterQos, NULL, 0);
if (!statisticDataWriter[i]) {
fprintf(stderr, "Error creating data writer.\r\n");
return -1;
}
}
printf("[%d] Created %d statistic data writers.\r\n", mstime() - startTime, nofStatisticTopics);
sleep(1);
/* Create data readers... */
DDS_Subscriber_get_default_datareader_qos(subscriber, &dataReaderQos);
dataReaderQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataReaderQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofConfigTopics; i++) {
configDataReader[i] = DDS_Subscriber_create_datareader(subscriber, DDS_DomainParticipant_lookup_topicdescription(domainParticipant, configTopicName[i]), &dataReaderQos, NULL, 0);
if (!configDataReader[i]) {
fprintf(stderr, "Error creating data reader.\r\n");
return -1;
}
}
printf("[%d] Created %d config data readers.\r\n", mstime() - startTime, nofConfigTopics);
sleep(1);
/* Register instances... */
for (i = 0; i < nofConfigTopics; i++) {
for (j = 0; j < nofConfigInstances; j++) {
config.key = j;
configInstance[i][j] = DDS_DataWriter_register_instance(configDataWriter[i], &config);
if (!configInstance[i][j]) {
fprintf(stderr, "Error registering instance.\r\n");
break;
}
}
}
printf("[%d] Registered %d config instances.\r\n", mstime() - startTime, nofConfigTopics * nofConfigInstances);
for (i = 0; i < nofStateTopics; i++) {
for (j = 0; j < nofStateInstances; j++) {
state.key = j;
stateInstance[i][j] = DDS_DataWriter_register_instance(stateDataWriter[i], &state);
if (!stateInstance[i][j]) {
fprintf(stderr, "Error registering instance.\r\n");
break;
}
}
}
printf("[%d] Registered %d state instances.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);
for (i = 0; i < nofStatisticTopics; i++) {
for (j = 0; j < nofStatisticInstances; j++) {
statistic.key = j;
statisticInstance[i][j] = DDS_DataWriter_register_instance(statisticDataWriter[i], &statistic);
if (!statisticInstance[i][j]) {
fprintf(stderr, "Error registering instance.\r\n");
break;
}
}
}
printf("[%d] Registered %d statistic instances.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);
sleep(1);
/* Publish samples... */
for (i = 0; i < nofConfigTopics; i++) {
for (j = 0; j < nofConfigInstances; j++) {
config.key = j;
retCode = DDS_DataWriter_write(configDataWriter[i], &config, configInstance[i][j]);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error publishing sample (%s).\r\n", DDS_error(retCode));
break;
}
}
}
printf("[%d] Published %d config samples.\r\n", mstime() - startTime, nofConfigTopics * nofConfigInstances);
for (i = 0; i < nofStateTopics; i++) {
for (j = 0; j < nofStateInstances; j++) {
state.key = j;
retCode = DDS_DataWriter_write(stateDataWriter[i], &state, stateInstance[i][j]);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error publishing sample (%s).\r\n", DDS_error(retCode));
break;
}
}
}
printf("[%d] Published %d state samples.\r\n", mstime() - startTime, nofStateTopics * nofStateInstances);
for (i = 0; i < nofStatisticTopics; i++) {
for (j = 0; j < nofStatisticInstances; j++) {
statistic.key = j;
retCode = DDS_DataWriter_write(statisticDataWriter[i], &statistic, statisticInstance[i][j]);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error publishing sample (%s).\r\n", DDS_error(retCode));
break;
}
}
}
printf("[%d] Published %d statistic samples.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);
sleep(1);
if (stagedLoading) {
char file_name[24];
sprintf(file_name, "/tmp/acceptStageLoad%d", firstConfigTopic + nofConfigTopics);
FILE *f = fopen(file_name, "w");
fclose(f);
}
// dbg_printf ("Zzzzzzz ... \r\n");
sleep(TEST_TIME);
// dbg_printf ("... o?\r\n");
/* Delete contained entities... */
// printf (" -- deleting contained entities.\r\n");
retCode = DDS_DomainParticipant_delete_contained_entities(domainParticipant);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error deleting contained entities.\r\n");
return -1;
}
for (i = 0; i < nofConfigTopics; i++)
free (configTopicName[i]);
// printf (" -- contained entities deleted!\r\n");
// sleep(TEST_TIME);
/* Delete domain participants... */
retCode = DDS_DomainParticipantFactory_delete_participant(domainParticipant);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error deleting domain participant.\r\n");
return -1;
}
printf ("[%d] comp completed successfully.\r\n", mstime() - startTime);
return 0;
}
void start_reader (DDS_DomainParticipant part, Topic *tp)
{
Endpoint *wp;
DDS_DynamicTypeBuilder tb;
DDS_TypeObject tobj;
DDS_TopicDescription td;
DDS_DataReaderQos rqos;
static DDS_Subscriber sub = NULL;
wp = tp->writers;
if (!wp)
return;
printf ("* Monitor (%s/%s)\r\n", tp->topic_name, tp->type_name);
if (!tp->ts) {
tobj = DDS_TypeObject_create_from_key (part,
&wp->data.participant_key,
&wp->data.key);
if (!tobj) {
printf ("No type information available for %s!\r\n", tp->type_name);
return;
}
tb = DDS_DynamicTypeBuilderFactory_create_type_w_type_object (tobj);
if (!tb)
fatal ("Can't get Type from Type object for %s!", tp->type_name);
DDS_TypeObject_delete (tobj);
tp->dtype = DDS_DynamicTypeBuilder_build (tb);
if (!tp->dtype)
fatal ("Can't get build Type from Type builder for %s!", tp->type_name);
DDS_DynamicTypeBuilderFactory_delete_type (tb);
tp->ts = DDS_DynamicTypeSupport_create_type_support (tp->dtype);
if (!tp->ts)
fatal ("Can't get TypeSupport from Type for %s!", tp->type_name);
if (DDS_DynamicTypeSupport_register_type (tp->ts, part, tp->type_name))
fatal ("Can't register TypeSupport in domain for %s!", tp->topic_name);
}
if (!sub) {
sub = DDS_DomainParticipant_create_subscriber (part, NULL, NULL, 0);
if (!sub)
fatal ("Can't create subscriber!");
}
tp->topic = DDS_DomainParticipant_create_topic (part,
tp->topic_name,
tp->type_name,
NULL,
NULL,
0);
if (!tp->topic)
fatal ("Can't create topic!");
td = DDS_DomainParticipant_lookup_topicdescription (part, tp->topic_name);
if (!td)
fatal ("Can't create topic description!");
DDS_Subscriber_get_default_datareader_qos (sub, &rqos);
if (wp->data.durability.kind >= DDS_TRANSIENT_LOCAL_DURABILITY_QOS)
rqos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
rqos.reliability = wp->data.reliability;
listener.cookie = tp;
tp->sub = sub;
tp->reader = DDS_Subscriber_create_datareader (sub, td, &rqos,
&listener,
DDS_DATA_AVAILABLE_STATUS);
tp->active = 1;
}
int main (int argc, char ** argv)
#endif
{
/* Generic DDS entities */
DDS_DomainParticipant participant;
DDS_Topic chatMessageTopic;
DDS_Topic nameServiceTopic;
DDS_Subscriber chatSubscriber;
DDS_QueryCondition singleUser;
DDS_ReadCondition newUser;
DDS_StatusCondition leftUser;
DDS_GuardCondition guard;
DDS_WaitSet userLoadWS;
DDS_LivelinessChangedStatus livChangStatus;
/* QosPolicy holders */
DDS_TopicQos *setting_topic_qos;
DDS_TopicQos *reliable_topic_qos;
DDS_SubscriberQos *sub_qos;
DDS_DataReaderQos *message_qos;
/* DDS Identifiers */
DDS_DomainId_t domain = NULL;
DDS_ReturnCode_t status;
DDS_ConditionSeq *guardList = NULL;
DDS_Duration_t timeout = DDS_DURATION_INFINITE;
/* Type-specific DDS entities */
Chat_ChatMessageTypeSupport chatMessageTS;
Chat_NameServiceTypeSupport nameServiceTS;
Chat_NameServiceDataReader nameServer;
Chat_ChatMessageDataReader loadAdmin;
DDS_sequence_Chat_ChatMessage msgList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_sequence_Chat_NameService nsList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_SampleInfoSeq infoSeq = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_SampleInfoSeq infoSeq2 = { 0, 0, DDS_OBJECT_NIL, FALSE };
/* Others */
DDS_StringSeq args;
int closed = 0;
DDS_unsigned_long i, j;
DDS_long prevCount = 0;
char *partitionName;
char *chatMessageTypeName = NULL;
char *nameServiceTypeName = NULL;
pthread_t tid;
pthread_attr_t tattr;
printf("Starting UserLoad example.\n");
fflush(stdout);
/* Create a DomainParticipant (using the 'TheParticipantFactory' convenience macro). */
participant = DDS_DomainParticipantFactory_create_participant (
DDS_TheParticipantFactory,
domain,
DDS_PARTICIPANT_QOS_DEFAULT,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(participant, "DDS_DomainParticipantFactory_create_participant");
/* Register the required datatype for ChatMessage. */
chatMessageTS = Chat_ChatMessageTypeSupport__alloc();
checkHandle(chatMessageTS, "Chat_ChatMessageTypeSupport__alloc");
chatMessageTypeName = Chat_ChatMessageTypeSupport_get_type_name(chatMessageTS);
status = Chat_ChatMessageTypeSupport_register_type(
chatMessageTS,
participant,
chatMessageTypeName);
checkStatus(status, "Chat_ChatMessageTypeSupport_register_type");
/* Register the required datatype for NameService. */
nameServiceTS = Chat_NameServiceTypeSupport__alloc();
checkHandle(nameServiceTS, "Chat_NameServiceTypeSupport__alloc");
nameServiceTypeName = Chat_NameServiceTypeSupport_get_type_name(nameServiceTS);
status = Chat_NameServiceTypeSupport_register_type(
nameServiceTS,
participant,
nameServiceTypeName);
checkStatus(status, "Chat_NameServiceTypeSupport_register_type");
/* Set the ReliabilityQosPolicy to RELIABLE. */
reliable_topic_qos = DDS_TopicQos__alloc();
checkHandle(reliable_topic_qos, "DDS_TopicQos__alloc");
status = DDS_DomainParticipant_get_default_topic_qos(participant, reliable_topic_qos);
checkStatus(status, "DDS_DomainParticipant_get_default_topic_qos");
reliable_topic_qos->reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
/* Make the tailored QoS the new default. */
status = DDS_DomainParticipant_set_default_topic_qos(participant, reliable_topic_qos);
checkStatus(status, "DDS_DomainParticipant_set_default_topic_qos");
/* Use the changed policy when defining the ChatMessage topic */
chatMessageTopic = DDS_DomainParticipant_create_topic(
participant,
"Chat_ChatMessage",
chatMessageTypeName,
reliable_topic_qos,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(chatMessageTopic, "DDS_DomainParticipant_create_topic (ChatMessage)");
/* Set the DurabilityQosPolicy to TRANSIENT. */
setting_topic_qos = DDS_TopicQos__alloc();
checkHandle(setting_topic_qos, "DDS_TopicQos__alloc");
status = DDS_DomainParticipant_get_default_topic_qos(participant, setting_topic_qos);
checkStatus(status, "DDS_DomainParticipant_get_default_topic_qos");
setting_topic_qos->durability.kind = DDS_TRANSIENT_DURABILITY_QOS;
/* Create the NameService Topic. */
nameServiceTopic = DDS_DomainParticipant_create_topic(
participant,
"Chat_NameService",
nameServiceTypeName,
setting_topic_qos,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(nameServiceTopic, "DDS_DomainParticipant_create_topic");
/* Adapt the default SubscriberQos to read from the "ChatRoom" Partition. */
partitionName = "ChatRoom";
sub_qos = DDS_SubscriberQos__alloc();
checkHandle(sub_qos, "DDS_SubscriberQos__alloc");
status = DDS_DomainParticipant_get_default_subscriber_qos (participant, sub_qos);
checkStatus(status, "DDS_DomainParticipant_get_default_subscriber_qos");
sub_qos->partition.name._length = 1;
sub_qos->partition.name._maximum = 1;
sub_qos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
checkHandle(sub_qos->partition.name._buffer, "DDS_StringSeq_allocbuf");
sub_qos->partition.name._buffer[0] = DDS_string_alloc (strlen(partitionName) + 1);
checkHandle(sub_qos->partition.name._buffer[0], "DDS_string_alloc");
strcpy (sub_qos->partition.name._buffer[0], partitionName);
/* Create a Subscriber for the UserLoad application. */
chatSubscriber = DDS_DomainParticipant_create_subscriber(participant, sub_qos, NULL, DDS_STATUS_MASK_NONE);
checkHandle(chatSubscriber, "DDS_DomainParticipant_create_subscriber");
/* Create a DataReader for the NameService Topic (using the appropriate QoS). */
nameServer = DDS_Subscriber_create_datareader(
chatSubscriber,
nameServiceTopic,
DDS_DATAREADER_QOS_USE_TOPIC_QOS,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(nameServer, "DDS_Subscriber_create_datareader (NameService)");
/* Adapt the DataReaderQos for the ChatMessageDataReader to keep track of all messages. */
message_qos = DDS_DataReaderQos__alloc();
checkHandle(message_qos, "DDS_DataReaderQos__alloc");
status = DDS_Subscriber_get_default_datareader_qos(chatSubscriber, message_qos);
checkStatus(status, "DDS_Subscriber_get_default_datareader_qos");
status = DDS_Subscriber_copy_from_topic_qos(chatSubscriber, message_qos, reliable_topic_qos);
checkStatus(status, "DDS_Subscriber_copy_from_topic_qos");
message_qos->history.kind = DDS_KEEP_ALL_HISTORY_QOS;
/* Create a DataReader for the ChatMessage Topic (using the appropriate QoS). */
loadAdmin = DDS_Subscriber_create_datareader(
chatSubscriber,
chatMessageTopic,
message_qos,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(loadAdmin, "DDS_Subscriber_create_datareader (ChatMessage)");
/* Initialize the Query Arguments. */
args._length = 1;
args._maximum = 1;
args._buffer = DDS_StringSeq_allocbuf(1);
checkHandle(args._buffer, "DDS_StringSeq_allocbuf");
args._buffer[0] = DDS_string_alloc (12); /* Enough for maximum size numbers. */
checkHandle(args._buffer[0], "DDS_string_alloc");
sprintf(args._buffer[0], "%d", 0);
/* Create a QueryCondition that will contain all messages with userID=ownID */
singleUser = DDS_DataReader_create_querycondition(
loadAdmin,
DDS_ANY_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_ANY_INSTANCE_STATE,
"userID=%0",
&args);
checkHandle(singleUser, "DDS_DataReader_create_querycondition (singleUser Query)");
/* Create a ReadCondition that will contain new users only */
newUser = DDS_DataReader_create_readcondition(
nameServer,
DDS_NOT_READ_SAMPLE_STATE,
DDS_NEW_VIEW_STATE,
DDS_ALIVE_INSTANCE_STATE);
checkHandle(newUser, "DDS_DataReader_create_readcondition (newUser)");
/* Obtain a StatusCondition that triggers only when a Writer changes Liveliness */
leftUser = DDS_DataReader_get_statuscondition(loadAdmin);
checkHandle(leftUser, "DDS_DataReader_get_statuscondition");
status = DDS_StatusCondition_set_enabled_statuses(leftUser, DDS_LIVELINESS_CHANGED_STATUS);
checkStatus(status, "DDS_StatusCondition_set_enabled_statuses");
/* Create a bare guard which will be used to close the room */
escape = DDS_GuardCondition__alloc();
checkHandle(escape, "DDS_GuardCondition__alloc");
/* Create a waitset and add the ReadConditions */
userLoadWS = DDS_WaitSet__alloc();
checkHandle(userLoadWS, "DDS_WaitSet__alloc");
