Example #1
0
int UDPProxyTransport::setTransport(DDS::DomainParticipantQos &participantQos, DDS::DomainParticipant *participant)
{
#if defined(RTI_WIN32) || defined(RTI_LINUX)
    if(m_to_connect != NULL)
    {
        char buffer[100];
        const char *pointer;

        SNPRINTF(buffer, 100, "builtin.udpv4://%s", m_to_connect);
        participantQos.discovery.accept_unknown_peers = DDS_BOOLEAN_FALSE;
        participantQos.discovery.initial_peers.ensure_length(1, 1);
        pointer = strdup(buffer);
        participantQos.discovery.initial_peers.set_at(0, pointer);
    }

    return 0;
#elif defined(OPENDDS)
    const char* const METHOD_NAME = "setTransport";
    int returnedValue = -1;
    char cfgbuffer[50], trabuffer[50];
    OpenDDS::DCPS::RepoId pid = dynamic_cast<OpenDDS::DCPS::DomainParticipantImpl*>(participant)->get_id();
    int participantId = *(int*)&pid.guidPrefix[8];
    SNPRINTF(cfgbuffer, 50, "config_%ld", participantId);
    SNPRINTF(trabuffer, 50, "trans_%ld", participantId);

    OpenDDS::DCPS::TransportConfig_rch cfg = TheTransportRegistry->get_config(cfgbuffer);

    if(cfg.is_nil())
    {        
        cfg = TheTransportRegistry->create_config(cfgbuffer);

        if(cfg != NULL)
        {
            OpenDDS::DCPS::TransportInst_rch inst = TheTransportRegistry->create_inst(trabuffer, "rtps_udp");

            if(inst != NULL)
            {
                OpenDDS::DCPS::dynamic_rchandle_cast<OpenDDS::DCPS::RtpsUdpInst>(inst)->use_multicast_ = true;
                OpenDDS::DCPS::dynamic_rchandle_cast<OpenDDS::DCPS::RtpsUdpInst>(inst)->heartbeat_period_ = ACE_Time_Value(3);
                cfg->instances_.push_back(inst);
                TheTransportRegistry->bind_config(cfg, participant);

                returnedValue = 0;
            }
            else
            {
                printf("ERROR<%s::%s>: Cannot create transport instance\n", CLASS_NAME, METHOD_NAME);
            }
        }
        else
        {
            printf("ERROR<%s::%s>: Cannot create transport config object\n", CLASS_NAME, METHOD_NAME);
        }
    }

    return returnedValue;
#endif
}
Example #2
0
int ACE_TMAIN (int argc, ACE_TCHAR *argv[]) {
  int status = 0;
  try
    {
      DDS::DomainParticipantFactory_var dpf =
        TheParticipantFactoryWithArgs(argc, argv);
      DDS::DomainParticipant_var participant =
        dpf->create_participant(411,
                                PARTICIPANT_QOS_DEFAULT,
                                DDS::DomainParticipantListener::_nil(),
                                ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (participant.in ())) {
        cerr << "create_participant failed." << endl;
        return 1;
      }
      DDS::DomainParticipant_var participant2 =
        dpf->create_participant(411,
                                PARTICIPANT_QOS_DEFAULT,
                                DDS::DomainParticipantListener::_nil(),
                                ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (participant2.in ())) {
        cerr << "create_participant failed." << endl;
        return 1;
      }

      OpenDDS::DCPS::TransportConfig_rch cfg = TheTransportRegistry->get_config("part1");
      if (!cfg.is_nil()) {
        TheTransportRegistry->bind_config(cfg, participant);
      }
      cfg = TheTransportRegistry->get_config("part2");
      if (!cfg.is_nil()) {
        TheTransportRegistry->bind_config(cfg, participant2);
      }

      if (parse_args (argc, argv) == -1) {
        return -1;
      }

      MessageTypeSupport_var mts = new MessageTypeSupportImpl();
      MessageTypeSupport_var mts2 = new MessageTypeSupportImpl();

      if (DDS::RETCODE_OK != mts->register_type(participant.in (), "")) {
        cerr << "register_type failed." << endl;
        exit(1);
      }
      if (DDS::RETCODE_OK != mts2->register_type(participant2.in (), "")) {
        cerr << "register_type failed." << endl;
        exit(1);
      }

      CORBA::String_var type_name = mts->get_type_name ();
      CORBA::String_var type_name2 = mts2->get_type_name ();

      DDS::Topic_var topic =
        participant->create_topic ("Movie Discussion List",
                                   type_name.in (),
                                   TOPIC_QOS_DEFAULT,
                                   DDS::TopicListener::_nil(),
                                   ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (topic.in ())) {
        cerr << "create_topic failed." << endl;
        exit(1);
      }
      DDS::Topic_var topic2 =
        participant2->create_topic ("Movie Discussion List",
                                   type_name2.in (),
                                   TOPIC_QOS_DEFAULT,
                                   DDS::TopicListener::_nil(),
                                   ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (topic2.in ())) {
        cerr << "create_topic failed." << endl;
        exit(1);
      }

