DDS::DomainParticipant* BulkDataNTStream::createDDSParticipant() { AUTO_TRACE(__PRETTY_FUNCTION__); DDS::ReturnCode_t ret; DDS::DomainParticipantQos participant_qos; int domainID=0; //TBD: where to get domain ID DDS::DomainParticipant* domainParticipant; if (factory_m==NULL) { NullPointerExImpl ex(__FILE__, __LINE__, __PRETTY_FUNCTION__); ex.setVariable("factory_m"); throw ex; } // If the profileQoS set on the configuration corresponds to a default stream profile, // then we use the default library as the library to search for it. // Otherwise, it means that the user specified it, so it must belong // to the specified library too const char *library = 0; if( configuration_m.libraryQos.compare((const char*)DDSConfiguration::DEFAULT_LIBRARY) == 0 && (configuration_m.profileQos.compare((const char*)DDSConfiguration::DEFAULT_RECEIVER_STREAM_PROFILE) == 0 || configuration_m.profileQos.compare((const char*)DDSConfiguration::DEFAULT_SENDER_STREAM_PROFILE) == 0) ) library = DDSConfiguration::DEFAULT_LIBRARY; else library = configuration_m.libraryQos.c_str(); ret = factory_m->get_participant_qos_from_profile(participant_qos, library, configuration_m.profileQos.c_str()); if (ret!=DDS::RETCODE_OK) { DDSQoSSetProblemExImpl ex(__FILE__, __LINE__, __PRETTY_FUNCTION__); ex.setDDSTypeCode(ret); ex.setQoS("get_participant_qos_from_profile"); throw ex; }//if // we make sure that what participant creates is created disabled participant_qos.entity_factory.autoenable_created_entities=DDS_BOOLEAN_FALSE; domainParticipant =factory_m->create_participant(domainID, participant_qos, NULL, DDS::STATUS_MASK_NONE ); if (domainParticipant==NULL) { DDSParticipantCreateProblemExImpl ex(__FILE__, __LINE__, __PRETTY_FUNCTION__); ex.setDomainID(domainID); throw ex; } ret = domainParticipant->enable(); if (ret!=DDS::RETCODE_OK) { DDSParticipantEnableProblemExImpl ex(__FILE__, __LINE__, __PRETTY_FUNCTION__); ex.setDDSTypeCode(ret); ex.setDomainID(domainID); throw ex; }//if const char* type_name = ACSBulkData::BulkDataNTFrameTypeSupport::get_type_name(); ret = ACSBulkData::BulkDataNTFrameTypeSupport::register_type(domainParticipant, type_name); if (ret != DDS::RETCODE_OK) { DDSRegisterTypeProblemExImpl ex(__FILE__, __LINE__, __PRETTY_FUNCTION__); ex.setDDSTypeCode(ret); ex.setTypeName(type_name); throw ex; } return domainParticipant; }//createDDSParticipant
DdsEntitiesFactory::DdsEntitiesFactory(DdsEntitiesFactoryParameters const& params) : m_params(params), m_data(new Data()) { MIRO_LOG_CTOR("kn::DdsEntitiesFactory"); // for error reporting stringstream ostr; DDS::DomainParticipantFactory * dpf = DDS::DomainParticipantFactory::get_instance(); //--------------------------------------------------- // disable default locations for Qos policy lookup DDS::DomainParticipantFactoryQos dpfQos; DDS_DomainParticipantFactoryQos_initialize(&dpfQos); DDS::ReturnCode_t rc; if ((rc = dpf->get_qos(dpfQos)) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to query Qos (" << ((int)rc) << "): " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } // start participants disabled, so we can set discovery modules dpfQos.entity_factory.autoenable_created_entities = DDS_BOOLEAN_FALSE; // if configuration file is given, disable all other config options if (!m_params.configFiles.empty()) { Miro::SearchPaths paths(KNDDS_INSTALL_PREFIX "/etc"); paths.addMiroEtcPaths(); dpfQos.profile.url_profile.maximum(m_params.configFiles.size()); dpfQos.profile.url_profile.length(m_params.configFiles.size()); dpfQos.profile.ignore_user_profile = true; dpfQos.profile.ignore_environment_profile = true; dpfQos.profile.ignore_resource_profile = true; for (unsigned int i = 0; i < m_params.configFiles.size(); ++i) { string absFilePath = paths.findFile(m_params.configFiles[i]); if (absFilePath.empty()) { ostr << "DdsSupport::init() - DDS config file given not found (" << m_params.configFiles[i] << ")"; throw Miro::Exception(ostr.str()); } dpfQos.profile.url_profile[i] = DDS_String_dup(("file://" + absFilePath).c_str()); } if ((rc = dpf->set_qos(dpfQos)) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set Qos: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } } if (!m_params.defaultLibrary.empty() && (rc = dpf->set_default_library(m_params.defaultLibrary.c_str())) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set default