status = DDS_WaitSet_attach_condition(userLoadWS, newUser);
checkStatus(status, "DDS_WaitSet_attach_condition (newUser)");
status = DDS_WaitSet_attach_condition(userLoadWS, leftUser);
checkStatus(status, "DDS_WaitSet_attach_condition (leftUser)");
status = DDS_WaitSet_attach_condition(userLoadWS, escape);
checkStatus(status, "DDS_WaitSet_attach_condition (escape)");
/* Initialize and pre-allocate the GuardList used to obtain the triggered Conditions. */
guardList = DDS_ConditionSeq__alloc();
checkHandle(guardList, "DDS_ConditionSeq__alloc");
guardList->_maximum = 3;
guardList->_length = 0;
guardList->_buffer = DDS_ConditionSeq_allocbuf(3);
checkHandle(guardList->_buffer, "DDS_ConditionSeq_allocbuf");
/* Remove all known Users that are not currently active. */
status = Chat_NameServiceDataReader_take(
nameServer,
&nsList,
&infoSeq,
DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_NOT_ALIVE_INSTANCE_STATE);
checkStatus(status, "Chat_NameServiceDataReader_take");
status = Chat_NameServiceDataReader_return_loan(nameServer, &nsList, &infoSeq);
checkStatus(status, "Chat_NameServiceDataReader_return_loan");
/* Start the sleeper thread. */
pthread_attr_init(&tattr);
pthread_attr_setdetachstate(&tattr, PTHREAD_CREATE_DETACHED);
pthread_create (&tid, &tattr, delayedEscape, NULL);
pthread_attr_destroy(&tattr);
while (!closed) {
/* Wait until at least one of the Conditions in the waitset triggers. */
status = DDS_WaitSet_wait(userLoadWS, guardList, &timeout);
checkStatus(status, "DDS_WaitSet_wait");
/* Walk over all guards to display information */
for (i = 0; i < guardList->_length; i++) {
guard = guardList->_buffer[i];
if (guard == newUser) {
/* The newUser ReadCondition contains data */
status = Chat_NameServiceDataReader_read_w_condition(
nameServer,
&nsList,
&infoSeq,
DDS_LENGTH_UNLIMITED,
newUser);
checkStatus(status, "Chat_NameServiceDataReader_read_w_condition");
for (j = 0; j < nsList._length; j++) {
printf ("New user: %s\n", nsList._buffer[j].name);
}
status = Chat_NameServiceDataReader_return_loan(nameServer, &nsList, &infoSeq);
checkStatus(status, "Chat_NameServiceDataReader_return_loan");
} else if (guard == leftUser) {
/* Some liveliness has changed (either a DataWriter joined or a DataWriter left) */
status = DDS_DataReader_get_liveliness_changed_status(loadAdmin, &livChangStatus);
checkStatus(status, "DDS_DataReader_get_liveliness_changed_status");
if (livChangStatus.alive_count < prevCount) {
/* A user has left the ChatRoom, since a DataWriter lost its liveliness */
/* Take the effected users so tey will not appear in the list later on. */
status = Chat_NameServiceDataReader_take(
nameServer,
&nsList,
&infoSeq,
DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE);
checkStatus(status, "Chat_NameServiceDataReader_take");
for (j = 0; j < nsList._length; j++) {
/* re-apply query arguments */
sprintf(args._buffer[0], "%d", nsList._buffer[j].userID);
status = DDS_QueryCondition_set_query_parameters(singleUser, &args);
checkStatus(status, "DDS_QueryCondition_set_query_parameters");
/* Read this users history */
status = Chat_ChatMessageDataReader_take_w_condition(
loadAdmin,
&msgList,
&infoSeq2,
DDS_LENGTH_UNLIMITED,
singleUser);
checkStatus(status, "Chat_ChatMessageDataReader_take_w_condition");
/* Display the user and his history */
printf (
"Departed user %s has sent %d messages\n",
nsList._buffer[j].name,
msgList._length);
status = Chat_ChatMessageDataReader_return_loan(loadAdmin, &msgList, &infoSeq2);
checkStatus(status, "Chat_ChatMessageDataReader_return_loan");
}
status = Chat_NameServiceDataReader_return_loan(nameServer, &nsList, &infoSeq);
checkStatus(status, "Chat_NameServiceDataReader_return_loan");
}
prevCount = livChangStatus.alive_count;
} else if (guard == escape) {
printf ("UserLoad has terminated.\n");
closed = 1;
}
else
{
assert(0);
};
} /* for */
} /* while (!closed) */
/* Remove all Conditions from the WaitSet. */
status = DDS_WaitSet_detach_condition(userLoadWS, escape);
checkStatus(status, "DDS_WaitSet_detach_condition (escape)");
status = DDS_WaitSet_detach_condition(userLoadWS, leftUser);
checkStatus(status, "DDS_WaitSet_detach_condition (leftUser)");
status = DDS_WaitSet_detach_condition(userLoadWS, newUser);
checkStatus(status, "DDS_WaitSet_detach_condition (newUser)");
/* Free all resources */
DDS_free(guardList);
DDS_free(args._buffer);
DDS_free(userLoadWS);
DDS_free(escape);
DDS_free(setting_topic_qos);
DDS_free(reliable_topic_qos);
DDS_free(nameServiceTypeName);
DDS_free(chatMessageTypeName);
DDS_free(nameServiceTS);
DDS_free(chatMessageTS);
status = DDS_DomainParticipant_delete_contained_entities(participant);
checkStatus(status, "DDS_DomainParticipant_delete_contained_entities");
status = DDS_DomainParticipantFactory_delete_participant(
DDS_TheParticipantFactory,
participant);
checkStatus(status, "DDS_DomainParticipantFactory_delete_participant");
return 0;
}
DDS_MultiTopic
DDS_DomainParticipant_create_simulated_multitopic (
DDS_DomainParticipant participant,
const DDS_char *name,
const DDS_char *type_name,
const DDS_char *subscription_expression,
const DDS_StringSeq *expression_parameters )
{
/* Type-specific DDS entities */
static Chat_ChatMessageDataReader chatMessageDR;
static Chat_NameServiceDataReader nameServiceDR;
static Chat_NamedMessageDataWriter namedMessageDW;
/* Query related stuff */
static DDS_QueryCondition nameFinder;
static DDS_StringSeq *nameFinderParams;
/* QosPolicy holders */
DDS_TopicQos *namedMessageQos;
DDS_SubscriberQos *sub_qos;
DDS_PublisherQos *pub_qos;
/* Others */
const char *partitionName = "ChatRoom";
const char *nameFinderExpr;
struct MsgListenerState *listener_state;
DDS_Duration_t infiniteTimeOut = DDS_DURATION_INFINITE;
DDS_ReturnCode_t status;
/* Lookup both components that constitute the multi-topic. */
chatMessageTopic = DDS_DomainParticipant_find_topic(
participant,
"Chat_ChatMessage",
&infiniteTimeOut);
checkHandle(chatMessageTopic, "DDS_DomainParticipant_find_topic (Chat_ChatMessage)");
nameServiceTopic = DDS_DomainParticipant_find_topic(
participant,
"Chat_NameService",
&infiniteTimeOut);
checkHandle(nameServiceTopic, "DDS_DomainParticipant_find_topic (Chat_NameService)");
/* Create a ContentFilteredTopic to filter out our own ChatMessages. */
filteredMessageTopic = DDS_DomainParticipant_create_contentfilteredtopic(
participant,
"Chat_FilteredMessage",
chatMessageTopic,
"userID <> %0",
expression_parameters);
checkHandle(filteredMessageTopic, "DDS_DomainParticipant_create_contentfilteredtopic");
/* Adapt the default SubscriberQos to read from the "ChatRoom" Partition. */
sub_qos = DDS_SubscriberQos__alloc();
checkHandle(sub_qos, "DDS_SubscriberQos__alloc");
status = DDS_DomainParticipant_get_default_subscriber_qos (participant, sub_qos);
checkStatus(status, "DDS_DomainParticipant_get_default_subscriber_qos");
sub_qos->partition.name._length = 1;
sub_qos->partition.name._maximum = 1;
sub_qos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
checkHandle(sub_qos->partition.name._buffer, "DDS_StringSeq_allocbuf");
sub_qos->partition.name._buffer[0] = DDS_string_alloc ( strlen(partitionName) );
checkHandle(sub_qos->partition.name._buffer[0], "DDS_string_alloc");
strcpy (sub_qos->partition.name._buffer[0], partitionName);
/* Create a private Subscriber for the multitopic simulator. */
multiSub = DDS_DomainParticipant_create_subscriber(participant, sub_qos, NULL, DDS_STATUS_MASK_NONE);
checkHandle(multiSub, "DDS_DomainParticipant_create_subscriber (for multitopic)");
/* Create a DataReader for the FilteredMessage Topic (using the appropriate QoS). */
chatMessageDR = DDS_Subscriber_create_datareader(
multiSub,
filteredMessageTopic,
DDS_DATAREADER_QOS_USE_TOPIC_QOS,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(chatMessageDR, "DDS_Subscriber_create_datareader (ChatMessage)");
/* Create a DataReader for the nameService Topic (using the appropriate QoS). */
nameServiceDR = DDS_Subscriber_create_datareader(
multiSub,
nameServiceTopic,
DDS_DATAREADER_QOS_USE_TOPIC_QOS,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(nameServiceDR, "DDS_Subscriber_create_datareader (NameService)");
/* Define the SQL expression (using a parameterized value). */
nameFinderExpr = "userID = %0";
/* Allocate and assign the query parameters. */
nameFinderParams = DDS_StringSeq__alloc();
checkHandle(nameFinderParams, "DDS_StringSeq__alloc");
nameFinderParams->_length = 1;
nameFinderParams->_maximum = 1;
nameFinderParams->_buffer = DDS_StringSeq_allocbuf (1);
checkHandle(nameFinderParams->_buffer, "DDS_StringSeq_allocbuf");
nameFinderParams->_buffer[0] = DDS_string_alloc ( MAX_INT_LENGTH );
checkHandle(nameFinderParams->_buffer[0], "DDS_string_alloc");
strcpy(nameFinderParams->_buffer[0], "0");
DDS_sequence_set_release(nameFinderParams, TRUE);
/* Create a QueryCondition to only read corresponding nameService information by key-value. */
nameFinder = DDS_DataReader_create_querycondition(
nameServiceDR,
DDS_ANY_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_ANY_INSTANCE_STATE,
nameFinderExpr,
nameFinderParams);
checkHandle(nameFinder, "DDS_DataReader_create_querycondition (nameFinder)");
/* Create the Topic that simulates the multi-topic (use Qos from chatMessage).*/
namedMessageQos = DDS_TopicQos__alloc();
checkHandle(namedMessageQos, "DDS_TopicQos__alloc");
status = DDS_Topic_get_qos(chatMessageTopic, namedMessageQos);
checkStatus(status, "DDS_Topic_get_qos");
/* Create the NamedMessage Topic whose samples simulate the MultiTopic */
namedMessageTopic = DDS_DomainParticipant_create_topic(
participant,
"Chat_NamedMessage",
type_name,
namedMessageQos,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(namedMessageTopic, "DDS_DomainParticipant_create_topic (NamedMessage)");
/* Adapt the default PublisherQos to write into the "ChatRoom" Partition. */
pub_qos = DDS_PublisherQos__alloc();
checkHandle(pub_qos, "DDS_PublisherQos__alloc");
status = DDS_DomainParticipant_get_default_publisher_qos (participant, pub_qos);
checkStatus(status, "DDS_DomainParticipant_get_default_publisher_qos");
pub_qos->partition.name._length = 1;
pub_qos->partition.name._maximum = 1;
pub_qos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
checkHandle(pub_qos->partition.name._buffer, "DDS_StringSeq_allocbuf");
pub_qos->partition.name._buffer[0] = DDS_string_alloc ( strlen(partitionName) );
checkHandle(pub_qos->partition.name._buffer[0], "DDS_string_alloc");
strcpy (pub_qos->partition.name._buffer[0], partitionName);
/* Create a private Publisher for the multitopic simulator. */
multiPub = DDS_DomainParticipant_create_publisher(participant, pub_qos, NULL, DDS_STATUS_MASK_NONE);
checkHandle(multiPub, "DDS_DomainParticipant_create_publisher (for multitopic)");
/* Create a DataWriter for the multitopic. */
namedMessageDW = DDS_Publisher_create_datawriter(
multiPub,
namedMessageTopic,
DDS_DATAWRITER_QOS_USE_TOPIC_QOS,
NULL,
DDS_STATUS_MASK_NONE);
checkHandle(namedMessageDW, "DDS_Publisher_create_datawriter (NamedMessage)");
/* Allocate the DataReaderListener interface. */
msgListener = DDS_DataReaderListener__alloc();
checkHandle(msgListener, "DDS_DataReaderListener__alloc");
/* Fill the listener_data with pointers to all entities needed by the Listener implementation. */
listener_state = malloc(sizeof(struct MsgListenerState));
checkHandle(listener_state, "malloc");
listener_state->chatMessageDR = chatMessageDR;
listener_state->nameServiceDR = nameServiceDR;
listener_state->namedMessageDW = namedMessageDW;
listener_state->nameFinder = nameFinder;
listener_state->nameFinderParams = nameFinderParams;
msgListener->listener_data = listener_state;
/* Assign the function pointer attributes to their implementation functions. */
msgListener->on_data_available = (void (*)(void *, DDS_DataReader)) on_message_available;
msgListener->on_requested_deadline_missed = NULL;
msgListener->on_requested_incompatible_qos = NULL;
msgListener->on_sample_rejected = NULL;
msgListener->on_liveliness_changed = NULL;
msgListener->on_subscription_matched = NULL;
msgListener->on_sample_lost = NULL;
/* Attach the DataReaderListener to the DataReader, only enabling the data_available event. */
status = DDS_DataReader_set_listener(chatMessageDR, msgListener, DDS_DATA_AVAILABLE_STATUS);
checkStatus(status, "DDS_DataReader_set_listener");
/* Free up all resources that are no longer needed. */
DDS_free(namedMessageQos);
DDS_free(sub_qos);
DDS_free(pub_qos);
/* Return the simulated Multitopic. */
return namedMessageTopic;
}
int OSPL_MAIN (int argc, char ** argv)
#endif
{
DDS_ConditionSeq *conditionList;
DDS_WaitSet w;
DDS_DomainParticipantQos *dpQos;
DDS_TopicQos *tQos;
DDS_PublisherQos *pQos;
DDS_DataWriterQos *dwQos;
DDS_SubscriberQos *sQos;
DDS_DataReaderQos *drQos;
DDS_Condition exp_condition = NULL;
pong_handler *active_handler = NULL;
DDS_Duration_t wait_timeout = {3,0};
DDS_boolean finish_flag = FALSE;
DDS_boolean timeout_flag = FALSE;
DDS_boolean terminate = FALSE;
DDS_ReturnCode_t result;
int imax = 1;
int i;
unsigned int block;
printf ("Starting ping example\n");
fflush(stdout);
/*
* init timing statistics
*/
init_stats (&roundtrip, "round_trip");
init_stats (&write_access, "write_access");
init_stats (&read_access, "read_access");
/*
* Evaluate cmdline arguments
*/
#ifdef INTEGRITY
nof_blocks = 100;
nof_cycles = 100;
#if defined (PING1)
topic_id = 'm';
#elif defined (PING2)
topic_id = 'q';
#elif defined (PING3)
topic_id = 's';
#elif defined (PING4)
topic_id = 'f';
#elif defined (PING5)
topic_id = 'b';
#elif defined (PING6)
nof_blocks = 1;
nof_cycles = 10;
topic_id = 't';
#endif
write_partition = "PongRead";
read_partition = "PongWrite";
#else
if (argc != 1) {
if (argc != 6) {
printf ("Invalid.....\n Usage: %s [blocks blocksize topic_id WRITE_PARTITION READ_PARTITION]\n", argv[0]);
exit (1);
}
nof_blocks = atoi (argv[1]);
nof_cycles = atoi (argv[2]);
topic_id = argv[3][0];
write_partition = argv[4];
read_partition = argv[5];
}
#endif
#ifdef _WIN32
init_clock();
#endif
/*
* Create WaitSet
*/
w = DDS_WaitSet__alloc ();
/*
* Initialize Qos variables
*/
dpQos = DDS_DomainParticipantQos__alloc();
tQos = DDS_TopicQos__alloc();
