std::ostream& operator<<(std::ostream& ostr, DDS_Locator_t const& rhs)
{
std::string kind = "<\?\?\?>";
if (rhs.kind == DDS_LOCATOR_KIND_UDPv4) {
kind = "UDPv4";
}
else if (rhs.kind == DDS_LOCATOR_KIND_UDPv6) {
kind = "UDPv6";
}
else if (rhs.kind == 2) {
kind = "SHMEM";
}
ostr << "protocol: " << rhs.kind << " - " << kind << " ";
if (kind == "UDPv4") {
int ip;
memcpy(&ip, &rhs.address[12], sizeof(ip));
ostr << PrintIp(ntohl(ip)) << ":" << rhs.port;
}
else /* if (kind == "UDPv6") */ {
for (int j = 0; j < 16; ++j) {
ostr.width(2);
ostr.fill('0');
ostr << std::hex <<(int) rhs.address[j] << " ";
}
ostr << std::dec;
}
return ostr;
}
void PrintRouter(void)
{
if( RouterExist() == -1 )
return;
printf("=-=-=-=-=Router=-=-=-=-=\n");
printf("Router mac = ");
PrintMac(router->mac);
printf("Router ip = ");
PrintIp(router->ip);
printf("=-=-=-=-=-=-=-=-=-=-=-=-=\n\n");
printf("_____________________________________________________\n");
}
void PrintClients()
{
struct client *tmp;
register int i = 0;
if( ClientExist() == -1 )
return;
printf("_____________________________________________________\n");
tmp = c;
printf("=-=-=-=-=Clients=-=-=-=-=\n");
do
{
printf("client mac [%d] = ", i);
PrintMac(tmp->mac);
printf("client ip [%d] = ", i);
PrintIp(tmp->ip);
tmp = tmp -> next;
i++;
}while (tmp != (struct client *)NULL);
printf("=-=-=-=-=-=-=-=-=-=-=-=-=\n\n");
}
void
SubscriptionPrinter::Printer::operator()(DDS_SubscriptionBuiltinTopicData const * event) throw()
{
string key = guidString(event->key);
string participantKey = guidString(event->participant_key);
string subscriberKey = guidString(event->subscriber_key);
const char* subName = event->subscription_name.name;
if (!s_key.empty()) {
if (s_key != key)
return;
}
if (!s_participantKey.empty()) {
if (s_participantKey != participantKey)
return;
}
if (!s_subscriberKey.empty()) {
if (s_subscriberKey != subscriberKey)
return;
}
if (!s_topicName.empty()) {
if (s_topicName != event->topic_name)
return;
}
if (s_verbose < 4) {
if (s_verbose < 3) {
// only print topics for matching partitions
bool match = false;
for (int i = 0; i < event->partition.name.length(); ++i) {
if (Miro::RobotParameters::instance()->name == event->partition.name[i]) {
match = true;
break;
}
}
if (!match) {
return;
}
}
if (s_verbose > 1) {
if (s_key.empty()) {
cout << "key: " << key << " - IP " << PrintIp(event->key.value[0]) << endl;
}
if (s_participantKey.empty()) {
cout << "participant key: " << participantKey << " - IP " << PrintIp(event->participant_key.value[0]) << endl;
}
if (s_subscriberKey.empty()) {
cout << "subscriber key: " << subscriberKey << " - IP " << PrintIp(event->subscriber_key.value[0]) << endl;
}
}
cout << "{ ";
if (s_verbose > 2) {
cout << "[";
for (int i = 0; i < event->partition.name.length(); ++i) {
if (i > 0) {
cout << ", ";
}
cout << event->partition.name[i];
}
cout << "], " << endl << " ";
}
cout << event->topic_name;
if (s_verbose > 0) {
cout << ", " << event->type_name;
}
if (s_verbose > 2) {
cout << ", " << endl << " version: " << event->product_version;
}
if (s_verbose > 2 && subName) {
cout << ", " << endl << " subscription_name: " << subName << endl;
}
else {
cout << endl;
}
cout << " }" << endl;
if (s_verbose > 1) {
cout << endl;
}
}
else {
DDSSubscriptionBuiltinTopicDataTypeSupport::print_data(event);
}
}