library: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } if (!m_params.defaultProfile.empty() && (rc = dpf->set_default_profile(m_params.defaultLibrary.c_str(), m_params.defaultProfile.c_str())) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set default library: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } //------------------------------------------- // create all participants // (default is 1) DdsDomainParticipantRepository * partRepo = DdsDomainParticipantRepository::instance(); DdsTypeRegistratorRepository * typeRepo = DdsTypeRegistratorRepository::instance(); { ParticipantVector::const_iterator first, last = m_params.participants.end(); for (first = m_params.participants.begin(); first != last; ++first) { // create one participant char const * library = first->library.empty() ? NULL : first->library.c_str(); char const * profile = first->profile.empty() ? NULL : first->profile.c_str(); DDS::DomainParticipantQos qos; DDS_DomainParticipantQos_initialize(&qos); if (profile == NULL && (m_params.defaultLibrary.empty() || m_params.defaultProfile.empty())) { DDS::ReturnCode_t rc = dpf->get_default_participant_qos(qos); if (rc != DDS_RETCODE_OK) { ostr << "Get default participant Qos profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } } else { DDS::ReturnCode_t rc = dpf->get_participant_qos_from_profile(qos, library, profile); if (rc != DDS_RETCODE_OK) { ostr << "Load participant Qos profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } } // set participant name from Miro parameters if (!first->participantName.empty()) { qos.participant_name.name = DDS_String_dup(first->participantName.c_str()); } // handle discovery-peers processing // just print the stuff as a first step... if (!first->discoveryPeersFiles.empty()) { DDS_DiscoveryQosPolicy& discovery = qos.discovery; StringVector peers; StringVector::const_iterator f, l = first->discoveryPeersFiles.end(); for (f = first->discoveryPeersFiles.begin(); f != l; ++f) { StringVector const p = parseDiscoveryPeersFile(*f); peers.insert(peers.end(), p.begin(), p.end()); } // set peers list in qos if (discovery.initial_peers.maximum() < (int)peers.size()) { discovery.initial_peers.maximum(peers.size()); } discovery.initial_peers.length(peers.size()); for (int i = 0; i < discovery.initial_peers.length(); ++i) { assert (peers[i].length() < 100); DDS_String_free(discovery.initial_peers[i]); discovery.initial_peers[i] = DDS_String_dup(peers[i].c_str()); } MIRO_LOG_OSTR(LL_NOTICE, "DDS Initial peers layout for " << qos.participant_name.name); for (int i = 0; i < qos.discovery.initial_peers.length(); ++i) { MIRO_LOG_OSTR(LL_NOTICE, qos.discovery.initial_peers[i]); } } #ifdef KNDDS_HAS_DDS_Monitor if (first->enableMonitor) { int rc; rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "rti.monitor.library", "rtimonintoring", DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); char valueBuffer[17]; sprintf(valueBuffer, "%p", RTIDefaultMonitor_create); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "rti.monitor.create_function_ptr", valueBuffer, DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); int monitorId = (first->monitorDomainId >= 0) ? first->monitorDomainId : first->domainId + 1; sprintf(valueBuffer, "%i", monitorId); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "rti.monitor.config.new_participant_domain_id", valueBuffer, DDS_BOOLEAN_FALSE); if (!first->monitorLibrary.empty()) { rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "rti.monitor.config.qos_library", first->monitorLibrary.c_str(), DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "rti.monitor.config.qos_profile", first->monitorProfile.c_str(), DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); } } #endif #if defined(KNDDS_HAS_RTI_DistLogger) if(m_params.enableDistLogger) { // Initialize the distributed logger. If distLoggerDomainId is less than // 0, use the domain of the first participant int loggerId = (m_params.distLoggerDomainId >= 0) ? m_params.distLoggerDomainId : first->domainId; RTI_DLDistLogger* dl = NULL; RTI_DLOptions dlOptions; // RTI_DLOptions API changed in RTI DDS 5.1.0 #if (RTI_DDS_VERSION_MAJOR >= 5 && RTI_DDS_VERSION_MINOR > 0) rc = dlOptions.setDomainId(loggerId); assert (rc == DDS_RETCODE_OK); rc = dlOptions.setApplicationKind(qos.participant_name.name); assert (rc == DDS_RETCODE_OK); #else