void deadlineListener_on_offered_deadline_missed(
void* listener_data,
DDS_DataWriter* writer,
const struct DDS_OfferedDeadlineMissedStatus *status)
{
deadline_contentfilter dummy;
DDS_ReturnCode_t retcode = deadline_contentfilterDataWriter_get_key_value(
deadline_contentfilterDataWriter_narrow(writer), &dummy, &status->last_instance_handle);
if (retcode != DDS_RETCODE_OK) {
printf("get_key_value error %d\n", retcode);
return;
}
printf("Offered deadline missed on instance code = %d\n", dummy.code);
}
static int publisher_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Publisher *publisher = NULL;
DDS_Topic *topic = NULL;
DDS_DataWriter *writer = NULL;
deadline_contentfilterDataWriter *deadline_contentfilter_writer = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t deadline_period = {1, 500000000}; /* 1.5sec */
struct DDS_Duration_t send_period = {1,0};
deadline_contentfilter *instance0 = NULL;
deadline_contentfilter *instance1 = NULL;
DDS_InstanceHandle_t handle0 = DDS_HANDLE_NIL;
DDS_InstanceHandle_t handle1 = DDS_HANDLE_NIL;
/*struct DDS_DataWriterQos datawriter_qos = DDS_DataWriterQos_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");
publisher_shutdown(participant);
return -1;
}
/* To customize publisher QoS, use
the configuration file USER_QOS_PROFILES.xml */
publisher = DDS_DomainParticipant_create_publisher(
participant, &DDS_PUBLISHER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (publisher == NULL) {
printf("create_publisher error\n");
publisher_shutdown(participant);
return -1;
}
/* Register type before creating topic */
type_name = deadline_contentfilterTypeSupport_get_type_name();
retcode = deadline_contentfilterTypeSupport_register_type(
participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
publisher_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(
participant, "Example deadline_contentfilter",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
publisher_shutdown(participant);
return -1;
}
/* To customize data writer QoS, use
the configuration file USER_QOS_PROFILES.xml */
writer = DDS_Publisher_create_datawriter(
publisher, topic,
&DDS_DATAWRITER_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE);
if (writer == NULL) {
printf("create_datawriter error\n");
publisher_shutdown(participant);
return -1;
}
/* If you want to change the DataWriter's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the create_datawriter call above.
*
* In this case, we set the deadline period to 1.5 seconds to trigger
* a deadline if the DataWriter does not update often enough.
*/
/* Start changes for Deadline */
/* writer_listener.on_offered_deadline_missed =
deadlineListener_on_offered_deadline_missed;
retcode = DDS_Publisher_get_default_datawriter_qos(publisher,
&datawriter_qos);
if (retcode != DDS_RETCODE_OK) {
printf("get_default_datawriter_qos error\n");
return -1;
}
*/ /* Set deadline QoS */
/* datawriter_qos.deadline.period = deadline_period;
writer = DDS_Publisher_create_datawriter(
publisher, topic,
&datawriter_qos, &writer_listener, DDS_OFFERED_DEADLINE_MISSED_STATUS);
if (writer == NULL) {
printf("create_datawriter error\n");
publisher_shutdown(participant);
return -1;
}
*/
/* End changes for Deadline */
deadline_contentfilter_writer =
deadline_contentfilterDataWriter_narrow(writer);
if (deadline_contentfilter_writer == NULL) {
printf("DataWriter narrow error\n");
publisher_shutdown(participant);
return -1;
}
/* Start changes for Deadline */
/* Create data sample for writing */
instance0 =
deadline_contentfilterTypeSupport_create_data_ex(DDS_BOOLEAN_TRUE);
instance1 =
deadline_contentfilterTypeSupport_create_data_ex(DDS_BOOLEAN_TRUE);
if (instance0 == NULL || instance1 == NULL) {
printf("deadlineTypeSupport_create_data error\n");
publisher_shutdown(participant);
return -1;
}
/* Set keys -- we specify 'code' as the key field in the .idl */
instance0->code = 0;
instance1->code = 1;
/* For data type that has key, if the same instance is going to be
written multiple times, initialize the key here
and register the keyed instance prior to writing */
handle0 = deadline_contentfilterDataWriter_register_instance(
deadline_contentfilter_writer, instance0);
handle1 = deadline_contentfilterDataWriter_register_instance(
deadline_contentfilter_writer, instance1);
instance0->x = instance0->y = instance1->x = instance1->y = 0;
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
NDDS_Utility_sleep(&send_period);
instance0->x++;
instance0->y++;
instance1->x++;
instance1->y++;
printf("Writing instance0, x = %d, y = %d\n", instance0->x,
instance0->y);
retcode = deadline_contentfilterDataWriter_write(
deadline_contentfilter_writer, instance0, &handle0);
if (retcode != DDS_RETCODE_OK) {
printf("write error %d\n", retcode);
}
if (count < 15) {
printf("Writing instance1, x = %d, y = %d\n", instance1->x,
instance1->y);
retcode = deadline_contentfilterDataWriter_write(
deadline_contentfilter_writer, instance1, &handle1);
if (retcode != DDS_RETCODE_OK) {
printf("write error %d\n", retcode);
}
} else if (count == 15) {
printf("Stopping writes to instance1\n");
}
}
retcode = deadline_contentfilterDataWriter_unregister_instance(
deadline_contentfilter_writer, instance0, &handle0);
if (retcode != DDS_RETCODE_OK) {
printf("unregister instance error %d\n", retcode);
}
retcode = deadline_contentfilterDataWriter_unregister_instance(
deadline_contentfilter_writer, instance1, &handle1);
if (retcode != DDS_RETCODE_OK) {
printf("unregister instance error %d\n", retcode);
}
/* Delete data sample */
retcode = deadline_contentfilterTypeSupport_delete_data_ex(instance0,
DDS_BOOLEAN_TRUE);
if (retcode != DDS_RETCODE_OK) {
printf("deadline_contentfilterTypeSupport_delete_data_ex error %d\n",
retcode);
}
retcode = deadline_contentfilterTypeSupport_delete_data_ex(instance1,
DDS_BOOLEAN_TRUE);
if (retcode != DDS_RETCODE_OK) {
printf("deadline_contentfilterTypeSupport_delete_data_ex error %d\n",
retcode);
}
/* End changes for Deadline */
/* Cleanup and delete delete all entities */
return publisher_shutdown(participant);
}