pQos = DDS_PublisherQos__alloc();
dwQos = DDS_DataWriterQos__alloc();
sQos = DDS_SubscriberQos__alloc();
drQos = DDS_DataReaderQos__alloc();
/*
* Initialize condition list
*/
conditionList = NULL;
/*
* Create participant
*/
dpf = DDS_DomainParticipantFactory_get_instance ();
dp = DDS_DomainParticipantFactory_create_participant (dpf, myDomain, DDS_PARTICIPANT_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (dp == DDS_HANDLE_NIL) {
printf ("%s PING: ERROR - Splice Daemon not running", argv[0]);
exit (1);
}
/*
* Create PING publisher
*/
DDS_DomainParticipant_get_default_publisher_qos (dp, pQos);
pQos->partition.name._length = 1;
pQos->partition.name._maximum = 1;
pQos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
pQos->partition.name._buffer[0] = DDS_string_dup (write_partition);
p = DDS_DomainParticipant_create_publisher (dp, pQos, NULL, DDS_STATUS_MASK_NONE);
DDS_free (pQos);
/*
* Create PONG subscriber
*/
DDS_DomainParticipant_get_default_subscriber_qos (dp, sQos);
sQos->partition.name._length = 1;
sQos->partition.name._maximum = 1;
sQos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
sQos->partition.name._buffer[0] = DDS_string_dup (read_partition);
s = DDS_DomainParticipant_create_subscriber (dp, sQos, NULL, DDS_STATUS_MASK_NONE);
DDS_free (sQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = pingpong_PP_min_msgTypeSupport__alloc ();
pingpong_PP_min_msgTypeSupport_register_type (PP_min_dt, dp, "pingpong::PP_min_msg");
PP_min_topic = DDS_DomainParticipant_create_topic (dp, "PP_min_topic", "pingpong::PP_min_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
DDS_Publisher_get_default_datawriter_qos(p, dwQos);
dwQos->reliability.kind = DDS_BEST_EFFORT_RELIABILITY_QOS;
dwQos->history.kind = DDS_KEEP_ALL_HISTORY_QOS;
/* Create datawriter */
PP_min_writer = DDS_Publisher_create_datawriter (p, PP_min_topic, dwQos, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_min_reader = DDS_Subscriber_create_datareader (s, PP_min_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_min_sc = DDS_DataReader_get_statuscondition (PP_min_reader);
DDS_StatusCondition_set_enabled_statuses (PP_min_sc, DDS_DATA_AVAILABLE_STATUS);
DDS_WaitSet_attach_condition (w, PP_min_sc);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = pingpong_PP_seq_msgTypeSupport__alloc ();
pingpong_PP_seq_msgTypeSupport_register_type (PP_seq_dt, dp, "pingpong::PP_seq_msg");
PP_seq_topic = DDS_DomainParticipant_create_topic (dp, "PP_seq_topic", "pingpong::PP_seq_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_seq_writer = DDS_Publisher_create_datawriter (p, PP_seq_topic, dwQos, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_seq_reader = DDS_Subscriber_create_datareader (s, PP_seq_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_seq_sc = DDS_DataReader_get_statuscondition (PP_seq_reader);
DDS_StatusCondition_set_enabled_statuses (PP_seq_sc, DDS_DATA_AVAILABLE_STATUS);
DDS_WaitSet_attach_condition (w, PP_seq_sc);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = pingpong_PP_string_msgTypeSupport__alloc ();
pingpong_PP_string_msgTypeSupport_register_type (PP_string_dt, dp, "pingpong::PP_string_msg");
PP_string_topic = DDS_DomainParticipant_create_topic (dp, "PP_string_topic", "pingpong::PP_string_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_string_writer = DDS_Publisher_create_datawriter (p, PP_string_topic, dwQos, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_string_reader = DDS_Subscriber_create_datareader (s, PP_string_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_string_sc = DDS_DataReader_get_statuscondition (PP_string_reader);
DDS_StatusCondition_set_enabled_statuses (PP_string_sc, DDS_DATA_AVAILABLE_STATUS);
DDS_WaitSet_attach_condition (w, PP_string_sc);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = pingpong_PP_fixed_msgTypeSupport__alloc ();
pingpong_PP_fixed_msgTypeSupport_register_type (PP_fixed_dt, dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = DDS_DomainParticipant_create_topic (dp, "PP_fixed_topic", "pingpong::PP_fixed_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_fixed_writer = DDS_Publisher_create_datawriter (p, PP_fixed_topic, dwQos, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_fixed_reader = DDS_Subscriber_create_datareader (s, PP_fixed_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_fixed_sc = DDS_DataReader_get_statuscondition (PP_fixed_reader);
DDS_StatusCondition_set_enabled_statuses (PP_fixed_sc, DDS_DATA_AVAILABLE_STATUS);
DDS_WaitSet_attach_condition (w, PP_fixed_sc);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = pingpong_PP_array_msgTypeSupport__alloc ();
pingpong_PP_array_msgTypeSupport_register_type (PP_array_dt, dp, "pingpong::PP_array_msg");
PP_array_topic = DDS_DomainParticipant_create_topic (dp, "PP_array_topic", "pingpong::PP_array_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_array_writer = DDS_Publisher_create_datawriter (p, PP_array_topic, dwQos, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_array_reader = DDS_Subscriber_create_datareader (s, PP_array_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_array_sc = DDS_DataReader_get_statuscondition (PP_array_reader);
DDS_StatusCondition_set_enabled_statuses (PP_array_sc, DDS_DATA_AVAILABLE_STATUS);
DDS_WaitSet_attach_condition (w, PP_array_sc);
/*
* PP_bseq_msg
*/
/* Create Topic */
PP_bseq_dt = pingpong_PP_bseq_msgTypeSupport__alloc ();
pingpong_PP_bseq_msgTypeSupport_register_type (PP_bseq_dt, dp, "pingpong::PP_bseq_msg");
PP_bseq_topic = DDS_DomainParticipant_create_topic (dp, "PP_bseq_topic", "pingpong::PP_bseq_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_bseq_writer = DDS_Publisher_create_datawriter (p, PP_bseq_topic, dwQos, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_bseq_reader = DDS_Subscriber_create_datareader (s, PP_bseq_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_bseq_sc = DDS_DataReader_get_statuscondition (PP_bseq_reader);
DDS_StatusCondition_set_enabled_statuses (PP_bseq_sc, DDS_DATA_AVAILABLE_STATUS);
DDS_WaitSet_attach_condition (w, PP_bseq_sc);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = pingpong_PP_quit_msgTypeSupport__alloc ();
pingpong_PP_quit_msgTypeSupport_register_type (PP_quit_dt, dp, "pingpong::PP_quit_msg");
PP_quit_topic = DDS_DomainParticipant_create_topic (dp, "PP_quit_topic", "pingpong::PP_quit_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_quit_writer = DDS_Publisher_create_datawriter (p, PP_quit_topic, dwQos, NULL, DDS_STATUS_MASK_NONE);
/* Fr: workarround for ticket dds1712 */
conditionList = DDS_ConditionSeq__alloc();
assert(conditionList);
DDS_WaitSet_wait (w, conditionList, &wait_timeout);
DDS_free(conditionList);
for (block = 0; block < nof_blocks && !terminate ; block++) {
while (!finish_flag) {
/*
* Send Initial message
*/
timeout_flag = FALSE;
switch(topic_id) {
case 'm':
{
/* printf ("PING: sending initial ping_min\n"); */
pingpong_PP_min_msg *PPdata = pingpong_PP_min_msg__alloc ();
exp_condition = PP_min_sc;
active_handler = &PP_min_handler;
PPdata->count = 0;
PPdata->block = block;
preWriteTime = timeGet ();
pingpong_PP_min_msgDataWriter_write (PP_min_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 'q':
{
/* printf ("PING: sending initial ping_seq\n"); */
pingpong_PP_seq_msg *PPdata = pingpong_PP_seq_msg__alloc ();
exp_condition = PP_seq_sc;
active_handler = &PP_seq_handler;
PPdata->count = 0;
PPdata->block = block;
{
int i = 0;
PPdata->payload._buffer = pingpong_seq_char_allocbuf(SEQ_PAYLOAD_SIZE);
PPdata->payload._length = SEQ_PAYLOAD_SIZE;
PPdata->payload._maximum = SEQ_PAYLOAD_SIZE;
for (i=0; i<SEQ_PAYLOAD_SIZE; i++) {
PPdata->payload._buffer[i] = (char)i;
}
}
preWriteTime = timeGet ();
pingpong_PP_seq_msgDataWriter_write (PP_seq_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 's':
{
/* printf ("PING: sending initial ping_string\n"); */
pingpong_PP_string_msg *PPdata = pingpong_PP_string_msg__alloc ();
exp_condition = PP_string_sc;
active_handler = &PP_string_handler;
PPdata->count = 0;
PPdata->block = block;
PPdata->a_string = DDS_string_dup ("a_string");
preWriteTime = timeGet ();
pingpong_PP_string_msgDataWriter_write (PP_string_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 'f':
{
/* printf ("PING: sending initial ping_fixed\n"); */
pingpong_PP_fixed_msg *PPdata = pingpong_PP_fixed_msg__alloc ();
exp_condition = PP_fixed_sc;
active_handler = &PP_fixed_handler;
PPdata->count = 0;
PPdata->block = block;
PPdata->a_bstring = DDS_string_dup ("a_bstring");
preWriteTime = timeGet ();
pingpong_PP_fixed_msgDataWriter_write (PP_fixed_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 'a':
{
/* printf ("PING: sending initial ping_array\n"); */
pingpong_PP_array_msg *PPdata = pingpong_PP_array_msg__alloc ();
exp_condition = PP_array_sc;
active_handler = &PP_array_handler;
PPdata->count = 0;
PPdata->block = block;
preWriteTime = timeGet ();
pingpong_PP_array_msgDataWriter_write (PP_array_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 'b':
{
/* printf ("PING: sending initial ping_bseq_msg\n"); */
pingpong_PP_bseq_msg *PPdata = pingpong_PP_bseq_msg__alloc ();
exp_condition = PP_bseq_sc;
active_handler = &PP_bseq_handler;
PPdata->count = 0;
PPdata->block = block;
preWriteTime = timeGet ();
pingpong_PP_bseq_msgDataWriter_write (PP_bseq_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 't':
{
/* printf ("PING: sending initial ping_quit\n"); */
pingpong_PP_quit_msg *PPdata = pingpong_PP_quit_msg__alloc();
PPdata->quit = TRUE;
terminate = TRUE;
finish_flag = TRUE;
sleep(1);
preWriteTime = timeGet ();
pingpong_PP_quit_msgDataWriter_write (PP_quit_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
sleep(1);
DDS_free (PPdata);
}
break;
default:
printf("Invalid topic-id\n");
exit(1);
}
if (!terminate) {
roundTripTime = preWriteTime;
add_stats (&write_access, 1E6 * timeToReal (timeSub (postWriteTime, preWriteTime)));
/*
* Wait for response, calculate timing, and send another data if not ready
*/
while (!(timeout_flag || finish_flag)) {
conditionList = DDS_ConditionSeq__alloc();
result = DDS_WaitSet_wait (w, conditionList, &wait_timeout);
if(result == DDS_RETCODE_OK || result == DDS_RETCODE_NO_DATA || result == DDS_RETCODE_TIMEOUT)
{
if (conditionList) {
imax = conditionList->_length;
if (imax != 0) {
for (i = 0; i < imax; i++) {
if (conditionList->_buffer[i] == exp_condition) {
finish_flag = active_handler (nof_cycles);
} else {
printf ("PING: unexpected condition triggered: %lx\n",
(unsigned long)conditionList->_buffer[i]);
}
}
} else {
printf ("PING: TIMEOUT - message lost\n");
timeout_flag = TRUE;
}
DDS_free(conditionList);
} else {
printf ("PING: TIMEOUT - message lost\n");
timeout_flag = TRUE;
}
} else
{
printf ("PING: Waitset wait failed (code %d), terminating.\n", result);
finish_flag = TRUE;
terminate = TRUE;
}
}
}
}
if (!terminate) {
finish_flag = FALSE;
if (block == 0) {
printf ("# PING PONG measurements (in us) \n");
printf ("# Roundtrip time [us] Write-access time [us] Read-access time [us]\n");
printf ("# Block Count mean min max Count mean min max Count mean min max\n");
}
printf ("%6d %10d %6.0f %6.0f %6.0f %10d %6.0f %6.0f %6.0f %10d %6.0f %6.0f %6.0f\n",
block,
roundtrip.count,
roundtrip.average,
roundtrip.min,
roundtrip.max,
write_access.count,
write_access.average,
write_access.min,
write_access.max,
read_access.count,
read_access.average,
read_access.min,
read_access.max);
fflush (stdout);
init_stats (&write_access, "write_access");
init_stats (&read_access, "read_access");
init_stats (&roundtrip, "round_trip");
}
}
DDS_Subscriber_delete_datareader (s, PP_min_reader);
DDS_Publisher_delete_datawriter (p, PP_min_writer);
DDS_Subscriber_delete_datareader (s, PP_seq_reader);
DDS_Publisher_delete_datawriter (p, PP_seq_writer);
DDS_Subscriber_delete_datareader (s, PP_string_reader);
DDS_Publisher_delete_datawriter (p, PP_string_writer);
DDS_Subscriber_delete_datareader (s, PP_fixed_reader);
DDS_Publisher_delete_datawriter (p, PP_fixed_writer);
DDS_Subscriber_delete_datareader (s, PP_array_reader);
DDS_Publisher_delete_datawriter (p, PP_array_writer);
DDS_Subscriber_delete_datareader (s, PP_bseq_reader);
DDS_Publisher_delete_datawriter (p, PP_bseq_writer);
DDS_Publisher_delete_datawriter (p, PP_quit_writer);
DDS_DomainParticipant_delete_subscriber (dp, s);
DDS_DomainParticipant_delete_publisher (dp, p);
DDS_DomainParticipant_delete_topic (dp, PP_min_topic);
DDS_DomainParticipant_delete_topic (dp, PP_seq_topic);
DDS_DomainParticipant_delete_topic (dp, PP_string_topic);
DDS_DomainParticipant_delete_topic (dp, PP_fixed_topic);
DDS_DomainParticipant_delete_topic (dp, PP_array_topic);
DDS_DomainParticipant_delete_topic (dp, PP_bseq_topic);
DDS_DomainParticipant_delete_topic (dp, PP_quit_topic);
DDS_DomainParticipantFactory_delete_participant (dpf, dp);
DDS_free (w);
DDS_free (PP_min_dt);
DDS_free (PP_seq_dt);
DDS_free (PP_string_dt);
DDS_free (PP_fixed_dt);
DDS_free (PP_array_dt);
DDS_free (PP_bseq_dt);
DDS_free (PP_quit_dt);
DDS_free (dpQos);
DDS_free (tQos);
DDS_free (dwQos);
DDS_free (drQos);
printf ("Completed ping example\n");
fflush(stdout);
return 0;
}
static int subscriber_main(int domainId, int sample_count)
{
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;
DDS_StatusCondition *status_condition;
DDS_WaitSet *waitset = NULL;
waitset_statuscondDataReader *waitsets_reader = NULL;
struct DDS_Duration_t timeout = {4,0};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
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 = waitset_statuscondTypeSupport_get_type_name();
retcode = waitset_statuscondTypeSupport_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 waitset_statuscond",
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;
}
/* 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, NULL, DDS_STATUS_MASK_NONE);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
status_condition = DDS_Entity_get_statuscondition((DDS_Entity*)reader);
if (status_condition == NULL) {
printf("get_statuscondition error\n");
subscriber_shutdown(participant);
return -1;
}
// Since a single status condition can match many statuses,
// enable only those we're interested in.