dlOptions.setDomainId(loggerId); dlOptions.setApplicationKind(qos.participant_name.name); #endif RTI_DLDistLogger::setOptions(dlOptions); dl = RTI_DLDistLogger::getInstance(); if(dl) { dl->info("DdsEntitiesFactory initialized RTI Distributed Logger"); } else { KN_ERROR("RTI Distributed Logger - getInstance() returned NULL"); } } #endif #if defined(KNDDS_HAS_DDS_LBPlugin) && defined(RTIDDS_LB_BETA_VERSION) // disable simple-endpoind discovery if static discovery modules are specified // we need to double-check if they can coexist peacefully... if (!first->lbpdFile.empty()) { qos.discovery_config.builtin_discovery_plugins &= ~DDS_DISCOVERYCONFIG_BUILTIN_SPDP; } if (!first->lbedFile.empty()) { qos.discovery_config.builtin_discovery_plugins &= ~DDS_DISCOVERYCONFIG_BUILTIN_SEDP; } #endif DDS::DomainParticipant * participant = dpf->create_participant(first->domainId, qos, NULL /* listener */, DDS::STATUS_MASK_NONE); if (participant == NULL) { throw Miro::Exception("DdsSupport::init() - Failed to create participant."); } // set default library/profile if (library != NULL && (rc = participant->set_default_library(library)) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set participant default library: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } if (profile != NULL && (rc = participant->set_default_profile(library, profile)) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set participant default profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } #if defined(KNDDS_HAS_DDS_LBPlugin) // add static discovery modules if specified if (!first->lbpdFile.empty()) { MIRO_LOG(LL_NOTICE, "DDS Static Participant Discovery"); # if defined(RTIDDS_LB_BETA_VERSION) DDSLBPDiscoveryPlugin *pPlugin = new DDSLBPDiscoveryPlugin(); pPlugin->parseXmlFile(first->lbpdFile.c_str()); pPlugin->registerPlugin(participant); # else rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.participant.lbpdiscovery.library", "rtilbpdisc", DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.participant.lbpdiscovery.create_function", "DDS_LBPDiscoveryPlugin_create", DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.participant.lbpdiscovery.config_file", first->lbpdFile.c_str(), DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.participant.load_plugin", "dds.discovery.endpoint.lbpdiscovery", DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); char valueBuffer[18]; sprintf(valueBuffer, "%i", first->lbedLogVerbosity); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.participant.lbpdiscovery.verbosity", valueBuffer, DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); # endif } if (!first->lbedFile.empty()) { MIRO_LOG(LL_NOTICE, "DDS Static Endpoint Discovery"); # if defined(RTIDDS_LB_BETA_VERSION) DDSLBEDiscoveryPlugin *ePlugin = new DDSLBEDiscoveryPlugin(); ePlugin->parseXmlFile(first->lbedFile.c_str()); ePlugin->registerPlugin(participant); # else rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.endpoint.lbediscovery.library", "rtilbedisc", DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.endpoint.lbediscovery.create_function", "DDS_LBEDiscoveryPlugin_create", DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.endpoint.lbediscovery.config_file", first->lbedFile.c_str(), DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.endpoint.load_plugin", "dds.discovery.endpoint.lbediscovery", DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); char valueBuffer[18]; sprintf(valueBuffer, "%i", first->lbedLogVerbosity); rc = DDS_PropertyQosPolicyHelper_add_property(&qos.property, "dds.discovery.endpoint.lbediscovery.verbosity", valueBuffer, DDS_BOOLEAN_FALSE); assert (rc == DDS_RETCODE_OK); # endif } #endif // enable participant rc = participant->enable(); if (rc != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to enable participant: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } try { partRepo->add(first->name, participant); } catch (Miro::RepositoryBase::EAlreadyRegistered const&) { throw Miro::Exception("DdsSupport::init() - Duplicate name for participant at repo."); } //------------------------------------------------- // register all relevant types with the participant // by default assume, that all types are for all domains if (first->types.empty()) { DdsTypeRegistratorRepository::InstanceMap const& types = typeRepo->getMap(); DdsTypeRegistratorRepository::InstanceMap::const_iterator f, l = types.end(); for (f = types.begin(); f != l; ++f) { try { f->second->registerType(participant); } catch (Miro::Exception const& e) { ostr << "Error registering type" << f->first << " at participant " << first->name << ": " << e.what(); throw Miro::Exception(ostr.str()); } } } else { StringVector::const_iterator f, l = first->types.end(); for (f = first->types.begin(); f != l; ++f) { try { DdsTypeRegistratorBase * tReg = typeRepo->get(*f); tReg->registerType(participant); } catch (Miro::Exception const& e) { ostr << "Error registering type" << *f << " at participant " << first->name << ": " << e.what(); throw Miro::Exception(ostr.str()); } } } //------------------------------------------------- // create all flow controllers configured for the participant vector<DdsFlowControllerParameters>::const_iterator f, l = first->flowControllers.end(); for (f = first->flowControllers.begin(); f != l; ++f) { DDS::FlowControllerProperty_t property; property.scheduling_policy = (f->schedulingPolicy == "DDS_RR_FLOW_CONTROLLER_SCHED_POLICY")? DDS_RR_FLOW_CONTROLLER_SCHED_POLICY : DDS_EDF_FLOW_CONTROLLER_SCHED_POLICY; property.token_bucket.max_tokens = (f->tokenBucket.maxTokens < 0)? DDS_LENGTH_UNLIMITED : f->tokenBucket.maxTokens; property.token_bucket.tokens_added_per_period = (f->tokenBucket.tokensAddedPerPeriod < 0)? DDS_LENGTH_UNLIMITED : f->tokenBucket.tokensAddedPerPeriod; property.token_bucket.tokens_leaked_per_period = (f->tokenBucket.tokensLeakedPerPeriod < 0)? DDS_LENGTH_UNLIMITED : f->tokenBucket.tokensLeakedPerPeriod; if (f->tokenBucket.period > ACE_Time_Value::zero) { property.token_bucket.period.sec = f->tokenBucket.period.sec(); property.token_bucket.period.nanosec = f->tokenBucket.period.usec() * 1000; } else { property.token_bucket.period = DDS_DURATION_INFINITE; } property.token_bucket.bytes_per_token = (f->tokenBucket.bytesPerToken < 0)? DDS_LENGTH_UNLIMITED : f->tokenBucket.bytesPerToken; participant->create_flowcontroller(DDS::String_dup(f->name.c_str()), property); } DDS_DomainParticipantQos_finalize(&qos); } } //------------------------------------------------- // create all publishers in configuration file // (default is 1) DdsPublisherRepository * pubRepo = DdsPublisherRepository::instance(); { NodeVector::const_iterator first, last = m_params.publishers.end(); for (first = m_params.publishers.begin(); first != last; ++first) { // per publisher DDS::DomainParticipant * participant = NULL; try { participant = partRepo->get(first->participant); } catch (Miro::Exception const&) { ostr << "Publisher specified unknown participant: " << first->participant; throw Miro::Exception(ostr.str()); } char const * profile = first->profile.empty() ? NULL : first->profile.c_str(); char const * library = first->library.empty() ? NULL : first->library.c_str(); DDS::PublisherQos qos; DDS_PublisherQos_initialize(&qos); if (profile == NULL && (m_params.defaultLibrary.empty() || m_params.defaultProfile.empty())) { DDS::ReturnCode_t rc = participant->get_default_publisher_qos(qos); if (rc != DDS_RETCODE_OK) { ostr << "Get default publisher Qos profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } } else { DDS::ReturnCode_t rc = dpf->get_publisher_qos_from_profile(qos, library, profile); if (rc != DDS_RETCODE_OK) { ostr << "Load publisher Qos profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } } char const * partition = (first->partition.empty() || first->partition == "<NONE>")? NULL : first->partition.c_str(); if (partition != NULL) { qos.partition.name.maximum(1); qos.partition.name.length(1); qos.partition.name[0] = DDS_String_dup(partition); } DDS::Publisher * publisher = participant->create_publisher(qos, NULL /* listener */, DDS::STATUS_MASK_NONE); if (publisher == NULL) { throw Miro::Exception("Failed to create publisher."); } // set default library/profile if (library != NULL && (rc = publisher->set_default_library(library)) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set publisher default library: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } if (profile != NULL && (rc = publisher->set_default_profile(library, profile)) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set publisher default profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } try { pubRepo->add(first->name, publisher); } catch (Miro::RepositoryBase::EAlreadyRegistered