      DDS::Publisher_var pub =
        participant->create_publisher(PUBLISHER_QOS_DEFAULT,
        DDS::PublisherListener::_nil(),
        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (pub.in ())) {
        cerr << "create_publisher failed." << endl;
        exit(1);
      }
      DDS::Publisher_var pub2 =
        participant2->create_publisher(PUBLISHER_QOS_DEFAULT,
        DDS::PublisherListener::_nil(),
        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (pub2.in ())) {
        cerr << "create_publisher failed." << endl;
        exit(1);
      }

      DataWriterListenerImpl * dwl1_servant = new DataWriterListenerImpl;
      ::DDS::DataWriterListener_var dwl1 (dwl1_servant);
      DataWriterListenerImpl * dwl2_servant = new DataWriterListenerImpl;
      ::DDS::DataWriterListener_var dwl2 (dwl2_servant);
      DataWriterListenerImpl * dwl3_servant = new DataWriterListenerImpl;
      ::DDS::DataWriterListener_var dwl3 (dwl3_servant);
      DataWriterListenerImpl * dwl4_servant = new DataWriterListenerImpl;
      ::DDS::DataWriterListener_var dwl4 (dwl4_servant);

      // Create the datawriters
      ::DDS::DataWriterQos dw_qos;
      pub->get_default_datawriter_qos (dw_qos);
      ::DDS::DataWriterQos dw2_qos;
      pub2->get_default_datawriter_qos (dw2_qos);

      dw_qos.liveliness.kind = ::DDS::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
      dw_qos.liveliness.lease_duration.sec = LEASE_DURATION_SEC;
      dw_qos.liveliness.lease_duration.nanosec = 0;
      dw2_qos.liveliness.kind = ::DDS::MANUAL_BY_PARTICIPANT_LIVELINESS_QOS;
      dw2_qos.liveliness.lease_duration.sec = LEASE_DURATION_SEC;
      dw2_qos.liveliness.lease_duration.nanosec = 0;

      // Create the datawriter
      DDS::DataWriter_var dw1 =
        pub->create_datawriter(topic.in (),
                               dw_qos,
                               dwl1.in(),
                               ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (dw1.in ())) {
        cerr << "create_datawriter failed." << endl;
        exit(1);
      }
      // Create the datawriter
      DDS::DataWriter_var dw2 =
        pub2->create_datawriter(topic2.in (),
                               dw2_qos,
                               dwl2.in(),
                               ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (dw2.in ())) {
        cerr << "create_datawriter failed." << endl;
        exit(1);
      }

      dw_qos.liveliness.kind = ::DDS::MANUAL_BY_TOPIC_LIVELINESS_QOS;
      // Create the datawriter
      DDS::DataWriter_var dw3 =
        pub->create_datawriter(topic.in (),
                               dw_qos,
                               dwl3.in(),
                               ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (dw3.in ())) {
        cerr << "create_datawriter failed." << endl;
        exit(1);
      }
      // Create the datawriter
      DDS::DataWriter_var dw4 =
        pub->create_datawriter(topic.in (),
                               dw_qos,
                               dwl4.in(),
                               ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (dw4.in ())) {
        cerr << "create_datawriter failed." << endl;
        exit(1);
      }

      {
        Write_Samples writer1(dw1, "Manual_By_Participant_Writer_1");
        Assert_Participant_Liveliness writer2(dw2, "Manual_By_Participant_Writer_2");
        Write_Samples writer3(dw3, "Manual_By_Topic_Writer_1");
        Assert_Writer_Liveliness writer4(dw4, "Manual_By_Topic_Writer_2");

        writer1.start();
        writer2.start();
        writer3.start();
        writer4.start();

        writer1.end();
        writer2.end();
        writer3.end();
        writer4.end();
      }

      const unsigned long actual = dwl1_servant->num_liveliness_lost_callbacks() +
        dwl2_servant->num_liveliness_lost_callbacks() +
        dwl3_servant->num_liveliness_lost_callbacks() +
        dwl4_servant->num_liveliness_lost_callbacks();

      if (liveliness_lost_test
          && static_cast<int>(actual) != num_liveliness_lost_callbacks)
      {
        cerr << "ERROR: did not receive expected liveliness lost callbacks. "
          << actual << "/" <<
          num_liveliness_lost_callbacks << endl;
        status = 1;
      }

      ACE_OS::sleep(1);
      ACE_DEBUG((LM_INFO, "publisher deleting entities\n"));
      participant->delete_contained_entities();
      dpf->delete_participant(participant.in ());
      participant2->delete_contained_entities();
      dpf->delete_participant(participant2.in ());
      TheServiceParticipant->shutdown ();
  }
  catch (CORBA::Exception& e)
    {
      cerr << "PUB: Exception caught in main.cpp:" << endl
         << e << endl;
      exit(1);
    }

  return status;
}
Example #3
0
void
Publication::enable(
  ::DDS::DomainParticipant_ptr participant,
  ::DDS::Topic_ptr             topic
)
{
  if( this->enabled_) {
    if( this->verbose_) {
      ACE_DEBUG((LM_DEBUG,
        ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
        ACE_TEXT("already enabled, declining to process.\n"),
        this->name_.c_str()
      ));
    }
    return;
  }