retcode = DDS_StatusCondition_set_enabled_statuses(
status_condition,
DDS_DATA_AVAILABLE_STATUS);
if (retcode != DDS_RETCODE_OK) {
printf("set_enabled_statuses error\n");
subscriber_shutdown(participant);
return -1;
}
// Create WaitSet, and attach conditions
waitset = DDS_WaitSet_new();
if (waitset == NULL) {
printf("create waitset error\n");
subscriber_shutdown(participant);
return -1;
}
retcode = DDS_WaitSet_attach_condition(waitset, (DDS_Condition*)status_condition);
if (retcode != DDS_RETCODE_OK) {
printf("attach_condition error\n");
subscriber_shutdown(participant);
return -1;
}
// Get narrowed datareader
waitsets_reader = waitset_statuscondDataReader_narrow(reader);
if (waitsets_reader == NULL) {
printf("DataReader narrow error\n");
return -1;
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
struct DDS_ConditionSeq active_conditions = DDS_SEQUENCE_INITIALIZER;
int i, j;
retcode = DDS_WaitSet_wait(waitset, &active_conditions, &timeout);
if (retcode == DDS_RETCODE_TIMEOUT) {
printf("wait timed out\n");
count+=2;
continue;
} else if (retcode != DDS_RETCODE_OK) {
printf("wait returned error: %d\n", retcode);
break;
}
printf("got %d active conditions\n",
DDS_ConditionSeq_get_length(&active_conditions));
for (i = 0; i < DDS_ConditionSeq_get_length(&active_conditions); ++i) {
if (DDS_ConditionSeq_get(&active_conditions, i) == (DDS_Condition*)status_condition) {
// A status condition triggered--see which ones
DDS_StatusMask triggeredmask;
triggeredmask = DDS_Entity_get_status_changes((DDS_Entity*)waitsets_reader);
if (triggeredmask & DDS_DATA_AVAILABLE_STATUS) {
struct waitset_statuscondSeq data_seq =
DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfoSeq info_seq =
DDS_SEQUENCE_INITIALIZER;
retcode = waitset_statuscondDataReader_take(
waitsets_reader, &data_seq, &info_seq,
DDS_LENGTH_UNLIMITED, DDS_ANY_SAMPLE_STATE,
DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
if (retcode != DDS_RETCODE_OK) {
printf("take error %d\n", retcode);
break;
}
for (j = 0; j < waitset_statuscondSeq_get_length(&data_seq); ++j) {
if (!DDS_SampleInfoSeq_get_reference(&info_seq, j)->valid_data) {
printf(" Got metadata\n");
continue;
}
waitset_statuscondTypeSupport_print_data(
waitset_statuscondSeq_get_reference(&data_seq, j));
}
retcode = waitset_statuscondDataReader_return_loan(
waitsets_reader, &data_seq, &info_seq);
if (retcode != DDS_RETCODE_OK) {
printf("return loan error %d\n", retcode);
}
}
}
}
}
/* Delete all entities */
retcode = DDS_WaitSet_delete(waitset);
if (retcode != DDS_RETCODE_OK) {
printf("delete waitset error %d\n", retcode);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count)
{
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 = {4,0};
/*
* This example uses a built-in QoS profile to enable monitoring on the
* DomainParticipant. The code below loads the XML QoS from the
* USER_QOS_PROFILES.xml file, which is inheriting from the
* "BuiltinQoSLib::Generic.Monitoring.Common" profile to enable monitoring.
*
* !!!! NOTE: This example will only work when dynamically linking !!!
* In Visual Studio, change the target to "Debug DLL" or "Release DLL"
* to build.
*/
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
/* If you want to change the DomainParticipant's QoS programatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_participant call above.
*
* This example uses a built-in QoS profile to enable
* monitoring on the DomainParticipant.*/
/*participant = DDS_DomainParticipantFactory_create_participant_with_profile(
DDS_TheParticipantFactory, domainId,
DDS_BUILTIN_QOS_LIB, DDS_PROFILE_GENERIC_MONITORING_COMMON,
NULL /* listener * /, DDS_STATUS_MASK_NONE);
*/
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
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 = profilesTypeSupport_get_type_name();
retcode = profilesTypeSupport_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 profiles",
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 =
profilesListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
profilesListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected =
profilesListener_on_sample_rejected;
reader_listener.on_liveliness_changed =
profilesListener_on_liveliness_changed;
reader_listener.on_sample_lost =
profilesListener_on_sample_lost;
reader_listener.on_subscription_matched =
profilesListener_on_subscription_matched;
reader_listener.on_data_available =
profilesListener_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 you want to change the DataReader's QoS programatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datareader call above.
*
* This example uses a built-in QoS profile to tune the QoS for
* reliable streaming data. */
/*reader = DDS_Subscriber_create_datareader_with_profile(
subscriber, DDS_Topic_as_topicdescription(topic),
DDS_BUILTIN_QOS_LIB_EXP, DDS_PROFILE_PATTERN_RELIABLE_STREAMING,
&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("profiles subscriber sleeping for %d sec...\n",
poll_period.sec);
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count)
{
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 = {4,0};
/* To change the time-based filter programmatically you will need to declare
* the DataReaderQoS */
struct DDS_DataReaderQos datareader_qos = DDS_DataReaderQos_INITIALIZER;
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
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 = tbfTypeSupport_get_type_name();
retcode = tbfTypeSupport_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 tbf",
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 =
tbfListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
tbfListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected =
tbfListener_on_sample_rejected;
reader_listener.on_liveliness_changed =
tbfListener_on_liveliness_changed;
reader_listener.on_sample_lost =
tbfListener_on_sample_lost;
reader_listener.on_subscription_matched =
tbfListener_on_subscription_matched;
reader_listener.on_data_available =
tbfListener_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;
}
/* If you want to change the time-based filter programmatically (e.g., to
* 2 seconds) rather than using the XML file, you will need to add the
* following lines to your code and comment out the create_datareader
* call above. */
/*datareader_qos.time_based_filter.minimum_separation.sec = 2;
datareader_qos.time_based_filter.minimum_separation.nanosec = 0;
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&datareader_qos, &reader_listener, DDS_STATUS_MASK_ALL);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}*/
/* Results table header: (1) source timestamp of the sample received;
* (2) instance id (instance.code value); and (3) value of x (instance.x).
*/
printf("================================================\n");
printf("Source Timestamp\tInstance\tX\n");
printf("================================================\n");
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
/*printf("tbf subscriber sleeping for %d sec...\n",
poll_period.sec);*/
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
int
main (
int argc,
char *argv[]
)
{
DDS_ConditionSeq *conditionList;
DDS_WaitSet w;
DDS_Condition exp_condition;
pong_handler *active_handler;
DDS_DomainParticipantQos *dpQos;
DDS_TopicQos *tQos;
DDS_PublisherQos *pQos;
DDS_DataWriterQos *dwQos;
DDS_SubscriberQos *sQos;
DDS_DataReaderQos *drQos;
time_t clock = time (NULL);
DDS_Duration_t wait_timeout = {3,0};
DDS_ReturnCode_t result;
DDS_boolean finish_flag = FALSE;
DDS_boolean timeout_flag = FALSE;
DDS_boolean terminate = FALSE;
int imax = 1;
int i;
unsigned int block;
init_clock();
/*
* init timing statistics
*/
init_stats (&roundtrip, "round_trip");
init_stats (&write_access, "write_access");
init_stats (&read_access, "read_access");
/*
* Evaluate cmdline arguments
*/
if (argc != 1) {
if (argc != 6) {
printf ("Invalid.....\n Usage: %s [blocks blocksize topic_id WRITE_PARTITION READ_PARTITION]\n", argv[0]);
exit (1);
}
nof_blocks = atoi (argv[1]);
nof_cycles = atoi (argv[2]);
topic_id = argv[3][0];
write_partition = argv[4];
read_partition = argv[5];
}
/*
* Create WaitSet
*/
w = DDS_WaitSet__alloc ();
/*
* Initialize Qos variables
*/
dpQos = DDS_DomainParticipantQos__alloc();
tQos = DDS_TopicQos__alloc();
pQos = DDS_PublisherQos__alloc();
dwQos = DDS_DataWriterQos__alloc();
sQos = DDS_SubscriberQos__alloc();
drQos = DDS_DataReaderQos__alloc();
/*
* Initialize condition list
*/
conditionList = NULL;
/*
* Create participant
*/
dpf = DDS_DomainParticipantFactory_get_instance ();
dp = DDS_DomainParticipantFactory_create_participant (dpf, myDomain, DDS_PARTICIPANT_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (dp == DDS_HANDLE_NIL) {
printf ("%s PING: ERROR - Splice Daemon not running", argv[0]);
exit (1);
}
/*
* Create PING publisher
*/
DDS_DomainParticipant_get_default_publisher_qos (dp, pQos);
pQos->partition.name._length = 1;
pQos->partition.name._maximum = 1;
pQos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
pQos->partition.name._buffer[0] = DDS_string_alloc (strlen(write_partition) + 1);
strcpy (pQos->partition.name._buffer[0], write_partition);
p = DDS_DomainParticipant_create_publisher (dp, pQos, NULL, DDS_STATUS_MASK_NONE);
DDS_free (pQos);
/*
* Create PONG subscriber
*/
DDS_DomainParticipant_get_default_subscriber_qos (dp, sQos);
sQos->partition.name._length = 1;
sQos->partition.name._maximum = 1;
sQos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
sQos->partition.name._buffer[0] = DDS_string_alloc (strlen(read_partition) + 1);
strcpy (sQos->partition.name._buffer[0], read_partition);
s = DDS_DomainParticipant_create_subscriber (dp, sQos, NULL, DDS_STATUS_MASK_NONE);
DDS_free (sQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = pingpong_PP_min_msgTypeSupport__alloc ();
pingpong_PP_min_msgTypeSupport_register_type (PP_min_dt, dp, "pingpong::PP_min_msg");
PP_min_topic = DDS_DomainParticipant_create_topic (dp, "PP_min_topic", "pingpong::PP_min_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_min_writer = DDS_Publisher_create_datawriter (p, PP_min_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_min_reader = DDS_Subscriber_create_datareader (s, PP_min_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_min_sc = DDS_DataReader_get_statuscondition (PP_min_reader);
DDS_StatusCondition_set_enabled_statuses (PP_min_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_min_sc);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = pingpong_PP_seq_msgTypeSupport__alloc ();
pingpong_PP_seq_msgTypeSupport_register_type (PP_seq_dt, dp, "pingpong::PP_seq_msg");
PP_seq_topic = DDS_DomainParticipant_create_topic (dp, "PP_seq_topic", "pingpong::PP_seq_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_seq_writer = DDS_Publisher_create_datawriter (p, PP_seq_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_seq_reader = DDS_Subscriber_create_datareader (s, PP_seq_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_seq_sc = DDS_DataReader_get_statuscondition (PP_seq_reader);
DDS_StatusCondition_set_enabled_statuses (PP_seq_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_seq_sc);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = pingpong_PP_string_msgTypeSupport__alloc ();
pingpong_PP_string_msgTypeSupport_register_type (PP_string_dt, dp, "pingpong::PP_string_msg");
PP_string_topic = DDS_DomainParticipant_create_topic (dp, "PP_string_topic", "pingpong::PP_string_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_string_writer = DDS_Publisher_create_datawriter (p, PP_string_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_string_reader = DDS_Subscriber_create_datareader (s, PP_string_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_string_sc = DDS_DataReader_get_statuscondition (PP_string_reader);
DDS_StatusCondition_set_enabled_statuses (PP_string_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_string_sc);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = pingpong_PP_fixed_msgTypeSupport__alloc ();
pingpong_PP_fixed_msgTypeSupport_register_type (PP_fixed_dt, dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = DDS_DomainParticipant_create_topic (dp, "PP_fixed_topic", "pingpong::PP_fixed_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_fixed_writer = DDS_Publisher_create_datawriter (p, PP_fixed_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_fixed_reader = DDS_Subscriber_create_datareader (s, PP_fixed_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_fixed_sc = DDS_DataReader_get_statuscondition (PP_fixed_reader);
DDS_StatusCondition_set_enabled_statuses (PP_fixed_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_fixed_sc);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = pingpong_PP_array_msgTypeSupport__alloc ();
pingpong_PP_array_msgTypeSupport_register_type (PP_array_dt, dp, "pingpong::PP_array_msg");
PP_array_topic = DDS_DomainParticipant_create_topic (dp, "PP_array_topic", "pingpong::PP_array_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_array_writer = DDS_Publisher_create_datawriter (p, PP_array_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_array_reader = DDS_Subscriber_create_datareader (s, PP_array_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_array_sc = DDS_DataReader_get_statuscondition (PP_array_reader);
DDS_StatusCondition_set_enabled_statuses (PP_array_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_array_sc);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = pingpong_PP_quit_msgTypeSupport__alloc ();
pingpong_PP_quit_msgTypeSupport_register_type (PP_quit_dt, dp, "pingpong::PP_quit_msg");
PP_quit_topic = DDS_DomainParticipant_create_topic (dp, "PP_quit_topic", "pingpong::PP_quit_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_quit_writer = DDS_Publisher_create_datawriter (p, PP_quit_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
for (block = 0; block < nof_blocks ; block++) {
while (!finish_flag) {
/*
* Send Initial message
*/
timeout_flag = FALSE;
switch(topic_id) {
case 'm':
{
/* printf ("PING: sending initial ping_min\n"); */
pingpong_PP_min_msg *PPdata = pingpong_PP_min_msg__alloc ();
exp_condition = PP_min_sc;
active_handler = &PP_min_handler;
