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;
}
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 OSPL_MAIN (int argc, char *argv[])
{
DDS_sequence_WaitSetData_Msg* message_seq = DDS_sequence_WaitSetData_Msg__alloc();
DDS_SampleInfoSeq* message_infoSeq = DDS_SampleInfoSeq__alloc();
DDS_Subscriber message_Subscriber;
DDS_DataReader message_DataReader;
DDS_char* query_parameter = "Hello again";
DDS_char *query_string = "message=%0";
DDS_ReadCondition readCondition;
DDS_QueryCondition queryCondition;
DDS_StatusCondition statusCondition;
DDS_WaitSet waitSet;
DDS_GuardCondition escape;
DDS_LivelinessChangedStatus livelinessChangedStatus;
DDS_ConditionSeq *guardList = NULL;
DDS_Duration_t timeout = { 20, 0 };
int count = 0;
DDS_long previousLivelinessCount;
c_bool isClosed = FALSE;
c_bool isEscaped = FALSE;
c_bool writerLeft = FALSE;
unsigned long i, j;
// Create DDS DomainParticipant
createParticipant("WaitSet example");
// Register the Topic's type in the DDS Domain.
g_MessageTypeSupport = WaitSetData_MsgTypeSupport__alloc();
checkHandle(g_MessageTypeSupport, "WaitSetData_MsgTypeSupport__alloc");
registerMessageType(g_MessageTypeSupport);
// Create the Topic's in the DDS Domain.
g_MessageTypeName = WaitSetData_MsgTypeSupport_get_type_name(g_MessageTypeSupport);
g_MessageTopic = createTopic("WaitSetData_Msg", g_MessageTypeName);
DDS_free(g_MessageTypeName);
DDS_free(g_MessageTypeSupport);
// Create the Subscriber's in the DDS Domain.
message_Subscriber = createSubscriber();
// Request a Reader from the the Subscriber.
message_DataReader = createDataReader(message_Subscriber, g_MessageTopic);
// 1- Create a ReadCondition that will contain new Msg only.
readCondition = DDS_DataReader_create_readcondition(message_DataReader, DDS_NOT_READ_SAMPLE_STATE, DDS_NEW_VIEW_STATE, DDS_ALIVE_INSTANCE_STATE);
checkHandle(readCondition, "DDS_DataReader_create_readcondition (newUser)");
// 2- Create QueryCondition.
queryCondition = createQueryCondition(message_DataReader, query_string, (DDS_char*) query_parameter);
printf("=== [WaitSetDataSubscriber] Query : message = \"%s\"", query_parameter);
// 3- Obtain a StatusCondition associated to a Writer
// and that triggers only when the Writer changes Liveliness.
statusCondition = DDS_DataReader_get_statuscondition(message_DataReader);
checkHandle(statusCondition, "DDS_DataReader_get_statuscondition");
g_status = DDS_StatusCondition_set_enabled_statuses(statusCondition, DDS_LIVELINESS_CHANGED_STATUS);
checkStatus(g_status, "DDS_StatusCondition_set_enabled_statuses");
// 4- Create a GuardCondition which will be used to close the subscriber.
escape = DDS_GuardCondition__alloc();
checkHandle(escape, "DDS_GuardCondition__alloc");
// Create a waitset and add the 4 Conditions created above :
// ReadCondition, QueryCondition, StatusCondition, GuardCondition.
waitSet = DDS_WaitSet__alloc();
checkHandle(waitSet, "DDS_WaitSet__alloc");
g_status = DDS_WaitSet_attach_condition(waitSet, readCondition);
checkStatus(g_status, "DDS_WaitSet_attach_condition (readCondition)");
g_status = DDS_WaitSet_attach_condition(waitSet, queryCondition);
checkStatus(g_status, "DDS_WaitSet_attach_condition (queryCondition)");
g_status = DDS_WaitSet_attach_condition(waitSet, statusCondition);
checkStatus(g_status, "DDS_WaitSet_attach_condition (statusCondition)");
g_status = DDS_WaitSet_attach_condition(waitSet, escape);
checkStatus(g_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 = 4;
guardList->_length = 0;
guardList->_buffer = DDS_ConditionSeq_allocbuf(4);
checkHandle(guardList->_buffer, "DDS_ConditionSeq_allocbuf");
printf("\n=== [WaitSetDataSubscriber] Ready ...");
// Used to store the livelinessChangedStatus.alive_count value (StatusCondition).
previousLivelinessCount = 0;
do
{
// Wait until at least one of the Conditions in the waitset triggers.
g_status = DDS_WaitSet_wait(waitSet, guardList, &timeout);
if (g_status == DDS_RETCODE_OK) {
i = 0;
do
{
if( guardList->_buffer[i] == statusCondition )
{
// StatusCondition triggered.
// Some liveliness has changed (either a DataWriter joined or a DataWriter left).