  // Create the publisher.
  publisher_ = participant->create_publisher(
                                     this->profile_->publisherQos,
                                     ::DDS::PublisherListener::_nil(),
                                     ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
                                   );
  if( CORBA::is_nil( publisher_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
      ACE_TEXT("failed to create publisher.\n"),
        this->name_.c_str()
    ));
    throw BadPublisherException();
  }

  OpenDDS::DCPS::TransportConfig_rch transport =
    TheTransportRegistry->get_config(this->profile_->transportConfig);
  if (transport.is_nil() || transport->instances_.empty()) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
      ACE_TEXT("failed to get_config() OR got empty config with name %C.\n"),
      this->name_.c_str(),
      this->profile_->transportConfig.c_str()
    ));
    throw BadTransportException();
  }
  if (this->verbose_) {
    OpenDDS::DCPS::MulticastInst* mcconfig
      = dynamic_cast<OpenDDS::DCPS::MulticastInst*>(
          transport->instances_[0].in()
        );
    bool isMcast    = false;
    bool isReliable = false;
    if (mcconfig != 0) {
      isMcast = true;
      isReliable = mcconfig->reliable_;
    }

    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
      ACE_TEXT("%C %C transport with config %C.\n"),
      this->name_.c_str(),
      (!isMcast? "obtained":
                 (isReliable? "obtained reliable":
                              "obtained best effort"
      )),
      transport->instances_[0]->transport_type_.c_str(),
      this->profile_->transportConfig.c_str()
    ));
  }

  // Attach the transport
  TheTransportRegistry->bind_config(transport, publisher_);

  if (this->verbose_) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
      ACE_TEXT("attached transport with config %C to publisher.\n"),
      this->name_.c_str(),
      this->profile_->transportConfig.c_str()
    ));
  }

  // Derive the writer Qos values.
  ::DDS::TopicQos topicQos;
  topic->get_qos( topicQos);

  ::DDS::DataWriterQos writerQos;
  publisher_->get_default_datawriter_qos( writerQos);

  publisher_->copy_from_topic_qos( writerQos, topicQos);

  this->profile_->copyToWriterQos( writerQos);

  // Create the writer.
  DDS::DataWriter_var writer
    = publisher_->create_datawriter(
        topic,
        writerQos,
        ::DDS::DataWriterListener::_nil(),
        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
      );
  if( CORBA::is_nil( writer.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
      ACE_TEXT("failed to create writer.\n"),
      this->name_.c_str()
    ));
    throw BadWriterException();

  } else if( this->verbose_) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
      ACE_TEXT("created writer.\n"),
      this->name_.c_str()
    ));
  }

  this->writer_ = Test::DataDataWriter::_narrow( writer.in());
  if( CORBA::is_nil( this->writer_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
      ACE_TEXT("failed to narrow writer for Test::Data type.\n"),
      this->name_.c_str()
    ));
    throw BadWriterException();

  } else if( this->verbose_) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publication::enable() - publication %C: ")
      ACE_TEXT("narrowed writer for Test::Data type.\n"),
      this->name_.c_str()
    ));
  }

  // We can finally indicate successful completion.
  this->enabled_ = true;
}
Example #4
0
Publisher::Publisher( const Options& options)
 : options_( options),
   waiter_( new DDS::WaitSet)
{
  DDS::DomainParticipantFactory_var dpf = TheParticipantFactory;
  // Create the DomainParticipant
  this->participant_
    = dpf->create_participant(
        this->options_.domain(),
        PARTICIPANT_QOS_DEFAULT,
        DDS::DomainParticipantListener::_nil(),
        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
      );
  if( CORBA::is_nil( this->participant_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create a participant.\n")
    ));
    throw BadParticipantException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created participant in domain %d.\n"),
      this->options_.domain()
    ));
  }

  // Create the transport.
  OpenDDS::DCPS::TransportConfig_rch transport =
    TheTransportRegistry->get_config(this->options_.transportKey());

  if (transport.is_nil()) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to get %C transport.\n"),
      this->options_.transportKey().c_str()
    ));
    throw BadTransportException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created %C transport.\n"),
      this->options_.transportKey().c_str()
    ));
  }

  // Create and register the type support.
  DataTypeSupportImpl* testData = new DataTypeSupportImpl();
  if( ::DDS::RETCODE_OK
   != testData->register_type( this->participant_.in(), 0)) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("unable to install type %C support.\n"),
      testData->get_type_name()
    ));
    throw BadTypeSupportException ();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created type %C support.\n"),
      testData->get_type_name()
    ));
  }

  // Create the topic.
  this->topic_ = this->participant_->create_topic(
                   this->options_.topicName().c_str(),
                   testData->get_type_name(),
                   TOPIC_QOS_DEFAULT,
                   ::DDS::TopicListener::_nil(),
                   ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
                 );
  if( CORBA::is_nil( this->topic_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create topic %C.\n"),
      this->options_.topicName().c_str()
    ));
    throw BadTopicException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created topic %C.\n"),
      this->options_.topicName().c_str()
    ));
  }

