int main(int argc, char *argv[])
{
std::cout << "built " << __DATE__ << " " << __TIME__ << std::endl;
TestConfig::Config config;
if (!TestConfig::parseArgs(argc, argv, config)) {
TestConfig::usage(prog);
}
eprosima::Log::setVerbosity(eprosima::VERB_ERROR);
Resources resources;
std::cout << "create participant" << std::endl;
ParticipantAttributes partAttr;
partAttr.rtps.builtin.use_SIMPLE_RTPSParticipantDiscoveryProtocol = true;
partAttr.rtps.builtin.use_SIMPLE_EndpointDiscoveryProtocol = true;
partAttr.rtps.builtin.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = true;
partAttr.rtps.builtin.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
partAttr.rtps.builtin.domainId = 80;
partAttr.rtps.builtin.leaseDuration = toTime(config.lease_s);
partAttr.rtps.builtin.leaseDuration_announcementperiod = toTime(config.renew_s);
partAttr.rtps.setName(prog);
Participant *part = Domain::createParticipant(partAttr);
if (part == nullptr) {
std::cerr << "error" << std::endl;
exit(1);
}
Domain::registerType(part, &topicDataType);
std::cout << "create publisher" << std::endl;
PublisherAttributes pubAttr;
pubAttr.topic.topicKind = NO_KEY;
pubAttr.topic.topicName = TopicData::topicName;
pubAttr.topic.topicDataType = TopicData::topicType;
pubAttr.topic.historyQos.kind = KEEP_LAST_HISTORY_QOS;
pubAttr.topic.historyQos.depth = config.history;
pubAttr.topic.resourceLimitsQos.max_samples = 2 * config.history;
pubAttr.topic.resourceLimitsQos.allocated_samples = 2 * config.history;
pubAttr.times.heartbeatPeriod = toTime(0.100);
pubAttr.qos.m_reliability.kind =
config.reliable ? RELIABLE_RELIABILITY_QOS : BEST_EFFORT_RELIABILITY_QOS;
Publisher *pub = Domain::createPublisher(part, pubAttr, &testPublisherListener);
if (pub == nullptr) {
std::cerr << "error" << std::endl;
exit(1);
}
std::chrono::steady_clock::time_point timeZero = std::chrono::steady_clock::now();
std::chrono::steady_clock::time_point pubNext = timeZero;
std::chrono::steady_clock::duration pubInterval =
std::chrono::steady_clock::duration(std::chrono::nanoseconds(1000000000ull / config.rate));
std::chrono::steady_clock::time_point printNext = timeZero;
std::chrono::steady_clock::duration printInterval =
std::chrono::steady_clock::duration(std::chrono::seconds(config.print_s));
std::cout << "ready" << std::endl;
uint32_t sequence = 0;
while (config.count != 0) {
std::this_thread::sleep_until(pubNext);
TopicData topicData;
memset(&topicData, 0, sizeof(TopicData));
pub->write((void *)&topicData);
if (pubNext >= printNext) {
resources.sample();
double cpu = resources.cpuLoad();
std::ios::fmtflags f(std::cout.flags()); // save state
std::cout << std::setw(18) << std::left << prog << std::right << " " << std::setw(10)
<< std::fixed << std::setprecision(3) << toDouble(pubNext - timeZero) << ": "
<< std::setw(6) << sequence << " " << std::setw(5) << std::fixed
<< std::setprecision(1) << cpu * 100.0 << "%" << std::endl;
std::cout.flags(f); // restore state
printNext += printInterval;
}
sequence++;
pubNext += pubInterval;
if (config.count > 0)
config.count--;
} // while (config.count != 0)
Domain::removePublisher(pub);
Domain::removeParticipant(part);
return 0;
} // main