PPdata->count = 0;
PPdata->block = block;
preWriteTime = timeGet ();
result = pingpong_PP_min_msgDataWriter_write (PP_min_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 'q':
{
/* printf ("PING: sending initial ping_seq\n"); */
pingpong_PP_seq_msg *PPdata = pingpong_PP_seq_msg__alloc ();
exp_condition = PP_seq_sc;
active_handler = &PP_seq_handler;
PPdata->count = 0;
PPdata->block = block;
preWriteTime = timeGet ();
result = pingpong_PP_seq_msgDataWriter_write (PP_seq_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 's':
{
/* printf ("PING: sending initial ping_string\n"); */
pingpong_PP_string_msg *PPdata = pingpong_PP_string_msg__alloc ();
exp_condition = PP_string_sc;
active_handler = &PP_string_handler;
PPdata->count = 0;
PPdata->block = block;
PPdata->a_string = DDS_string_alloc (8);
strcpy (PPdata->a_string, "a_string");
preWriteTime = timeGet ();
result = pingpong_PP_string_msgDataWriter_write (PP_string_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 'f':
{
/* printf ("PING: sending initial ping_fixed\n"); */
pingpong_PP_fixed_msg *PPdata = pingpong_PP_fixed_msg__alloc ();
exp_condition = PP_fixed_sc;
active_handler = &PP_fixed_handler;
PPdata->count = 0;
PPdata->block = block;
PPdata->a_bstring = DDS_string_alloc (9);
strcpy (PPdata->a_bstring, "a_bstring");
preWriteTime = timeGet ();
result = pingpong_PP_fixed_msgDataWriter_write (PP_fixed_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 'a':
{
/* printf ("PING: sending initial ping_array\n"); */
pingpong_PP_array_msg *PPdata = pingpong_PP_array_msg__alloc ();
exp_condition = PP_array_sc;
active_handler = &PP_array_handler;
PPdata->count = 0;
PPdata->block = block;
preWriteTime = timeGet ();
result = pingpong_PP_array_msgDataWriter_write (PP_array_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
case 't':
{
/* printf ("PING: sending initial ping_quit\n"); */
pingpong_PP_quit_msg *PPdata = pingpong_PP_quit_msg__alloc();
PPdata->quit = TRUE;
terminate = TRUE;
finish_flag = TRUE;
preWriteTime = timeGet ();
result = pingpong_PP_quit_msgDataWriter_write (PP_quit_writer, PPdata, DDS_HANDLE_NIL);
postWriteTime = timeGet ();
DDS_free (PPdata);
}
break;
default:
printf("Invalid topic-id\n");
exit(1);
}
if (!terminate) {
roundTripTime = preWriteTime;
add_stats (&write_access, 1E6 * timeToReal (timeSub (postWriteTime, preWriteTime)));
/*
* Wait for response, calculate timing, and send another data if not ready
*/
while (!(timeout_flag || finish_flag)) {
conditionList = DDS_ConditionSeq__alloc();
result = DDS_WaitSet_wait (w, conditionList, &wait_timeout);
if (conditionList) {
imax = conditionList->_length;
if (imax != 0) {
for (i = 0; i < imax; i++) {
if (conditionList->_buffer[i] == exp_condition) {
finish_flag = active_handler (nof_cycles);
} else {
printf ("PING: unexpected condition triggered: %x\n",
(unsigned int)conditionList->_buffer[i]);
}
}
} else {
printf ("PING: TIMEOUT - message lost\n");
timeout_flag = TRUE;
}
DDS_free(conditionList);
} else {
printf ("PING: TIMEOUT - message lost\n");
timeout_flag = TRUE;
}
}
}
}
if (!terminate) {
finish_flag = FALSE;
if (block == 0) {
printf ("# PING PONG measurements (in us) \n");
printf ("# Executed at: %s", ctime(&clock));
printf ("# Roundtrip time [us] Write-access time [us] Read-access time [us]\n");
printf ("# Block Count mean min max Count mean min max Count mean min max\n");
}
printf ("%6d %10d %6.0f %6.0f %6.0f %10d %6.0f %6.0f %6.0f %10d %6.0f %6.0f %6.0f\n",
block,
roundtrip.count,
roundtrip.average,
roundtrip.min,
roundtrip.max,
write_access.count,
write_access.average,
write_access.min,
write_access.max,
read_access.count,
read_access.average,
read_access.min,
read_access.max);
fflush (NULL);
init_stats (&write_access, "write_access");
init_stats (&read_access, "read_access");
init_stats (&roundtrip, "round_trip");
}
}
result = DDS_Subscriber_delete_datareader (s, PP_min_reader);
result = DDS_Publisher_delete_datawriter (p, PP_min_writer);
result = DDS_Subscriber_delete_datareader (s, PP_seq_reader);
result = DDS_Publisher_delete_datawriter (p, PP_seq_writer);
result = DDS_Subscriber_delete_datareader (s, PP_string_reader);
result = DDS_Publisher_delete_datawriter (p, PP_string_writer);
result = DDS_Subscriber_delete_datareader (s, PP_fixed_reader);
result = DDS_Publisher_delete_datawriter (p, PP_fixed_writer);
result = DDS_Subscriber_delete_datareader (s, PP_array_reader);
result = DDS_Publisher_delete_datawriter (p, PP_array_writer);
result = DDS_Publisher_delete_datawriter (p, PP_quit_writer);
result = DDS_DomainParticipant_delete_subscriber (dp, s);
result = DDS_DomainParticipant_delete_publisher (dp, p);
result = DDS_DomainParticipant_delete_topic (dp, PP_min_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_seq_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_string_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_fixed_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_array_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_quit_topic);
result = DDS_DomainParticipantFactory_delete_participant (dpf, dp);
DDS_free (w);
DDS_free (PP_min_dt);
DDS_free (PP_seq_dt);
DDS_free (PP_string_dt);
DDS_free (PP_fixed_dt);
DDS_free (PP_array_dt);
DDS_free (PP_quit_dt);
DDS_free (dpQos);
DDS_free (tQos);
DDS_free (dwQos);
DDS_free (drQos);
return 0;
}
static void test_qos (int enabled)
{
DDS_DomainParticipantFactoryQos qos;
DDS_DomainParticipant p;
DDS_Publisher pub;
DDS_Subscriber sub;
DDS_DataWriter dw;
DDS_DataReader dr;
DDS_Topic t;
DDS_TopicDescription td;
DDS_SubscriberQos psq, refsq;
DDS_ReturnCode_t r;
static char *buf [] = { "Hello", "World" };
static unsigned char data [] = { 0x77, 0x88, 0xaa, 0xbb, 0xcc };
unsigned char d2 [sizeof (data) + 1];
unsigned n;
size_t i;
int err;
v_printf (" - Set factory QoS to %sabled.\r\n", (enabled) ? "en" : "dis");
r = DDS_DomainParticipantFactory_get_qos (&qos);
fail_unless (r == DDS_RETCODE_OK);
qos.entity_factory.autoenable_created_entities = enabled;
r = DDS_DomainParticipantFactory_set_qos (&qos);
fail_unless (r == DDS_RETCODE_OK);
p = DDS_DomainParticipantFactory_create_participant (1, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0);
fail_unless (p != NULL);
r = register_HelloWorldData_type (p);
fail_unless (r == DDS_RETCODE_OK);
DDS_SubscriberQos__init (&refsq);
for (i = 0; (size_t) i < sizeof (buf) / sizeof (char *); i++) {
err = dds_seq_append (&refsq.partition.name, &buf [i]);
fail_unless (err == 0);
}
err = dds_seq_from_array (&refsq.group_data, data, sizeof (data));
fail_unless (err == 0);
v_printf (" - Create subscriber with specific QoS parameters.\r\n");
sub = DDS_DomainParticipant_create_subscriber (p, &refsq, NULL, 0);
fail_unless (sub != NULL);
memset (&psq, 0, sizeof (psq));
r = DDS_Subscriber_get_qos (sub, &psq);
fail_unless (r == DDS_RETCODE_OK &&
DDS_SEQ_LENGTH (refsq.partition.name) == DDS_SEQ_LENGTH (psq.partition.name) &&
DDS_SEQ_LENGTH (refsq.group_data.value) == sizeof (data));
DDS_SEQ_FOREACH (refsq.partition.name, i)
fail_unless (!strcmp (DDS_SEQ_ITEM (psq.partition.name, i),
DDS_SEQ_ITEM (refsq.partition.name, i)));
n = dds_seq_to_array (&psq.group_data, d2, sizeof (d2));
fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data)));
DDS_SubscriberQos__clear (&psq);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
v_printf (" - Create topic/publisher/writer/subscriber/reader entities.\r\n");
t = DDS_DomainParticipant_create_topic (p, "HelloWorld", TYPE_NAME, DDS_TOPIC_QOS_DEFAULT, NULL, 0);
fail_unless (t != NULL);
td = DDS_DomainParticipant_lookup_topicdescription (p, "HelloWorld");
fail_unless (td != NULL);
pub = DDS_DomainParticipant_create_publisher (p, DDS_PUBLISHER_QOS_DEFAULT, NULL, 0);
fail_unless (pub != NULL);
dw = DDS_Publisher_create_datawriter (pub, t, DDS_DATAWRITER_QOS_DEFAULT, NULL, 0);
fail_unless (dw != NULL);
sub = DDS_DomainParticipant_create_subscriber (p, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr != NULL);
v_printf (" - Update subscriber QoS.\r\n");
r = DDS_Subscriber_get_qos (sub, &psq);
fail_unless (r == DDS_RETCODE_OK);
DDS_SubscriberQos__clear (&refsq);
fail_unless (r == DDS_RETCODE_OK && !memcmp (&psq, &refsq, sizeof (refsq)));
for (i = 0; (size_t) i < sizeof (buf) / sizeof (char *); i++) {
err = dds_seq_append (&refsq.partition.name, &buf [i]);
fail_unless (err == 0);
}
err = dds_seq_from_array (&refsq.group_data, data, sizeof (data));
fail_unless (err == 0);
r = DDS_Subscriber_set_qos (sub, &refsq);
fail_unless (r == DDS_RETCODE_OK);
delay ();
r = DDS_Subscriber_get_qos (sub, &psq);
fail_unless (r == DDS_RETCODE_OK &&
DDS_SEQ_LENGTH (refsq.partition.name) == DDS_SEQ_LENGTH (psq.partition.name) &&
DDS_SEQ_LENGTH (psq.group_data.value) == sizeof (data));
DDS_SEQ_FOREACH (psq.partition.name, i)
fail_unless (!strcmp (DDS_SEQ_ITEM (psq.partition.name, i),
DDS_SEQ_ITEM (refsq.partition.name, i)));
n = dds_seq_to_array (&psq.group_data, d2, sizeof (d2));
fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data)));
DDS_SubscriberQos__clear (&refsq);
DDS_SubscriberQos__clear (&psq);
delay ();
if (!enabled) {
v_printf (" - Enable child entities.\r\n");
r = DDS_DomainParticipant_enable (p);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Topic_enable (t);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Publisher_enable (pub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_enable (sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataWriter_enable (dw);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_enable (dr);
fail_unless (r == DDS_RETCODE_OK);
sleep (1);
}
v_printf (" - Delete child entities.\r\n");
r = DDS_Publisher_delete_datawriter (pub, dw);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_delete_datareader (sub, dr);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_publisher (p, pub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_topic (p, t);
fail_unless (r == DDS_RETCODE_OK);
unregister_HelloWorldData_type (p);
r = DDS_DomainParticipantFactory_delete_participant (p);
fail_unless (r == DDS_RETCODE_OK);
}
static void test_aux (void)
{
DDS_DomainParticipant np, p;
DDS_Subscriber sub;
DDS_Topic t;
DDS_TopicDescription td;
DDS_DataReader dr, dr0, dr1;
DDS_StatusCondition sc, sc2;
DDS_StatusMask sm;
DDS_InstanceHandle_t h, h2;
DDS_DataReaderQos drq;
DDS_ReturnCode_t r;
v_printf (" - Test auxiliary subscriber functions.\r\n");
p = DDS_DomainParticipantFactory_create_participant (1, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0);
fail_unless (p != NULL);
sub = DDS_DomainParticipant_create_subscriber (p, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
sc = DDS_Subscriber_get_statuscondition (sub);
fail_unless (sc != NULL);
sc2 = DDS_Entity_get_statuscondition (sub);
fail_unless (sc2 != NULL);
sm = DDS_Subscriber_get_status_changes (sub);
fail_unless (sm == 0);
sm = DDS_Entity_get_status_changes (sub);
fail_unless (sm == 0);
/*dbg_printf ("(mask=%u)", sm);*/
h = DDS_Subscriber_get_instance_handle (sub);
fail_unless (h != 0);
h2 = DDS_Entity_get_instance_handle (sub);
fail_unless (h == h2);
np = DDS_Subscriber_get_participant (sub);
fail_unless (np == p);
r = register_HelloWorldData_type (p);
fail_unless (r == DDS_RETCODE_OK);
t = DDS_DomainParticipant_create_topic (p, "HelloWorld", TYPE_NAME, DDS_TOPIC_QOS_DEFAULT, NULL, 0);
fail_unless (t != NULL);
td = DDS_DomainParticipant_lookup_topicdescription (p, "HelloWorld");
fail_unless (td != NULL);
dr0 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr0 != NULL);
dr = DDS_Subscriber_lookup_datareader (sub, "HelloWorld");
fail_unless (dr == dr0);
dr1 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr1 != NULL);
delay ();
r = DDS_Subscriber_delete_contained_entities (sub);
fail_unless (r == DDS_RETCODE_OK);
v_printf (" - Test default child QoS of subscriber entities\r\n");
r = DDS_Subscriber_get_default_datareader_qos (sub, &drq);
fail_unless (r == DDS_RETCODE_OK);
drq.ownership.kind = DDS_EXCLUSIVE_OWNERSHIP_QOS;
r = DDS_Subscriber_set_default_datareader_qos (sub, &drq);
fail_unless (r == DDS_RETCODE_OK);
dr1 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr1 != NULL);
delay ();
v_printf (" - Test coherency (not implemented).\r\n");
r = DDS_Subscriber_begin_access (sub);
fail_unless (r == DDS_RETCODE_UNSUPPORTED);
r = DDS_Subscriber_end_access (sub);
fail_unless (r == DDS_RETCODE_UNSUPPORTED);
r = DDS_Subscriber_copy_from_topic_qos (sub, &drq, NULL);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_notify_datareaders (sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_PRECONDITION_NOT_MET);
r = DDS_Subscriber_delete_datareader (sub, dr1);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_topic (p, t);
fail_unless (r == DDS_RETCODE_OK);
unregister_HelloWorldData_type (p);
r = DDS_DomainParticipantFactory_delete_participant (p);
fail_unless (r == DDS_RETCODE_OK);
}
static int subscriber_main(int domainId, int sample_count) {
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 };
const char* param_list[] = { "2", "divides" };
DDS_ContentFilteredTopic *cft = NULL;
struct DDS_StringSeq parameters;
struct DDS_ContentFilter custom_filter = DDS_ContentFilter_INITIALIZER;
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
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 = ccfTypeSupport_get_type_name();
retcode = ccfTypeSupport_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 ccf",
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;
}
/*------ Start changes for Custom_Content_Filter ------*/
/* Create and register custom filter */
custom_filter.compile = custom_filter_compile_function;
custom_filter.evaluate = custom_filter_evaluate_function;
custom_filter.finalize = custom_filter_finalize_function;
custom_filter.filter_data = NULL;
retcode = DDS_DomainParticipant_register_contentfilter(participant,
"CustomFilter", &custom_filter);
if (retcode != DDS_RETCODE_OK) {
printf("Failed to register custom content filter");
subscriber_shutdown(participant);
return -1;
}
DDS_StringSeq_initialize(¶meters);
DDS_StringSeq_set_maximum(¶meters, 2);
DDS_StringSeq_from_array(¶meters, param_list, 2);
cft = DDS_DomainParticipant_create_contentfilteredtopic_with_filter(
