C++ (Cpp) frudp_add_sub Examples

Example #1

File: sedp.c Project: ernestmc/freertps

void frudp_sedp_init()
{
  FREERTPS_INFO("sedp init\r\n");
  for (int i = 0; i < FRUDP_MAX_SUBS; i++)
  {
    frudp_submsg_data_t *d = 
      (frudp_submsg_data_t *)&g_sedp_sub_writer_data_buf[i * SEDP_MSG_BUF_LEN];
    d->writer_sn = g_frudp_sn_unknown;
    g_sedp_sub_writer_data_submsgs[i] = d;
  }
  for (int i = 0; i < FRUDP_MAX_PUBS; i++)
  {
    frudp_submsg_data_t *d = 
      (frudp_submsg_data_t *)&g_sedp_pub_writer_data_buf[i * SEDP_MSG_BUF_LEN];
    d->writer_sn = g_frudp_sn_unknown;
    g_sedp_pub_writer_data_submsgs[i] = d;
  }
  g_sedp_sub_pub = frudp_create_pub(
    NULL, // no topic name
    NULL, // no type name
    g_sedp_sub_writer_id,
    g_sedp_sub_writer_data_submsgs,
    FRUDP_MAX_SUBS);

  g_sedp_pub_pub = frudp_create_pub(
    NULL, // no topic name
    NULL, // no type name
    g_sedp_pub_writer_id,
    g_sedp_pub_writer_data_submsgs,
    FRUDP_MAX_PUBS);

  frudp_sub_t sedp_sub_sub;
  sedp_sub_sub.topic_name = NULL;
  sedp_sub_sub.type_name = NULL;
  sedp_sub_sub.reader_eid = g_sedp_sub_reader_id;
  sedp_sub_sub.data_cb = frudp_sedp_rx_sub_data;
  sedp_sub_sub.msg_cb = NULL;
  sedp_sub_sub.reliable = true;
  frudp_add_sub(&sedp_sub_sub);

  frudp_sub_t sedp_pub_sub; // subscribe to the publisher announcers
  sedp_pub_sub.topic_name = NULL;
  sedp_pub_sub.type_name = NULL;
  sedp_pub_sub.reader_eid = g_sedp_pub_reader_id;
  sedp_pub_sub.data_cb = frudp_sedp_rx_pub_data;
  sedp_pub_sub.msg_cb = NULL;
  sedp_pub_sub.reliable = true;
  frudp_add_sub(&sedp_pub_sub);
}

Example #2

File: sub.c Project: Neuromancer2701/freertps

void frudp_add_user_sub(const char *topic_name,
                        const char *type_name,
                        freertps_msg_cb_t msg_cb)
{
  frudp_eid_t sub_eid = frudp_create_user_id (FRUDP_ENTITY_KIND_USER_READER_NO_KEY);
  printf("frudp_add_user_sub(%s, %s) on EID 0x%08x\r\n",  topic_name, type_name, (unsigned)freertps_htonl(sub_eid.u));
  frudp_sub_t sub;
  // for now, just copy the pointers. maybe in the future we can/should have
  // an option for storage of various kind (static, malloc, etc.) for copies.
  sub.topic_name = topic_name;
  sub.type_name = type_name;
  sub.reader_eid = sub_eid;
  sub.msg_cb = msg_cb;
  sub.data_cb = NULL;
  sub.reliable = false;
  frudp_add_sub(&sub);
  //sedp_publish_sub(&sub); // can't do this yet; spdp hasn't started bcast
}