  // Create the publisher.
  this->publisher_ = this->participant_->create_publisher(
                       PUBLISHER_QOS_DEFAULT,
                       ::DDS::PublisherListener::_nil(),
                       ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
                     );
  if( CORBA::is_nil( this->publisher_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
      ACE_TEXT("failed to create publisher.\n")
    ));
    throw BadPublisherException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("created publisher.\n")
    ));
  }

  TheTransportRegistry->bind_config(transport, this->publisher_);

  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("attached transport to publisher.\n")
    ));
  }

  // Writer Qos policy values.
  ::DDS::DataWriterQos writerQos;
  this->publisher_->get_default_datawriter_qos( writerQos);

  writerQos.durability.kind                          = ::DDS::TRANSIENT_LOCAL_DURABILITY_QOS;
  writerQos.history.kind                             = ::DDS::KEEP_ALL_HISTORY_QOS;
  writerQos.resource_limits.max_samples_per_instance = ::DDS::LENGTH_UNLIMITED;

  // Reliability varies with the transport implementation.
  switch( this->options_.transportType()) {
    case Options::TCP:
    case Options::MC:
      writerQos.reliability.kind = ::DDS::RELIABLE_RELIABILITY_QOS;
      break;

    case Options::UDP:
      writerQos.reliability.kind = ::DDS::BEST_EFFORT_RELIABILITY_QOS;
      break;

    case Options::TRANSPORT_NONE:
    default:
      ACE_ERROR((LM_ERROR,
        ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
        ACE_TEXT("unrecognized transport when setting up Qos policies.\n")
      ));
      throw BadQosException();
  }

  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
      ACE_TEXT("starting to create %d publications.\n"),
      this->options_.profiles().size()
    ));
  }

  // Build as many publications as are specified.
  for( unsigned int index = 0; index < this->options_.profiles().size(); ++index) {
    // This publications priority is needed when creating the writer.
    writerQos.transport_priority.value = this->options_.profiles()[ index]->priority();

    // Create the writer.
    DDS::DataWriter_var writer
      = this->publisher_->create_datawriter(
          this->topic_.in(),
          writerQos,
          DDS::DataWriterListener::_nil(),
          ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
        );
    if( CORBA::is_nil( writer.in())) {
      ACE_ERROR((LM_ERROR,
        ACE_TEXT("(%P|%t) ERROR: Publisher::Publisher() - ")
        ACE_TEXT("failed to create writer.\n")
      ));
      throw BadWriterException();

    } else if( this->options_.verbose()) {
      ACE_DEBUG((LM_DEBUG,
        ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
        ACE_TEXT("created writer for publication %C ")
        ACE_TEXT("with priority %d.\n"),
        this->options_.profiles()[ index]->name().c_str(),
        writerQos.transport_priority.value
      ));
    }

    // Create a publication and store it.
    this->publications_[ this->options_.profiles()[ index]->name()]
      = new Writer(
              writer.in(),
              *this->options_.profiles()[ index],
              this->options_.verbose()
            );

    //
    // Grab, enable and attach the status condition for test
    // synchronization of the current publication.
    //
    DDS::StatusCondition_var status = writer->get_statuscondition();
    status->set_enabled_statuses( DDS::PUBLICATION_MATCHED_STATUS);
    this->waiter_->attach_condition( status.in());

    if( this->options_.verbose()) {
      ACE_DEBUG((LM_DEBUG,
        ACE_TEXT("(%P|%t) Publisher::Publisher() - ")
        ACE_TEXT("created StatusCondition for publication %C.\n"),
        this->options_.profiles()[ index]->name().c_str()
      ));
    }
  }
}
Example #5
0
Subscriber::Subscriber( const Options& options)
 : options_( options),
   listener_( 0),
   waiter_( new DDS::WaitSet)
{
  DDS::DomainParticipantFactory_var dpf = TheParticipantFactory;
  // Create the DomainParticipant
  this->participant_
    = dpf->create_participant(
        this->options_.domain(),
        PARTICIPANT_QOS_DEFAULT,
        DDS::DomainParticipantListener::_nil(),
        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
      );
  if( CORBA::is_nil( this->participant_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to create a participant.\n")
    ));
    throw BadParticipantException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created participant in domain %d.\n"),
      this->options_.domain()
    ));
  }

  // Create the transport.
  OpenDDS::DCPS::TransportConfig_rch transport =
    TheTransportRegistry->get_config(this->options_.transportKey());

  if (transport.is_nil()) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to get %C transport.\n"),
      this->options_.transportKey().c_str()
    ));
    throw BadTransportException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created %C transport.\n"),
      this->options_.transportKey().c_str()
    ));
  }

  // Create the listener.
  this->listener_ = new DataReaderListener( this->options_.verbose());
  this->safe_listener_ = this->listener_;
  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created reader listener.\n")
    ));
  }