participant, "ContentFilteredTopic", topic, "%0 %1 x", ¶meters,
"CustomFilter");
if (cft == NULL) {
printf("create_contentfilteredtopic error\n");
subscriber_shutdown(participant);
return -1;
}
printf("Filter: 2 divides x\n");
/* Note that we pass 'ccf' rather than 'topic' to the datareader below */
/*------ End changes for Custom_Content_Filter ------*/
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
ccfListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
ccfListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected = ccfListener_on_sample_rejected;
reader_listener.on_liveliness_changed = ccfListener_on_liveliness_changed;
reader_listener.on_sample_lost = ccfListener_on_sample_lost;
reader_listener.on_subscription_matched =
ccfListener_on_subscription_matched;
reader_listener.on_data_available = ccfListener_on_data_available;
/*
* NOTE THAT WE USE THE PREVIOUSLY CREATED CUSTOM FILTERED TOPIC TO READ
* NEW SAMPLES
*/
reader = DDS_Subscriber_create_datareader(subscriber,
DDS_Topic_as_topicdescription(cft), &DDS_DATAREADER_QOS_DEFAULT,
&reader_listener, DDS_STATUS_MASK_ALL);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Start changes for Custom_Content_Filter */
/* Main loop */
for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
if (count == 10) {
printf("changing filter parameters\n");
printf("Filter: 15 greater-than x\n");
DDS_String_free(DDS_StringSeq_get(¶meters, 0));
DDS_String_free(DDS_StringSeq_get(¶meters, 1));
*DDS_StringSeq_get_reference(¶meters, 0) = DDS_String_dup("15");
*DDS_StringSeq_get_reference(¶meters, 1) = DDS_String_dup(
"greater-than");
retcode = DDS_ContentFilteredTopic_set_expression_parameters(cft,
¶meters);
if (retcode != DDS_RETCODE_OK) {
printf("set_expression_parameters error\n");
subscriber_shutdown(participant);
return -1;
}
} else if (count == 20) {
struct DDS_StringSeq oldParameters;
printf("changing filter parameters\n");
printf("Filter: 3 divides x\n");
DDS_ContentFilteredTopic_get_expression_parameters(cft,
&oldParameters);
DDS_String_free(DDS_StringSeq_get(&oldParameters, 0));
*DDS_StringSeq_get_reference(&oldParameters, 0) = DDS_String_dup(
"3");
*DDS_StringSeq_get_reference(&oldParameters, 1) = DDS_String_dup(
"divides");
retcode = DDS_ContentFilteredTopic_set_expression_parameters(cft,
&oldParameters);
if (retcode != DDS_RETCODE_OK) {
printf("set_expression_parameters error\n");
subscriber_shutdown(participant);
return -1;
}
}
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
int
main (
int argc,
char *argv[])
{
DDS_DomainId_t myDomain = DDS_OBJECT_NIL;
DDS_DomainParticipantFactory dpf = DDS_OBJECT_NIL;
DDS_DomainParticipant dp = DDS_OBJECT_NIL;
DDS_Publisher p = DDS_OBJECT_NIL;
DDS_Subscriber s = DDS_OBJECT_NIL;
pingpong_PP_min_msgDataWriter PP_min_writer = DDS_OBJECT_NIL;
pingpong_PP_seq_msgDataWriter PP_seq_writer = DDS_OBJECT_NIL;
pingpong_PP_string_msgDataWriter PP_string_writer = DDS_OBJECT_NIL;
pingpong_PP_fixed_msgDataWriter PP_fixed_writer = DDS_OBJECT_NIL;
pingpong_PP_array_msgDataWriter PP_array_writer = DDS_OBJECT_NIL;
pingpong_PP_bseq_msgDataWriter PP_bseq_writer = DDS_OBJECT_NIL;
pingpong_PP_min_msgDataReader PP_min_reader = DDS_OBJECT_NIL;
pingpong_PP_seq_msgDataReader PP_seq_reader = DDS_OBJECT_NIL;
pingpong_PP_string_msgDataReader PP_string_reader = DDS_OBJECT_NIL;
pingpong_PP_fixed_msgDataReader PP_fixed_reader = DDS_OBJECT_NIL;
pingpong_PP_array_msgDataReader PP_array_reader = DDS_OBJECT_NIL;
pingpong_PP_bseq_msgDataReader PP_bseq_reader = DDS_OBJECT_NIL;
pingpong_PP_quit_msgDataReader PP_quit_reader = DDS_OBJECT_NIL;
pingpong_PP_min_msgTypeSupport PP_min_dt;
pingpong_PP_seq_msgTypeSupport PP_seq_dt;
pingpong_PP_string_msgTypeSupport PP_string_dt;
pingpong_PP_fixed_msgTypeSupport PP_fixed_dt;
pingpong_PP_array_msgTypeSupport PP_array_dt;
pingpong_PP_bseq_msgTypeSupport PP_bseq_dt;
pingpong_PP_quit_msgTypeSupport PP_quit_dt;
DDS_sequence_pingpong_PP_min_msg PP_min_dataList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_sequence_pingpong_PP_seq_msg PP_seq_dataList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_sequence_pingpong_PP_string_msg PP_string_dataList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_sequence_pingpong_PP_fixed_msg PP_fixed_dataList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_sequence_pingpong_PP_array_msg PP_array_dataList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_sequence_pingpong_PP_bseq_msg PP_bseq_dataList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_sequence_pingpong_PP_quit_msg PP_quit_dataList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_StatusCondition PP_min_sc;
DDS_StatusCondition PP_seq_sc;
DDS_StatusCondition PP_string_sc;
DDS_StatusCondition PP_fixed_sc;
DDS_StatusCondition PP_array_sc;
DDS_StatusCondition PP_bseq_sc;
DDS_StatusCondition PP_quit_sc;
DDS_Topic PP_min_topic = DDS_OBJECT_NIL;
DDS_Topic PP_seq_topic = DDS_OBJECT_NIL;
DDS_Topic PP_string_topic = DDS_OBJECT_NIL;
DDS_Topic PP_fixed_topic = DDS_OBJECT_NIL;
DDS_Topic PP_array_topic = DDS_OBJECT_NIL;
DDS_Topic PP_bseq_topic = DDS_OBJECT_NIL;
DDS_Topic PP_quit_topic = DDS_OBJECT_NIL;
DDS_ConditionSeq *conditionList;
DDS_SampleInfoSeq infoList = { 0, 0, DDS_OBJECT_NIL, FALSE };
DDS_WaitSet w;
DDS_DomainParticipantQos *dpQos;
DDS_TopicQos *tQos;
DDS_PublisherQos *pQos;
DDS_DataWriterQos *dwQos;
DDS_SubscriberQos *sQos;
DDS_DataReaderQos *drQos;
DDS_boolean terminate = FALSE;
DDS_ReturnCode_t result;
int i;
int imax;
int j;
int jmax;
printf ("Starting pong example\n");
fflush(stdout);
/*
* Evaluate cmdline arguments
*/
#ifdef INTEGRITY
read_partition = "PongRead";
write_partition = "PongWrite";
#else
if (argc != 1) {
if (argc != 3) {
printf ("Invalid.....\n Usage: %s [READ_PARTITION WRITE_PARTITION]\n", argv[0]);
exit (1);
}
read_partition = argv[1];
write_partition = argv[2];
}
#endif
/*
* Create WaitSet
*/
w = DDS_WaitSet__alloc ();
/*
* Initialize Qos variables
*/
dpQos = DDS_DomainParticipantQos__alloc();
tQos = DDS_TopicQos__alloc();
pQos = DDS_PublisherQos__alloc();
dwQos = DDS_DataWriterQos__alloc();
sQos = DDS_SubscriberQos__alloc();
drQos = DDS_DataReaderQos__alloc();
/*
* Initialize condition list
*/
conditionList = NULL;
/*
* Create participant
*/
dpf = DDS_DomainParticipantFactory_get_instance ();
dp = DDS_DomainParticipantFactory_create_participant (dpf, myDomain, DDS_PARTICIPANT_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (dp == DDS_OBJECT_NIL) {
printf ("%s PONG: ERROR - Splice Daemon not running\n", argv[0]);
exit(1);
}
/*
* Create PONG publisher
*/
DDS_DomainParticipant_get_default_publisher_qos (dp, pQos);
pQos->partition.name._length = 1;
pQos->partition.name._maximum = 1;
pQos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
pQos->partition.name._buffer[0] = DDS_string_alloc (strlen (write_partition) + 1);
strcpy (pQos->partition.name._buffer[0], write_partition);
p = DDS_DomainParticipant_create_publisher (dp, pQos, NULL, DDS_STATUS_MASK_NONE);
DDS_free (pQos);
/*
* Create PING subscriber
*/
DDS_DomainParticipant_get_default_subscriber_qos (dp, sQos);
sQos->partition.name._length = 1;
sQos->partition.name._maximum = 1;
sQos->partition.name._buffer = DDS_StringSeq_allocbuf (1);
sQos->partition.name._buffer[0] = DDS_string_alloc (strlen (read_partition) + 1);
strcpy (sQos->partition.name._buffer[0], read_partition);
s = DDS_DomainParticipant_create_subscriber (dp, sQos, NULL, DDS_STATUS_MASK_NONE);
DDS_free (sQos);
/*
* PP_min_msg
*/
/* Create Topic */
PP_min_dt = pingpong_PP_min_msgTypeSupport__alloc ();
pingpong_PP_min_msgTypeSupport_register_type (PP_min_dt, dp, "pingpong::PP_min_msg");
PP_min_topic = DDS_DomainParticipant_create_topic (dp, "PP_min_topic", "pingpong::PP_min_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_min_writer = DDS_Publisher_create_datawriter (p, PP_min_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_min_reader = DDS_Subscriber_create_datareader (s, PP_min_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_min_sc = DDS_DataReader_get_statuscondition (PP_min_reader);
DDS_StatusCondition_set_enabled_statuses (PP_min_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_min_sc);
/*
* PP_seq_msg
*/
/* Create Topic */
PP_seq_dt = pingpong_PP_seq_msgTypeSupport__alloc ();
pingpong_PP_seq_msgTypeSupport_register_type (PP_seq_dt, dp, "pingpong::PP_seq_msg");
PP_seq_topic = DDS_DomainParticipant_create_topic (dp, "PP_seq_topic", "pingpong::PP_seq_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_seq_writer = DDS_Publisher_create_datawriter (p, PP_seq_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_seq_reader = DDS_Subscriber_create_datareader (s, PP_seq_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_seq_sc = DDS_DataReader_get_statuscondition (PP_seq_reader);
DDS_StatusCondition_set_enabled_statuses (PP_seq_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_seq_sc);
/*
* PP_string_msg
*/
/* Create Topic */
PP_string_dt = pingpong_PP_string_msgTypeSupport__alloc ();
pingpong_PP_string_msgTypeSupport_register_type (PP_string_dt, dp, "pingpong::PP_string_msg");
PP_string_topic = DDS_DomainParticipant_create_topic (dp, "PP_string_topic", "pingpong::PP_string_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_string_writer = DDS_Publisher_create_datawriter (p, PP_string_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_string_reader = DDS_Subscriber_create_datareader (s, PP_string_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_string_sc = DDS_DataReader_get_statuscondition (PP_string_reader);
DDS_StatusCondition_set_enabled_statuses (PP_string_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_string_sc);
/*
* PP_fixed_msg
*/
/* Create Topic */
PP_fixed_dt = pingpong_PP_fixed_msgTypeSupport__alloc ();
pingpong_PP_fixed_msgTypeSupport_register_type (PP_fixed_dt, dp, "pingpong::PP_fixed_msg");
PP_fixed_topic = DDS_DomainParticipant_create_topic (dp, "PP_fixed_topic", "pingpong::PP_fixed_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_fixed_writer = DDS_Publisher_create_datawriter (p, PP_fixed_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_fixed_reader = DDS_Subscriber_create_datareader (s, PP_fixed_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_fixed_sc = DDS_DataReader_get_statuscondition (PP_fixed_reader);
DDS_StatusCondition_set_enabled_statuses (PP_fixed_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_fixed_sc);
/*
* PP_array_msg
*/
/* Create Topic */
PP_array_dt = pingpong_PP_array_msgTypeSupport__alloc ();
pingpong_PP_array_msgTypeSupport_register_type (PP_array_dt, dp, "pingpong::PP_array_msg");
PP_array_topic = DDS_DomainParticipant_create_topic (dp, "PP_array_topic", "pingpong::PP_array_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_array_writer = DDS_Publisher_create_datawriter (p, PP_array_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_array_reader = DDS_Subscriber_create_datareader (s, PP_array_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_array_sc = DDS_DataReader_get_statuscondition (PP_array_reader);
DDS_StatusCondition_set_enabled_statuses (PP_array_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_array_sc);
/*
* PP_bseq_msg
*/
/* Create Topic */
PP_bseq_dt = pingpong_PP_bseq_msgTypeSupport__alloc ();
pingpong_PP_bseq_msgTypeSupport_register_type (PP_bseq_dt, dp, "pingpong::PP_bseq_msg");
PP_bseq_topic = DDS_DomainParticipant_create_topic (dp, "PP_bseq_topic", "pingpong::PP_bseq_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datawriter */
PP_bseq_writer = DDS_Publisher_create_datawriter (p, PP_bseq_topic, DDS_DATAWRITER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_bseq_reader = DDS_Subscriber_create_datareader (s, PP_bseq_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_bseq_sc = DDS_DataReader_get_statuscondition (PP_bseq_reader);
DDS_StatusCondition_set_enabled_statuses (PP_bseq_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_bseq_sc);
/*
* PP_quit_msg
*/
/* Create Topic */
PP_quit_dt = pingpong_PP_quit_msgTypeSupport__alloc ();
pingpong_PP_quit_msgTypeSupport_register_type (PP_quit_dt, dp, "pingpong::PP_quit_msg");
PP_quit_topic = DDS_DomainParticipant_create_topic (dp, "PP_quit_topic", "pingpong::PP_quit_msg", DDS_TOPIC_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Create datareader */
PP_quit_reader = DDS_Subscriber_create_datareader (s, PP_quit_topic, DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
/* Add datareader statuscondition to waitset */
PP_quit_sc = DDS_DataReader_get_statuscondition (PP_quit_reader);
DDS_StatusCondition_set_enabled_statuses (PP_quit_sc, DDS_DATA_AVAILABLE_STATUS);
result = DDS_WaitSet_attach_condition (w, PP_quit_sc);
while (!terminate) {
DDS_Duration_t wait_timeout = DDS_DURATION_INFINITE;
/* printf ("PONG: waiting for PING\n"); */
conditionList = DDS_ConditionSeq__alloc();
result = DDS_WaitSet_wait (w, conditionList, &wait_timeout);
if (result == DDS_RETCODE_OK) {
imax = conditionList->_length;
for (i = 0; i < imax; i++) {
if (conditionList->_buffer[i] == PP_min_sc) {
/* printf ("PONG: PING_min arrived\n"); */
result = pingpong_PP_min_msgDataReader_take (PP_min_reader, &PP_min_dataList, &infoList, DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
jmax = PP_min_dataList._length;
if (jmax != 0) {
for (j = 0; j < jmax; j++) {
if (infoList._buffer[j].valid_data) {
result = pingpong_PP_min_msgDataWriter_write (PP_min_writer, &PP_min_dataList._buffer[j], DDS_HANDLE_NIL);
}
}
result = pingpong_PP_min_msgDataReader_return_loan (PP_min_reader, &PP_min_dataList, &infoList);
} else {
printf ("PONG: PING_min triggered, but no data available\n");
}
} else if (conditionList->_buffer[i] == PP_seq_sc) {
/* printf ("PONG: PING_seq arrived\n"); */
result = pingpong_PP_seq_msgDataReader_take (PP_seq_reader, &PP_seq_dataList, &infoList, DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
jmax = PP_seq_dataList._length;
if (jmax != 0) {
for (j = 0; j < jmax; j++) {
if (infoList._buffer[j].valid_data) {
result = pingpong_PP_seq_msgDataWriter_write (PP_seq_writer, &PP_seq_dataList._buffer[j], DDS_HANDLE_NIL);
}
}
result = pingpong_PP_seq_msgDataReader_return_loan (PP_seq_reader, &PP_seq_dataList, &infoList);
} else {