// Check whether a new Writer appeared.
g_status = DDS_DataReader_get_liveliness_changed_status(message_DataReader, &livelinessChangedStatus);
checkStatus(g_status, "DDS_DataReader_get_liveliness_changed_status");
if( livelinessChangedStatus.alive_count > previousLivelinessCount )
{
// a DataWriter joined.
printf("\n\n!!! a MsgWriter joined");
g_status = DDS_StatusCondition_set_enabled_statuses(statusCondition, DDS_LIVELINESS_CHANGED_STATUS);
checkStatus(g_status, "DDS_StatusCondition_set_enabled_statuses");
}
else if( livelinessChangedStatus.alive_count < previousLivelinessCount )
{
// A MsgWriter lost its liveliness.
printf("\n\n!!! a MsgWriter lost its liveliness");
g_status = DDS_StatusCondition_set_enabled_statuses(statusCondition, DDS_LIVELINESS_CHANGED_STATUS);
checkStatus(g_status, "DDS_StatusCondition_set_enabled_statuses");
writerLeft = TRUE;
printf("\n === Triggering escape condition");
g_status = DDS_GuardCondition_set_trigger_value(escape, TRUE);
checkStatus(g_status, "DDS_GuardCondition_set_trigger_value");
}
else if ( livelinessChangedStatus.alive_count == previousLivelinessCount )
{
// The status has changed, though alive_count is still zero,
// this implies that both events have occurred,
// and that the value is back to zero already.
printf("\n\n!!! a MsgWriter joined\n");
printf("\n\n!!! a MsgWriter lost its liveliness\n");
writerLeft = TRUE;
printf("\n === Triggering escape condition");
g_status = DDS_GuardCondition_set_trigger_value(escape, TRUE);
checkStatus(g_status, "DDS_GuardCondition_set_trigger_value");
// NB: we do not need to activate this Condition anymore;
// both events occurred.
}
// NB: Here we record the count a in order to compare it next time this condition triggers (?).
previousLivelinessCount = livelinessChangedStatus.alive_count;
}
else if( guardList->_buffer[i] == readCondition )
{
/* The newMsg ReadCondition contains data */
g_status = WaitSetData_MsgDataReader_read_w_condition(message_DataReader, message_seq, message_infoSeq, DDS_LENGTH_UNLIMITED, readCondition);
checkStatus(g_status, "WaitSetData_MsgDataReader_read_w_condition");
for( j = 0; j < message_seq->_length ; j++ )
{
printf("\n --- New message received ---");
if( message_infoSeq->_buffer[j].valid_data == TRUE )
{
printf("\n userID : %d", message_seq->_buffer[j].userID);
printf("\n Message : \"%s\"", message_seq->_buffer[j].message);
}
else
{
printf("\n Data is invalid!");
}
}
fflush(stdout);
g_status = WaitSetData_MsgDataReader_return_loan(message_DataReader, message_seq, message_infoSeq);
checkStatus(g_status, "WaitSetData_MsgDataReader_return_loan");
}
else if( guardList->_buffer[i] == queryCondition )
{
/* The queryCond QueryCondition contains data */
g_status = WaitSetData_MsgDataReader_take_w_condition(message_DataReader, message_seq, message_infoSeq, DDS_LENGTH_UNLIMITED, queryCondition);
checkStatus(g_status, "WaitSetData_MsgDataReader_take_w_condition");
for( j = 0; j < message_seq->_length ; j++ )
{
printf("\n\n --- message received (with QueryCOndition on message field) ---");
if( message_infoSeq->_buffer[j].valid_data == TRUE )
{
printf("\n userID : %d", message_seq->_buffer[j].userID);
printf("\n Message : \"%s\"", message_seq->_buffer[j].message);
}
else
{
printf("\n Data is invalid!");
}
}
fflush(stdout);
g_status = WaitSetData_MsgDataReader_return_loan(message_DataReader, message_seq, message_infoSeq);
checkStatus(g_status, "WaitSetData_MsgDataReader_return_loan");
}
// This checks whether the Timeout Thread has resumed waiting.
else if( guardList->_buffer[i] == escape )
{
printf("\n escape condition triggered! - count = %d\n ", count);
isEscaped = TRUE;
g_status = DDS_GuardCondition_set_trigger_value(escape, FALSE);
checkStatus(g_status, "DDS_GuardCondition_set_trigger_value");
}
}
while( ++i < guardList->_length );
}
else if (g_status != DDS_RETCODE_TIMEOUT) {
// DDS_RETCODE_TIMEOUT is considered as an error
// only after it has occurred count times
checkStatus(g_status, "DDS_WaitSet_wait");
} else {
printf("!!! [INFO] WaitSet timedout - count = %d\n ", count);
}
++count;
isClosed = isEscaped && writerLeft;
} while( isClosed == FALSE && count < 20);
if (count >= 20) {
printf( "*** Error : Timed out - count = %d ***\n", count);
}
/* Remove all Conditions from the WaitSet. */
g_status = DDS_WaitSet_detach_condition(waitSet, escape);
checkStatus(g_status, "DDS_WaitSet_detach_condition (escape)");
g_status = DDS_WaitSet_detach_condition(waitSet, statusCondition);
checkStatus(g_status, "DDS_WaitSet_detach_condition (statusCondition)");
g_status = DDS_WaitSet_detach_condition(waitSet, queryCondition);
checkStatus(g_status, "DDS_WaitSet_detach_condition (queryCondition)");
g_status = DDS_WaitSet_detach_condition(waitSet, readCondition);
checkStatus(g_status, "DDS_WaitSet_detach_condition (readCondition)");
// Cleanup DDS from the created Entities.
deleteQueryCondition(message_DataReader, readCondition);
deleteQueryCondition(message_DataReader, queryCondition);
deleteDataReader(message_Subscriber, message_DataReader);
deleteSubscriber(message_Subscriber);
deleteTopic(g_MessageTopic);
deleteParticipant();
// Cleanup C allocations
// Recursively free the instances sequence using the OpenSplice API.
DDS_free(guardList);
DDS_free(message_seq);
DDS_free(message_infoSeq);
DDS_free(waitSet);
DDS_free(escape);
printf("\n");
return 0;
}