  // Create and register the type support.
  DataTypeSupportImpl* testData = new DataTypeSupportImpl();
  if( ::DDS::RETCODE_OK
   != testData->register_type( this->participant_.in(), 0)) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("unable to install type %C support.\n"),
      testData->get_type_name()
    ));
    throw BadTypeSupportException ();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created type %C support.\n"),
      testData->get_type_name()
    ));
  }

  // Create the topic.
  this->topic_ = this->participant_->create_topic(
                   this->options_.topicName().c_str(),
                   testData->get_type_name(),
                   TOPIC_QOS_DEFAULT,
                   ::DDS::TopicListener::_nil(),
                   ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
                   );
  if( CORBA::is_nil( this->topic_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to create topic %C.\n"),
      this->options_.topicName().c_str()
    ));
    throw BadTopicException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created topic %C.\n"),
      this->options_.topicName().c_str()
    ));
  }

  // Create the subscriber.
  this->subscriber_ = this->participant_->create_subscriber(
                        SUBSCRIBER_QOS_DEFAULT,
                        ::DDS::SubscriberListener::_nil(),
                        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
                      );
  if( CORBA::is_nil( this->subscriber_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to create subscriber.\n")
    ));
    throw BadSubscriberException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created subscriber.\n")
    ));
  }

  // Attach the transport to the subscriber.
  ::OpenDDS::DCPS::SubscriberImpl* servant
    = dynamic_cast< ::OpenDDS::DCPS::SubscriberImpl*>( this->subscriber_.in());
  if( 0 == servant) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to narrow subscriber servant.\n")
    ));
    throw BadServantException();
  }

  // Configure the raw data gathering.
  servant->raw_latency_buffer_size() = this->options_.raw_buffer_size();
  servant->raw_latency_buffer_type() = this->options_.raw_buffer_type();
  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("configured to capture %d latency measurements of type %d ")
      ACE_TEXT("per writer to file %C.\n"),
      this->options_.raw_buffer_size(),
      this->options_.raw_buffer_type(),
      this->options_.rawOutputFilename().c_str()
    ));
  }

  TheTransportRegistry->bind_config(transport, servant);

  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("attached transport to subscriber.\n")
    ));
  }

  // Reader Qos policy values.
  ::DDS::DataReaderQos readerQos;
  this->subscriber_->get_default_datareader_qos( readerQos);

  readerQos.durability.kind                          = ::DDS::TRANSIENT_LOCAL_DURABILITY_QOS;
  readerQos.history.kind                             = ::DDS::KEEP_ALL_HISTORY_QOS;
  readerQos.resource_limits.max_samples_per_instance = ::DDS::LENGTH_UNLIMITED;

  // Reliability varies with the transport implementation.
  switch( this->options_.transportType()) {
    case Options::TCP:
    case Options::MC:
      readerQos.reliability.kind = ::DDS::RELIABLE_RELIABILITY_QOS;
      break;

    case Options::UDP:
      readerQos.reliability.kind = ::DDS::BEST_EFFORT_RELIABILITY_QOS;
      break;

    case Options::TRANSPORT_NONE:
    default:
      ACE_ERROR((LM_ERROR,
        ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
        ACE_TEXT("unrecognized transport when setting up Qos policies.\n")
      ));
      throw BadQosException();
  }

  // Create the reader.
  ::DDS::DataReader_var reader
    = this->subscriber_->create_datareader(
        this->topic_.in(),
        readerQos,
        DDS::DataReaderListener::_nil(),
        ::OpenDDS::DCPS::DEFAULT_STATUS_MASK
      );
  if( CORBA::is_nil( reader.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to create reader.\n")
    ));
    throw BadReaderException();

  } else if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created reader.\n")
    ));
  }

  this->reader_ = ::OpenDDS::DCPS::DataReaderEx::_narrow( reader.in());
  if( CORBA::is_nil( this->reader_.in())) {
    ACE_ERROR((LM_ERROR,
      ACE_TEXT("(%P|%t) ERROR: Subscriber::Subscriber() - ")
      ACE_TEXT("failed to narrow reader to extract statistics.\n")
    ));
    throw BadReaderException();
  }

  // Clear and start statistics gathering.  Ideally we would want to
  // configurably delay the start here to avoid edge effects.
  this->reader_->reset_latency_stats();
  this->reader_->statistics_enabled( true);

  // Set the listener mask here so that we don't conflict with the
  // StatusCondition(s) that we want to wait on in the main thread.
  this->reader_->set_listener( this->listener_, DDS::DATA_AVAILABLE_STATUS);

  // Grab, enable and attach the status condition for test synchronization.
  this->status_ = this->reader_->get_statuscondition();
  this->status_->set_enabled_statuses( DDS::SUBSCRIPTION_MATCHED_STATUS);
  this->waiter_->attach_condition( this->status_.in());

  if( this->options_.verbose()) {
    ACE_DEBUG((LM_DEBUG,
      ACE_TEXT("(%P|%t) Subscriber::Subscriber() - ")
      ACE_TEXT("created StatusCondition and WaitSet for test synchronization.\n")
    ));
  }

