dds_entity_t dds_participant_get ( dds_entity_t entity) { DDS_ReturnCode_t result = DDS_RETCODE_OK; DDS_DomainParticipant participant = NULL; DDS_Publisher publisher; DDS_Subscriber subscriber; DDS_REPORT_STACK(); if (entity) { switch (DDS_Entity_get_kind(entity)) { case DDS_ENTITY_KIND_DOMAINPARTICIPANT: participant = entity; break; case DDS_ENTITY_KIND_TOPIC: participant = DDS_Topic_get_participant(entity); break; case DDS_ENTITY_KIND_PUBLISHER: participant = DDS_Publisher_get_participant(entity); break; case DDS_ENTITY_KIND_SUBSCRIBER: participant = DDS_Subscriber_get_participant(entity); break; case DDS_ENTITY_KIND_DATAWRITER: publisher = DDS_DataWriter_get_publisher(entity); if (publisher) { participant = DDS_Publisher_get_participant(publisher); } break; case DDS_ENTITY_KIND_DATAREADER: subscriber = DDS_DataReader_get_subscriber(entity); if (subscriber) { participant = DDS_Subscriber_get_participant(subscriber); } break; default: result = DDS_RETCODE_BAD_PARAMETER; DDS_REPORT(result, "Entity parameter is not a valid dds entity."); break; } } else { result = DDS_RETCODE_BAD_PARAMETER; DDS_REPORT(result, "Entity parameter is NULL."); } if (!participant && result == DDS_RETCODE_OK) { result = dds_report_get_error_code(); } DDS_REPORT_FLUSH(entity, result != DDS_RETCODE_OK); return participant; }
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); }