const&) { throw Miro::Exception("DdsSupport::init() - Duplicate name for publisher at repo."); } DDS_PublisherQos_finalize(&qos); } } //------------------------------------------------- // create all subscribers in configuration file // (default is 2) DdsSubscriberRepository * subRepo = DdsSubscriberRepository::instance(); { NodeVector::const_iterator first, last = m_params.subscribers.end(); for (first = m_params.subscribers.begin(); first != last; ++first) { // per subscriber DDS::DomainParticipant * participant = NULL; try { participant = partRepo->get(first->participant); } catch (Miro::Exception const&) { ostr << "Subscriber specified unknown participant: " << first->participant; throw Miro::Exception(ostr.str()); } char const * profile = first->profile.empty() ? NULL : first->profile.c_str(); char const * library = first->library.empty() ? NULL : first->library.c_str(); DDS::SubscriberQos qos; DDS_SubscriberQos_initialize(&qos); if (profile == NULL && (m_params.defaultLibrary.empty() || m_params.defaultProfile.empty())) { DDS::ReturnCode_t rc = participant->get_default_subscriber_qos(qos); if (rc != DDS_RETCODE_OK) { ostr << "Get default subscriber Qos profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } } else { DDS::ReturnCode_t rc = dpf->get_subscriber_qos_from_profile(qos, library, profile); if (rc != DDS_RETCODE_OK) { ostr << "Load subscriber Qos profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } } char const * partition = (first->partition.empty() || first->partition == "<NONE>")? NULL : first->partition.c_str(); if (partition != NULL) { if (strcmp("<TEAM>", partition) == 0) { Miro::RobotParameters * rp = Miro::RobotParameters::instance(); if (!rp->teamMembers.empty()) { qos.partition.name.maximum(rp->teamMembers.size()); qos.partition.name.length(rp->teamMembers.size()); for (unsigned int i = 0; i < rp->teamMembers.size(); ++i) { qos.partition.name[i] = DDS_String_dup(rp->teamMembers[i].c_str()); } } else { MIRO_LOG(LL_WARNING, "Team partition requested, but RobotParameters::teamMembers is empty, assuming ALL."); qos.partition.name.maximum(1); qos.partition.name.length(1); qos.partition.name[0] = DDS_String_dup("*"); } } else { qos.partition.name.maximum(1); qos.partition.name.length(1); qos.partition.name[0] = DDS_String_dup(partition); } } DDS::Subscriber * subscriber = participant->create_subscriber(qos, NULL /* listener */, DDS::STATUS_MASK_NONE); if (subscriber == NULL) { throw Miro::Exception("Failed to create subscriber."); } // set default library/profile if (library != NULL && (rc = subscriber->set_default_library(library)) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set subscriber default library: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } if (profile != NULL && (rc = subscriber->set_default_profile(library, profile)) != DDS_RETCODE_OK) { ostr << "DdsSupport::init() - Failed to set subscriber default profile: " << DdsSupport::getError(rc); throw Miro::Exception(ostr.str()); } try { subRepo->add(first->name, subscriber); } catch (Miro::RepositoryBase::EAlreadyRegistered const&) { throw Miro::Exception("DdsSupport::init() - Duplicate name for subscriber at repo."); } DDS_SubscriberQos_finalize(&qos); } } //------------------------------------------------- // create all topics in configuration file // (default is 0) { TopicVector::const_iterator first, last = m_params.topics.end(); for (first = m_params.topics.begin(); first != last; ++first) { DDS::DomainParticipant * participant = NULL; try { participant = partRepo->get(first->participant); } catch (Miro::Exception const&) { ostr << "Topic specified unknown participant: " << first->participant; throw Miro::Exception(ostr.str()); } char const * profile = first->profile.empty() ? NULL : first->profile.c_str(); char const * library = first->library.empty() ? NULL : first->library.c_str(); DDS::Topic * topic = (profile || (!m_params.defaultLibrary.empty() && !m_params.defaultProfile.empty())) ? participant->create_topic_with_profile(first->name.c_str(), first->typeName.c_str(), library, profile, NULL /* listener */, DDS::STATUS_MASK_NONE) : participant->create_topic(first->name.c_str(), first->typeName.c_str(), DDS_TOPIC_QOS_DEFAULT, NULL /* listener */, DDS::STATUS_MASK_NONE); if (topic == NULL) { throw Miro::Exception("Failed to create topic."); } } } }