}
Example #6
0
int ACE_TMAIN (int argc, ACE_TCHAR *argv[]){
  try
    {
      DDS::DomainParticipantFactory_var dpf =
        TheParticipantFactoryWithArgs(argc, argv);

      OpenDDS::DCPS::TransportConfig_rch config =
        OpenDDS::DCPS::TransportRegistry::instance()->get_config("dds4ccm_rtps");

      if (config.is_nil())
        {
          config =
            OpenDDS::DCPS::TransportRegistry::instance()->create_config("dds4ccm_rtps");
        }

      OpenDDS::DCPS::TransportInst_rch inst =
        OpenDDS::DCPS::TransportRegistry::instance()->get_inst("the_rtps_transport");

      if (inst.is_nil())
        {
          inst =
            OpenDDS::DCPS::TransportRegistry::instance()->create_inst("the_rtps_transport",
                                                                "rtps_udp");

          config->instances_.push_back(inst);

          OpenDDS::DCPS::TransportRegistry::instance()->global_config(config);
        }

      // Create another transport instance for participant2 since RTPS transport instances
      // cannot be shared by domain participants.
      OpenDDS::DCPS::TransportConfig_rch config2 =
        OpenDDS::DCPS::TransportRegistry::instance()->get_config("dds4ccm_rtps_2");

      if (config2.is_nil())
        {
          config2 =
            OpenDDS::DCPS::TransportRegistry::instance()->create_config("dds4ccm_rtps_2");
        }

      OpenDDS::DCPS::TransportInst_rch inst2 =
        OpenDDS::DCPS::TransportRegistry::instance()->get_inst("the_rtps_transport_2");

      if (inst2.is_nil())
        {
          inst2 =
            OpenDDS::DCPS::TransportRegistry::instance()->create_inst("the_rtps_transport_2",
                                                                "rtps_udp");
          config2->instances_.push_back(inst2);

        }


#ifndef DDS_HAS_MINIMUM_BIT
      OpenDDS::RTPS::RtpsDiscovery_rch disc =
        new OpenDDS::RTPS::RtpsDiscovery(OpenDDS::DCPS::Discovery::DEFAULT_RTPS);

      // The recommended value for the resend period is 2 seconds for
      // the current implementation of OpenDDS.
      disc->resend_period(ACE_Time_Value(2));

      TheServiceParticipant->add_discovery(OpenDDS::DCPS::static_rchandle_cast<OpenDDS::DCPS::Discovery>(disc));
      TheServiceParticipant->set_repo_domain(11, disc->key());
#endif
      TheServiceParticipant->set_default_discovery (OpenDDS::DCPS::Discovery::DEFAULT_RTPS);

      DDS::DomainParticipant_var participant =
        dpf->create_participant(11,
                                PARTICIPANT_QOS_DEFAULT,
                                DDS::DomainParticipantListener::_nil(),
                                ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (participant.in ())) {
        cerr << "create_participant failed." << endl;
        return 1;
      }
      else
      {
        ACE_DEBUG ((LM_DEBUG, "Created participant 1 with instance handle %d\n",
                    participant->get_instance_handle ()));
      }

      OpenDDS::DCPS::TransportRegistry::instance()->bind_config(config, participant.in());

      DDS::DomainParticipant_var participant2 =
        dpf->create_participant(11,
                                PARTICIPANT_QOS_DEFAULT,
                                DDS::DomainParticipantListener::_nil(),
                                ::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
      if (CORBA::is_nil (participant2.in ())) {
        cerr << "create_participant failed." << endl;
        return 1;
      }
      else
      {
        ACE_DEBUG ((LM_DEBUG, "Created participant 2 with instance handle %d\n",
                    participant2->get_instance_handle ()));
      }

      try {
        OpenDDS::DCPS::TransportRegistry::instance()->bind_config(config2, participant2.in());
      }
      catch (const OpenDDS::DCPS::Transport::MiscProblem &) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: TransportRegistry::bind_config() throws")
                          ACE_TEXT(" Transport::MiscProblem exception\n")),
                          -1);
      }
      catch (const OpenDDS::DCPS::Transport::NotFound &) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: TransportRegistry::bind_config() throws")
                          ACE_TEXT(" Transport::NotFound exception\n")),
                          -1);
      }

      // Register TypeSupport (Messenger::Message)
      Messenger::MessageTypeSupport_var mts =
        new Messenger::MessageTypeSupportImpl();

      if (mts->register_type(participant.in(), "") != DDS::RETCODE_OK) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: register_type failed!\n")),
                        -1);
      }

      // Create Topic
      CORBA::String_var type_name = mts->get_type_name();
      DDS::Topic_var topic =
        participant->create_topic("Movie Discussion List",
                                  type_name.in(),
                                  TOPIC_QOS_DEFAULT,
                                  DDS::TopicListener::_nil(),
                                  OpenDDS::DCPS::DEFAULT_STATUS_MASK);

      if (CORBA::is_nil(topic.in())) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: create_topic failed!\n")),
                        -1);
      }