printf ("PONG: PING_seq triggered, but no data available\n");
}
} else if (conditionList->_buffer[i] == PP_string_sc) {
/* printf ("PONG: PING_string arrived\n"); */
result = pingpong_PP_string_msgDataReader_take (PP_string_reader, &PP_string_dataList, &infoList, DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
jmax = PP_string_dataList._length;
if (jmax != 0) {
for (j = 0; j < jmax; j++) {
if (infoList._buffer[j].valid_data) {
result = pingpong_PP_string_msgDataWriter_write (PP_string_writer, &PP_string_dataList._buffer[j], DDS_HANDLE_NIL);
}
}
result = pingpong_PP_string_msgDataReader_return_loan (PP_string_reader, &PP_string_dataList, &infoList);
} else {
printf ("PONG: PING_string triggered, but no data available\n");
exit(1);
}
} else if (conditionList->_buffer[i] == PP_fixed_sc) {
/* printf ("PONG: PING_fixed arrived\n"); */
result = pingpong_PP_fixed_msgDataReader_take (PP_fixed_reader, &PP_fixed_dataList, &infoList, DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
jmax = PP_fixed_dataList._length;
if (jmax != 0) {
for (j = 0; j < jmax; j++) {
if (infoList._buffer[j].valid_data) {
result = pingpong_PP_fixed_msgDataWriter_write (PP_fixed_writer, &PP_fixed_dataList._buffer[j], DDS_HANDLE_NIL);
}
}
result = pingpong_PP_fixed_msgDataReader_return_loan (PP_fixed_reader, &PP_fixed_dataList, &infoList);
} else {
printf ("PONG: PING_fixed triggered, but no data available\n");
}
} else if (conditionList->_buffer[i] == PP_array_sc) {
/* printf ("PONG: PING_array arrived\n"); */
result = pingpong_PP_array_msgDataReader_take (PP_array_reader, &PP_array_dataList, &infoList, DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
jmax = PP_array_dataList._length;
if (jmax != 0) {
for (j = 0; j < jmax; j++) {
if (infoList._buffer[j].valid_data) {
result = pingpong_PP_array_msgDataWriter_write (PP_array_writer, &PP_array_dataList._buffer[j], DDS_HANDLE_NIL);
}
}
result = pingpong_PP_array_msgDataReader_return_loan (PP_array_reader, &PP_array_dataList, &infoList);
} else {
printf ("PONG: PING_array triggered, but no data available\n");
}
} else if (conditionList->_buffer[i] == PP_bseq_sc) {
/* printf ("PONG: PING_bseq arrived\n"); */
result = pingpong_PP_bseq_msgDataReader_take (PP_bseq_reader, &PP_bseq_dataList, &infoList, DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
jmax = PP_bseq_dataList._length;
if (jmax != 0) {
for (j = 0; j < jmax; j++) {
if (infoList._buffer[j].valid_data) {
result = pingpong_PP_bseq_msgDataWriter_write (PP_bseq_writer, &PP_bseq_dataList._buffer[j], DDS_HANDLE_NIL);
}
}
result = pingpong_PP_bseq_msgDataReader_return_loan (PP_bseq_reader, &PP_bseq_dataList, &infoList);
} else {
printf ("PONG: PING_bseq triggered, but no data available\n");
}
} else if (conditionList->_buffer[i] == PP_quit_sc) {
/* printf ("PONG: PING_quit arrived\n"); */
result = pingpong_PP_quit_msgDataReader_take (PP_quit_reader, &PP_quit_dataList, &infoList, DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
jmax = PP_quit_dataList._length;
if (jmax != 0) {
if (PP_quit_dataList._buffer[0].quit) {
terminate = TRUE;
}
result = pingpong_PP_quit_msgDataReader_return_loan (PP_quit_reader, &PP_quit_dataList, &infoList);
} else {
printf ("PONG: PING_quit triggered, but no data available\n");
}
} else {
printf ("PONG: unknown condition triggered: %lx\n", (unsigned long)conditionList->_buffer[i]);
}
}
} else {
if (result == DDS_RETCODE_ALREADY_DELETED) {
terminate = TRUE;
}
printf ("PONG: wait returned not ok: %d\n", result);
}
DDS_free(conditionList);
}
result = DDS_Subscriber_delete_datareader (s, PP_min_reader);
result = DDS_Publisher_delete_datawriter (p, PP_min_writer);
result = DDS_Subscriber_delete_datareader (s, PP_seq_reader);
result = DDS_Publisher_delete_datawriter (p, PP_seq_writer);
result = DDS_Subscriber_delete_datareader (s, PP_string_reader);
result = DDS_Publisher_delete_datawriter (p, PP_string_writer);
result = DDS_Subscriber_delete_datareader (s, PP_fixed_reader);
result = DDS_Publisher_delete_datawriter (p, PP_fixed_writer);
result = DDS_Subscriber_delete_datareader (s, PP_array_reader);
result = DDS_Publisher_delete_datawriter (p, PP_array_writer);
result = DDS_Subscriber_delete_datareader (s, PP_bseq_reader);
result = DDS_Publisher_delete_datawriter (p, PP_bseq_writer);
result = DDS_Subscriber_delete_datareader (s, PP_quit_reader);
result = DDS_DomainParticipant_delete_subscriber (dp, s);
result = DDS_DomainParticipant_delete_publisher (dp, p);
result = DDS_DomainParticipant_delete_topic (dp, PP_min_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_seq_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_string_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_fixed_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_array_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_bseq_topic);
result = DDS_DomainParticipant_delete_topic (dp, PP_quit_topic);
result = DDS_DomainParticipantFactory_delete_participant (dpf, dp);
DDS_free (w);
DDS_free (PP_min_dt);
DDS_free (PP_seq_dt);
DDS_free (PP_string_dt);
DDS_free (PP_fixed_dt);
DDS_free (PP_array_dt);
DDS_free (PP_bseq_dt);
DDS_free (PP_quit_dt);
DDS_free (dpQos);
DDS_free (tQos);
DDS_free (dwQos);
DDS_free (drQos);
printf ("Completed pong example\n");
fflush(stdout);
return 0;
}
int dds_chat_main(int argc, char *argv[])
#endif
{
DDS_DataWriterQos wr_qos;
DDS_DataReaderQos rd_qos;
DDS_ReturnCode_t error;
struct in_addr addr;
/* Configure the network */
/* Set up our host address */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_IPADDR);
netlib_sethostaddr("eth0", &addr);
/* Set up the default router address */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_DRIPADDR);
netlib_setdraddr("eth0", &addr);
/* Setup the subnet mask */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_NETMASK);
netlib_setnetmask("eth0", &addr);
/* Start the application */
printf("Network configured, starting DDS chat:\n");
sprintf (user_name, ".pid.%u", getpid ());
do_switches (argc, argv);
if (verbose > 1)
DDS_Log_stdio (1);
DDS_entity_name ("ROS 2.0 embedded");
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
enable_security ();
#endif
part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0);
if (!part) {
printf ("Can't create participant!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Domain Participant created.\r\n");
ts = ChatMsg_type_new ();
if (!ts) {
printf ("Can't create chat message type!\r\n");
exit (1);
}
error = DDS_DynamicTypeSupport_register_type (ts, part, "ChatMsg");
if (error) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Topic type ('%s') registered.\r\n", "ChatMsg");
topic = DDS_DomainParticipant_create_topic (part, "Chat", "ChatMsg", NULL, NULL, 0);
if (!topic) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS ChatMsg Topic created.\r\n");
td = DDS_DomainParticipant_lookup_topicdescription (part, "Chat");
if (!td) {
printf ("Can't get topicdescription.\r\n");
exit (1);
}
pub = DDS_DomainParticipant_create_publisher (part, NULL, NULL, 0);
if (!pub) {
printf ("DDS_DomainParticipant_create_publisher () failed!\r\n");
exit (1);
}
DDS_Publisher_get_default_datawriter_qos (pub, &wr_qos);
#ifdef TRANSIENT_LOCAL
wr_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
wr_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
wr_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
wr_qos.history.depth = DDS_LENGTH_UNLIMITED;
wr_qos.resource_limits.max_samples_per_instance = HISTORY;
wr_qos.resource_limits.max_instances = HISTORY * 10;
wr_qos.resource_limits.max_samples = HISTORY * 4;
#else
wr_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
wr_qos.history.depth = HISTORY;
#endif
/* Create a Data Writer. */
dw = DDS_Publisher_create_datawriter (pub, topic, &wr_qos, NULL, 0);
if (!dw) {
printf ("Unable to create chat message writer.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Chat message writer created.\r\n");
sub = DDS_DomainParticipant_create_subscriber (part, NULL, NULL, 0);
if (!sub) {
printf ("DDS_DomainParticipant_create_subscriber () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Subscriber created.\r\n");
DDS_Subscriber_get_default_datareader_qos (sub, &rd_qos);
#ifdef TRANSIENT_LOCAL
rd_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
rd_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
rd_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
rd_qos.history.depth = DDS_LENGTH_UNLIMITED;
rd_qos.resource_limits.max_samples_per_instance = HISTORY;
rd_qos.resource_limits.max_instances = HISTORY * 10;
rd_qos.resource_limits.max_samples = HISTORY * 4;
#else
rd_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
rd_qos.history.depth = HISTORY;
#endif
dr = DDS_Subscriber_create_datareader (sub, td, &rd_qos,
#ifndef WAITSETS
&msg_listener, DDS_DATA_AVAILABLE_STATUS);
#else
NULL, 0);
#endif
if (!dr) {
printf ("DDS_DomainParticipant_create_datareader () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Chat message reader created.\r\n");
#ifdef WAITSETS
start_chat_reader (dr);
#endif
do_chat (dw);
#ifdef WAITSETS
stop_chat_reader (dr);
#endif
DDS_Publisher_delete_datawriter (pub, dw);
usleep (200000);
error = DDS_DomainParticipant_delete_contained_entities (part);
if (verbose)
printf ("DDS Entities deleted (error = %u).\r\n", error);
ChatMsg_type_free (ts);
if (verbose)
printf ("Chat Type deleted.\r\n");
error = DDS_DomainParticipantFactory_delete_participant (part);
if (verbose)
printf ("DDS Participant deleted (error = %u).\r\n", error);
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
cleanup_security ();
#endif
return (0);
}
static void test_qos (int enabled)
{
DDS_DomainParticipantFactoryQos qos;
DDS_DomainParticipant p;
DDS_Publisher pub;
DDS_Subscriber sub;
DDS_DataWriter dw;
DDS_DataReader dr;
DDS_Topic t;
DDS_TopicDescription td;
DDS_DataReaderQos rq, refrq;
DDS_ReturnCode_t r;
static unsigned char data [] = { 0x77, 0x88, 0xaa, 0xbb, 0xcc, 0xdd };
unsigned char d2 [sizeof (data) + 1];
unsigned n;
int err;
v_printf (" - Set factory QoS to %sabled.\r\n", (enabled) ? "en" : "dis");
r = DDS_DomainParticipantFactory_get_qos (&qos);
fail_unless (r == DDS_RETCODE_OK);
qos.entity_factory.autoenable_created_entities = enabled;
r = DDS_DomainParticipantFactory_set_qos (&qos);
fail_unless (r == DDS_RETCODE_OK);
p = DDS_DomainParticipantFactory_create_participant (0, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0);
fail_unless (p != NULL);
r = register_HelloWorldData_type (p);
fail_unless (r == DDS_RETCODE_OK);
t = DDS_DomainParticipant_create_topic (p, "HelloWorld", TYPE_NAME, DDS_TOPIC_QOS_DEFAULT, NULL, 0);
fail_unless (t != NULL);
td = DDS_DomainParticipant_lookup_topicdescription (p, "HelloWorld");
fail_unless (td != NULL);
sub = DDS_DomainParticipant_create_subscriber (p, NULL, NULL, 0);
fail_unless (sub != NULL);
DDS_DataReaderQos__init (&refrq);
err = dds_seq_from_array (&refrq.user_data, data, sizeof (data));
fail_unless (err == 0);
v_printf (" - Create datareader with specific QoS parameters.\r\n");
dr = DDS_Subscriber_create_datareader (sub, td, &refrq, NULL, 0);
fail_unless (dr != NULL);
memset (&rq, 0, sizeof (rq));
r = DDS_DataReader_get_qos (dr, &rq);
n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2));
fail_unless (r == DDS_RETCODE_OK &&
DDS_SEQ_LENGTH (refrq.user_data.value) == sizeof (data));
n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2));
fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data)));
DDS_DataReaderQos__clear (&rq);
r = DDS_Subscriber_delete_datareader (sub, dr);
fail_unless (r == DDS_RETCODE_OK);
v_printf (" - Create datareader with default QoS parameters.\r\n");
dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr != NULL);
pub = DDS_DomainParticipant_create_publisher (p, DDS_PUBLISHER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
dw = DDS_Publisher_create_datawriter (pub, t, DDS_DATAWRITER_QOS_DEFAULT, NULL, 0);
fail_unless (dw != NULL);
v_printf (" - Update datareader QoS parameters.\r\n");
r = DDS_DataReader_get_qos (dr, &rq);
fail_unless (r == DDS_RETCODE_OK);
DDS_DataReaderQos__clear (&refrq);
fail_unless (r == DDS_RETCODE_OK && !memcmp (&rq, &refrq, sizeof (refrq)));
err = dds_seq_from_array (&refrq.user_data, data, sizeof (data));
fail_unless (err == 0);
r = DDS_DataReader_set_qos (dr, &refrq);
fail_unless (r == DDS_RETCODE_OK);
delay ();
r = DDS_DataReader_get_qos (dr, &rq);
fail_unless (r == DDS_RETCODE_OK &&
DDS_SEQ_LENGTH (rq.user_data.value) == sizeof (data));
n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2));
fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data)));
DDS_DataReaderQos__clear (&refrq);
DDS_DataReaderQos__clear (&rq);
delay ();
if (!enabled) {
v_printf (" - Enable all entities.\r\n");
r = DDS_DomainParticipant_enable (p);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Topic_enable (t);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Publisher_enable (pub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_enable (sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataWriter_enable (dw);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_enable (dr);
fail_unless (r == DDS_RETCODE_OK);
sleep (1);
}
r = DDS_Publisher_delete_datawriter (pub, dw);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_delete_datareader (sub, dr);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_publisher (p, pub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_topic (p, t);
fail_unless (r == DDS_RETCODE_OK);
unregister_HelloWorldData_type (p);
r = DDS_DomainParticipantFactory_delete_participant (p);
fail_unless (r == DDS_RETCODE_OK);
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic1 = NULL;
DDS_Topic *topic2 = NULL;
DDS_Topic *topic3 = NULL;
struct DDS_SubscriberListener subscriber_listener =
DDS_SubscriberListener_INITIALIZER;
DDS_DataReader *reader1 = NULL;
DDS_DataReader *reader2 = NULL;
DDS_DataReader *reader3 = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = {4,0};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* Set up Subscriber listener and establish on_data_on_readers callback */
/* Set up a data reader listener */
subscriber_listener.on_data_on_readers =
ordered_groupListener_on_data_on_readers;
