void sedp_add_builtin_endpoints(frudp_part_t *part)
{
printf("adding endpoints for ");
frudp_print_guid_prefix(&part->guid_prefix);
printf("\r\n");
frudp_reader_t pub_reader; // this reads the remote peer's publications
pub_reader.writer_guid = g_frudp_guid_unknown;
frudp_stuff_guid(&pub_reader.writer_guid,
&part->guid_prefix,
&g_sedp_pub_writer_id);
pub_reader.reader_eid = g_sedp_pub_reader_id;
pub_reader.max_rx_sn.low = 0;
pub_reader.max_rx_sn.high = 0;
pub_reader.data_cb = frudp_sedp_rx_pub_data;
pub_reader.msg_cb = NULL;
pub_reader.reliable = true;
frudp_add_reader(&pub_reader);
frudp_reader_t sub_reader; // this reads the remote peer's subscriptions
sub_reader.writer_guid = g_frudp_guid_unknown;
frudp_stuff_guid(&sub_reader.writer_guid,
&part->guid_prefix,
&g_sedp_sub_writer_id);
sub_reader.reader_eid = g_sedp_sub_reader_id;
sub_reader.max_rx_sn.low = 0;
sub_reader.max_rx_sn.high = 0;
sub_reader.data_cb = frudp_sedp_rx_sub_data;
sub_reader.msg_cb = NULL;
sub_reader.reliable = true;
frudp_add_reader(&sub_reader);
// blast our SEDP data at this participant
frudp_send_sedp_msgs(part);
}
bool frudp_part_create(void)
{
if (g_frudp_participant_init_complete)
{
printf("woah there partner. "
"freertps currently only allows one participant.\r\n");
return false;
}
FREERTPS_INFO("frudp_part_create() on domain_id %d\r\n",
(int)g_frudp_config.domain_id);
//g_frudp_config.domain_id = domain_id;
if (!frudp_init_participant_id())
{
printf("unable to initialize participant ID\r\n");
return false;
}
//frudp_generic_init();
//frudp_disco_init();
g_frudp_participant_init_complete = true;
printf("prefix: ");
frudp_print_guid_prefix(&g_frudp_config.guid_prefix);
printf("\n");
return true;
}