      // Create Publisher
      DDS::Publisher_var pub =
        participant->create_publisher(PUBLISHER_QOS_DEFAULT,
                                      DDS::PublisherListener::_nil(),
                                      OpenDDS::DCPS::DEFAULT_STATUS_MASK);

      if (CORBA::is_nil(pub.in())) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: create_publisher failed!\n")),
                        -1);
      }

      // Create DataWriter
      DDS::DataWriter_var dw =
        pub->create_datawriter(topic.in(),
                              DATAWRITER_QOS_DEFAULT,
                              DDS::DataWriterListener::_nil(),
                              OpenDDS::DCPS::DEFAULT_STATUS_MASK);

      if (CORBA::is_nil(dw.in())) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: create_datawriter failed!\n")),
                        -1);
      }

      DDS::ReturnCode_t retcode2 = pub->delete_datawriter (dw.in ());
      if (retcode2 != DDS::RETCODE_OK) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: should be able to delete datawriter\n")),
                        -1);
      }

      DDS::ReturnCode_t retcode5 = dpf->delete_participant(participant.in ());
      if (retcode5 != DDS::RETCODE_PRECONDITION_NOT_MET) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: should not be able to delete participant\n")),
                        -1);
      }

      DDS::ReturnCode_t retcode3 = participant->delete_publisher (pub.in ());
      if (retcode3 != DDS::RETCODE_OK) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: should be able to delete publisher\n")),
                        -1);
      }

      DDS::ReturnCode_t retcode4 = participant->delete_topic (topic.in ());
      if (retcode4 != DDS::RETCODE_OK) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: should be able to delete topic\n")),
                        -1);
      }

      DDS::ReturnCode_t retcode6 = dpf->delete_participant(participant.in ());
      if (retcode6 != DDS::RETCODE_OK) {
        ACE_ERROR_RETURN((LM_ERROR,
                          ACE_TEXT("%N:%l: main()")
                          ACE_TEXT(" ERROR: should be able to delete participant\n")),
                        -1);
      }

//       DDS::ReturnCode_t retcode7 = dpf->delete_participant(participant2.in ());
//       if (retcode7 != DDS::RETCODE_OK) {
//         ACE_ERROR_RETURN((LM_ERROR,
//                           ACE_TEXT("%N:%l: main()")
//                           ACE_TEXT(" ERROR: should be able to delete participant2\n")),
//                         -1);
//       }

      ACE_DEBUG ((LM_DEBUG, "Shutting down the service participant with one participant still registered\n"));
      TheServiceParticipant->shutdown ();
  }
  catch (CORBA::Exception& e)
  {
    cerr << "dp: Exception caught in main.cpp:" << endl
         << e << endl;
    exit(1);
  }

  return 0;
}
void
MonitorFactoryImpl::initialize()
{
  DDS::DomainParticipantFactory_var dpf =
    TheServiceParticipant->get_domain_participant_factory();
  DDS::DomainParticipant_var participant =
    dpf->create_participant(MONITOR_DOMAIN_ID,
                            PARTICIPANT_QOS_DEFAULT,
                            DDS::DomainParticipantListener::_nil(),
                            OpenDDS::DCPS::DEFAULT_STATUS_MASK);
  if (CORBA::is_nil(participant.in())) {
    ACE_DEBUG((LM_DEBUG,
               ACE_TEXT("ERROR: %N:%l: MonitorFactoryImpl::initialize() -")
               ACE_TEXT(" create_participant failed!\n")));
  }

  DDS::Publisher_var publisher =
    participant->create_publisher(PUBLISHER_QOS_DEFAULT,
                                  DDS::PublisherListener::_nil(),
                                  OpenDDS::DCPS::DEFAULT_STATUS_MASK);

  static const std::string config_name = TransportRegistry::DEFAULT_INST_PREFIX
    + std::string("MonitorBITTransportConfig");
  OpenDDS::DCPS::TransportConfig_rch config =
    TheTransportRegistry->get_config (config_name);
  if (config.is_nil ())
  {
    config = TransportRegistry::instance()->create_config(config_name);

    std::string inst_name = TransportRegistry::DEFAULT_INST_PREFIX
      + std::string("FederationBITTCPTransportInst");
    TransportInst_rch inst =
      TransportRegistry::instance()->create_inst(inst_name, "tcp");
    config->instances_.push_back(inst);
  }

  TransportRegistry::instance()->bind_config(config, publisher.in());

  DDS::DataWriter_var writer;
  DDS::DataWriterQos dw_qos;
  publisher->get_default_datawriter_qos(dw_qos);
  dw_qos.durability.kind = DDS::TRANSIENT_LOCAL_DURABILITY_QOS;

  OpenDDS::DCPS::ServiceParticipantReportTypeSupport_var sp_ts =
    new OpenDDS::DCPS::ServiceParticipantReportTypeSupportImpl();
  ::DDS::ReturnCode_t ret = sp_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var sp_type_name = sp_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                sp_type_name.in(),
                                SERVICE_PARTICIPANT_MONITOR_TOPIC,
                                dw_qos);
    this->sp_writer_ =
      OpenDDS::DCPS::ServiceParticipantReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->sp_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow sp_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register sp_ts\n"));
  }