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(
participant, &DDS_SUBSCRIBER_QOS_DEFAULT,
&subscriber_listener /* listener */, DDS_DATA_ON_READERS_STATUS);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = ordered_groupTypeSupport_get_type_name();
retcode = ordered_groupTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* TOPICS */
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic1 = DDS_DomainParticipant_create_topic(
participant, "Topic1",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic1 == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
topic2 = DDS_DomainParticipant_create_topic(
participant, "Topic2",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic2 == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
topic3 = DDS_DomainParticipant_create_topic(
participant, "Topic3",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic3 == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* DATAREADERS */
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader1 = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic1),
&DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (reader1 == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
reader2 = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic2),
&DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (reader2 == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
reader3 = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic3),
&DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (reader3 == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
printf("ordered_group subscriber sleeping for %d sec...\n",
poll_period.sec);
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static void test_aux (void)
{
DDS_DomainParticipant p;
DDS_Topic t;
DDS_TopicDescription td;
DDS_Subscriber sub, nsub;
DDS_DataReader dr;
DDS_StatusCondition sc, sc2;
DDS_StatusMask sm;
DDS_InstanceHandle_t h, h2;
DDS_Duration_t w;
DDS_LivelinessChangedStatus lcs;
DDS_RequestedDeadlineMissedStatus dms;
DDS_RequestedIncompatibleQosStatus iqs;
DDS_SampleLostStatus sls;
DDS_SampleRejectedStatus srs;
DDS_SubscriptionMatchedStatus sms;
DDS_InstanceHandleSeq handles;
DDS_ReturnCode_t r;
p = DDS_DomainParticipantFactory_create_participant (0, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0);
fail_unless (p != NULL);
r = register_HelloWorldData_type (p);
fail_unless (r == DDS_RETCODE_OK);
t = DDS_DomainParticipant_create_topic (p, "HelloWorld", TYPE_NAME, DDS_TOPIC_QOS_DEFAULT, NULL, 0);
fail_unless (t != NULL);
td = DDS_DomainParticipant_lookup_topicdescription (p, "HelloWorld");
fail_unless (td != NULL);
sub = DDS_DomainParticipant_create_subscriber (p, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
v_printf (" - Test reader auxiliary functions.\r\n");
dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr != NULL);
sc = DDS_DataReader_get_statuscondition (dr);
fail_unless (sc != NULL);
sc2 = DDS_Entity_get_statuscondition (dr);
fail_unless (sc2 == sc);
sm = DDS_DataReader_get_status_changes (dr);
fail_unless (sm == 0);
sm = DDS_Entity_get_status_changes (dr);
fail_unless (sm == 0);
h = DDS_Entity_get_instance_handle (dr);
fail_unless (h != 0);
h2 = DDS_DataReader_get_instance_handle (dr);
fail_unless (h == h2);
r = DDS_DataReader_get_liveliness_changed_status (dr, &lcs);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_requested_deadline_missed_status (dr, &dms);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_requested_incompatible_qos_status (dr, &iqs);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_sample_lost_status (dr, &sls);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_sample_rejected_status (dr, &srs);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_subscription_matched_status (dr, &sms);
fail_unless (r == DDS_RETCODE_OK);
td = DDS_DataReader_get_topicdescription (dr);
fail_unless ((DDS_Topic) td == t);
nsub = DDS_DataReader_get_subscriber (dr);
fail_unless (nsub == sub);
w.sec = 2;
w.nanosec = 0;
r = DDS_DataReader_wait_for_historical_data (dr, &w);
fail_unless (r == DDS_RETCODE_OK);
DDS_InstanceHandleSeq__init (&handles);
r = DDS_DataReader_get_matched_publications (dr, &handles);
fail_unless (r == DDS_RETCODE_OK);
DDS_InstanceHandleSeq__clear (&handles);
r = DDS_Subscriber_delete_datareader (sub, dr);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_topic (p, t);
fail_unless (r == DDS_RETCODE_OK);
unregister_HelloWorldData_type (p);
r = DDS_DomainParticipantFactory_delete_participant (p);
fail_unless (r == DDS_RETCODE_OK);
}
int main(int argc, char* argv[])
{
int startTime = mstime();
DDS_PoolConstraints reqs;
DDS_DomainParticipant domainParticipant;
DDS_Publisher publisher;
DDS_Subscriber subscriber;
DDS_ReturnCode_t retCode;
char *configTopicName[nofConfigTopics];
char *stateTopicName[nofStateTopics];
char *statisticTopicName[nofStatisticTopics];
DDS_Topic configTopic[nofConfigTopics];
DDS_Topic stateTopic[nofStateTopics];
DDS_Topic statisticTopic[nofStatisticTopics];
DDS_DataWriterQos dataWriterQos;
DDS_DataWriter configDataWriter[nofConfigTopics];
DDS_DataReaderQos dataReaderQos;
DDS_DataReader configDataReader[nofConfigTopics];
DDS_DataReader stateDataReader[nofStateTopics];
DDS_DataReader statisticDataReader[nofStatisticTopics];
#if 0
acceptance_high_end_Config config;
acceptance_high_end_State state;
acceptance_high_end_Statistic statistic;
DDS_InstanceHandle_t configInstance[nofConfigTopics][nofConfigInstances];
DDS_InstanceHandle_t stateInstance[nofStateTopics][nofStateInstances];
DDS_InstanceHandle_t statisticInstance[nofStatisticTopics][nofStatisticInstances];
#endif
int i = 0;
/*int j = 0;*/
int firstConfigTopic = (argc > 1) ? atoi(argv[1]) : 0;
int firstStateTopic = (argc > 2) ? atoi(argv[2]) : 0;
int firstStatisticTopic = (argc > 3) ? atoi(argv[3]) : 0;
int stagedLoading = (argc > 4) ? atoi(argv[4]) : 0;
printf("[0] Config topics start at %d...\r\n", firstConfigTopic);
printf("[0] State topics start at %d...\r\n", firstStateTopic);
printf("[0] Statistic topics start at %d...\r\n", firstStatisticTopic);
printf("[0] Staged loading %s.\r\n", stagedLoading ? "on" : "off");
DDS_program_name (&argc, argv);
DDS_entity_name ("Technicolor Limits Manager");
DDS_get_default_pool_constraints(&reqs, ~0, 100);
#ifdef MINIMAL_POOLS
configure_minimal_pool_constraints (&reqs);
#else
configure_optimal_pool_constraints (&reqs);
#endif
DDS_set_pool_constraints (&reqs);
#ifdef DDS_DEBUG
DDS_Debug_start ();
#endif
#ifdef TRACE_DATA
rtps_dtrace_set (DRTRC_TRACE_ALL);
#endif
/* Create domain participant... */
domainParticipant = DDS_DomainParticipantFactory_create_participant(0, NULL, NULL, 0);
if (!domainParticipant) {
fprintf(stderr, "Error creating domain participant.\r\n");
return -1;
}
printf("[%d] Created domain participant.\r\n", mstime() - startTime);
// sleep(1);
/* Create publisher... */
publisher = DDS_DomainParticipant_create_publisher(domainParticipant, NULL, NULL, 0);
if (!publisher) {
fprintf(stderr, "Error creating publisher.\r\n");
return -1;
}
printf("[%d] Created publisher.\r\n", mstime() - startTime);
// sleep(1);
/* Create subscriber... */
subscriber = DDS_DomainParticipant_create_subscriber(domainParticipant, NULL, NULL, 0);
if (!subscriber) {
fprintf(stderr, "Error creating subscriber.\r\n");
return -1;
}
printf("[%d] Created subscriber.\r\n", mstime() - startTime);
// sleep(1);
/* Register types... */
retCode = acceptance_high_end_ConfigTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered config type.\r\n", mstime() - startTime);
retCode = acceptance_high_end_StateTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered state type.\r\n", mstime() - startTime);
retCode = acceptance_high_end_StatisticTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered statistic type.\r\n", mstime() - startTime);
// sleep(1);
/* Create topics... */
for (i = 0; i < nofConfigTopics; i++) {
char topicName[32];
sprintf(topicName, "ConfigTopic%d", firstConfigTopic + i);
configTopicName[i] = topicName;
configTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_ConfigTypeSupport_get_type_name(), NULL, NULL, 0);
if (!configTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d config topics.\r\n", mstime() - startTime, nofConfigTopics);
for (i = 0; i < nofStateTopics; i++) {
char topicName[32];
sprintf(topicName, "StateTopic%d", firstStateTopic + i);
stateTopicName[i] = topicName;
stateTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_StateTypeSupport_get_type_name(), NULL, NULL, 0);
if (!stateTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d state topics.\r\n", mstime() - startTime, nofStateTopics);
for (i = 0; i < nofStatisticTopics; i++) {
char topicName[32];
sprintf(topicName, "StatisticTopic%d", firstStatisticTopic + i);
statisticTopicName[i] = topicName;
statisticTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_StatisticTypeSupport_get_type_name(), NULL, NULL, 0);
if (!statisticTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d statistic topics.\r\n", mstime() - startTime, nofStatisticTopics);
// sleep(1);
/* Create data writers... */
DDS_Publisher_get_default_datawriter_qos(publisher, &dataWriterQos);
dataWriterQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataWriterQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofConfigTopics; i++) {
configDataWriter[i] = DDS_Publisher_create_datawriter(publisher, configTopic[i], &dataWriterQos, NULL, 0);
if (!configDataWriter[i]) {
fprintf(stderr, "Error creating data writer.\r\n");
return -1;
}
}
printf("[%d] Created %d config data writers.\r\n", mstime() - startTime, nofConfigTopics);
// sleep(1);
/* Create data readers... */
DDS_Subscriber_get_default_datareader_qos(subscriber, &dataReaderQos);
dataReaderQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataReaderQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofConfigTopics; i++) {
configDataReader[i] = DDS_Subscriber_create_datareader(subscriber, DDS_DomainParticipant_lookup_topicdescription(domainParticipant, configTopicName[i]), &dataReaderQos, &configDataReaderListener, DDS_DATA_AVAILABLE_STATUS);
if (!configDataReader[i]) {
fprintf(stderr, "Error creating data reader.\r\n");
return -1;
}
}
printf("[%d] Created %d config data readers.\r\n", mstime() - startTime, nofConfigTopics);
DDS_Subscriber_get_default_datareader_qos(subscriber, &dataReaderQos);
dataReaderQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataReaderQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofStateTopics; i++) {
stateDataReader[i] = DDS_Subscriber_create_datareader(subscriber, DDS_DomainParticipant_lookup_topicdescription(domainParticipant, stateTopicName[i]), &dataReaderQos, &stateDataReaderListener, DDS_DATA_AVAILABLE_STATUS);
if (!stateDataReader[i]) {
fprintf(stderr, "Error creating data reader.\r\n");
return -1;
}
}
printf("[%d] Created %d state data readers.\r\n", mstime() - startTime, nofStateTopics);
DDS_Subscriber_get_default_datareader_qos(subscriber, &dataReaderQos);
for (i = 0; i < nofStatisticTopics; i++) {
statisticDataReader[i] = DDS_Subscriber_create_datareader(subscriber, DDS_DomainParticipant_lookup_topicdescription(domainParticipant, statisticTopicName[i]), &dataReaderQos, &statisticDataReaderListener, DDS_DATA_AVAILABLE_STATUS);
if (!statisticDataReader[i]) {
fprintf(stderr, "Error creating data reader.\r\n");
return -1;
}
}
printf("[%d] Created %d statistic data readers.\r\n", mstime() - startTime, nofStatisticTopics);
// sleep(1);
/* Lookup instances... */
/*for (i = 0; i < nofConfigTopics; i++) {
for (j = 0; j < nofConfigInstances; j++) {
config.key = j;
configInstance[i][j] = acceptance_high_end_ConfigDataReader_lookup_instance(configDataReader[i], &config);
if (!configInstance[i][j]) {
fprintf(stderr, "Error looking up instance.\r\n");
break;
}
}
}
printf("[%d] Looked up %d config instances.\r\n", mstime() - startTime, nofConfigTopics * nofConfigInstances);
for (i = 0; i < nofStateTopics; i++) {
for (j = 0; j < nofStateInstances; j++) {
state.key = j;
stateInstance[i][j] = acceptance_high_end_StateDataReader_lookup_instance(stateDataReader[i], &state);
if (!stateInstance[i][j]) {
fprintf(stderr, "Error looking up instance.\r\n");
break;
}
}
}
printf("[%d] Looked up %d state instances.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);
for (i = 0; i < nofStatisticTopics; i++) {
for (j = 0; j < nofStatisticInstances; j++) {
statistic.key = j;
statisticInstance[i][j] = acceptance_high_end_StatisticDataReader_lookup_instance(statisticDataReader[i], &statistic);
if (!statisticInstance[i][j]) {
fprintf(stderr, "Error looking up instance.\r\n");
break;
}
}
}
printf("[%d] Looked up %d statistic instances.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);*/
// sleep(1);
if (stagedLoading) {
char file_name[24];
sprintf(file_name, "/tmp/acceptStageLoad0");
FILE *f = fopen(file_name, "w");
fclose(f);
}
int waitTime = mstime();
int _nofConfigSamples = 0;
int _nofStateSamples = 0;
int _nofStatisticSamples = 0;
while ((mstime() - waitTime) < (TEST_TIME * 1000)) {
if ((nofConfigSamples > _nofConfigSamples) || (nofStateSamples > _nofStateSamples) || (nofStatisticSamples > _nofStatisticSamples)) {
printf("[%d] Received %d config samples.\r\n", mstime() - startTime, nofConfigSamples);
printf("[%d] Received %d state samples.\r\n", mstime() - startTime, nofStateSamples);
printf("[%d] Received %d statistic samples.\r\n", mstime() - startTime, nofStatisticSamples);
_nofConfigSamples = nofConfigSamples;
_nofStateSamples = nofStateSamples;
_nofStatisticSamples = nofStatisticSamples;
}
sleep(1);
}
/* Delete contained entities... */
// printf (" -- Deleting contained entities.\r\n");
retCode = DDS_DomainParticipant_delete_contained_entities(domainParticipant);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error deleting contained entities.\r\n");
return -1;
}
// printf ("contained entities deleted!\r\n");
/* Delete domain participants... */
retCode = DDS_DomainParticipantFactory_delete_participant(domainParticipant);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error deleting domain participant.\r\n");
return -1;
}
printf ("[%d] mgmt completed successfully.\r\n", mstime() - startTime);
return 0;
}