  OpenDDS::DCPS::DomainParticipantReportTypeSupport_var dp_ts =
    new OpenDDS::DCPS::DomainParticipantReportTypeSupportImpl();
  ret = dp_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var dp_type_name = dp_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                dp_type_name.in(),
                                DOMAIN_PARTICIPANT_MONITOR_TOPIC,
                                dw_qos);
    this->dp_writer_ =
      OpenDDS::DCPS::DomainParticipantReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->dp_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow dp_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register dp_ts\n"));
  }

  OpenDDS::DCPS::TopicReportTypeSupport_var topic_ts =
    new OpenDDS::DCPS::TopicReportTypeSupportImpl();
  ret = topic_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var topic_type_name = topic_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                topic_type_name.in(),
                                TOPIC_MONITOR_TOPIC,
                                dw_qos);
    this->topic_writer_ =
      OpenDDS::DCPS::TopicReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->topic_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow topic_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register topic_ts\n"));
  }

  OpenDDS::DCPS::PublisherReportTypeSupport_var pub_ts =
    new OpenDDS::DCPS::PublisherReportTypeSupportImpl();
  ret = pub_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var pub_type_name = pub_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                pub_type_name.in(),
                                PUBLISHER_MONITOR_TOPIC,
                                dw_qos);
    this->pub_writer_ =
      OpenDDS::DCPS::PublisherReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->pub_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow pub_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register pub_ts\n"));
  }

  OpenDDS::DCPS::SubscriberReportTypeSupport_var sub_ts =
    new OpenDDS::DCPS::SubscriberReportTypeSupportImpl();
  ret = sub_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var sub_type_name = sub_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                sub_type_name.in(),
                                SUBSCRIBER_MONITOR_TOPIC,
                                dw_qos);
    this->sub_writer_ =
      OpenDDS::DCPS::SubscriberReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->sub_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow sub_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register sub_ts\n"));
  }

  OpenDDS::DCPS::DataWriterReportTypeSupport_var dw_ts =
    new OpenDDS::DCPS::DataWriterReportTypeSupportImpl();
  ret = dw_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var dw_type_name = dw_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                dw_type_name.in(),
                                DATA_WRITER_MONITOR_TOPIC,
                                dw_qos);
    this->dw_writer_ =
      OpenDDS::DCPS::DataWriterReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->dw_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow dw_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register sp_ts\n"));
  }

  OpenDDS::DCPS::DataWriterPeriodicReportTypeSupport_var dw_per_ts =
    new OpenDDS::DCPS::DataWriterPeriodicReportTypeSupportImpl();
  ret = dw_per_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var dw_per_type_name = dw_per_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                dw_per_type_name.in(),
                                DATA_WRITER_PERIODIC_MONITOR_TOPIC,
                                dw_qos);
    this->dw_per_writer_ =
      OpenDDS::DCPS::DataWriterPeriodicReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->dw_per_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow dw_per_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register dw_per_ts\n"));
  }

  OpenDDS::DCPS::DataReaderReportTypeSupport_var dr_ts =
    new OpenDDS::DCPS::DataReaderReportTypeSupportImpl();
  ret = dr_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var dr_type_name = dr_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                dr_type_name.in(),
                                DATA_READER_MONITOR_TOPIC,
                                dw_qos);
    this->dr_writer_ =
      OpenDDS::DCPS::DataReaderReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->dr_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow dr_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register dr_ts\n"));
  }

  OpenDDS::DCPS::DataReaderPeriodicReportTypeSupport_var dr_per_ts =
    new OpenDDS::DCPS::DataReaderPeriodicReportTypeSupportImpl();
  ret = dr_per_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var dr_per_type_name = dr_per_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                dr_per_type_name.in(),
                                DATA_READER_PERIODIC_MONITOR_TOPIC,
                                dw_qos);
    this->dr_per_writer_ =
      OpenDDS::DCPS::DataReaderPeriodicReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->dr_per_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow dr_per_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register dr_per_ts\n"));
  }

  OpenDDS::DCPS::TransportReportTypeSupport_var transport_ts =
    new OpenDDS::DCPS::TransportReportTypeSupportImpl();
  ret = transport_ts->register_type(participant.in(), "");
  if (DDS::RETCODE_OK == ret) {
    CORBA::String_var transport_type_name = transport_ts->get_type_name();
    writer = create_data_writer(participant.in(),
                                publisher.in(),
                                transport_type_name.in(),
                                TRANSPORT_MONITOR_TOPIC,
                                dw_qos);
    this->transport_writer_ =
      OpenDDS::DCPS::TransportReportDataWriter::_narrow(writer.in());
    if (CORBA::is_nil(this->transport_writer_)) {
      ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to narrow transport_writer\n"));
    }
  } else {
    ACE_DEBUG((LM_DEBUG, "MonitorFactoryImpl::initialize(): Failed to register transport_ts\n"));
  }
}