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); }
static void test_listener (void) { DDS_DomainParticipant p; DDS_Topic t; DDS_TopicDescription td; DDS_Subscriber sub; DDS_DataReader dr; DDS_DataReaderListener *lp; 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 listener.\r\n"); dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0); fail_unless (dr != NULL); lp = DDS_DataReader_get_listener (dr); fail_unless (lp != NULL && lp->on_sample_rejected == NULL && lp->on_liveliness_changed == NULL && lp->on_requested_deadline_missed == NULL && lp->on_requested_incompatible_qos == NULL && lp->on_data_available == NULL && lp->on_subscription_matched == NULL && lp->on_sample_lost == NULL); v_printf (" - Test specific reader listener updates.\r\n"); r = DDS_DataReader_set_listener (dr, &r_listener, DDS_SAMPLE_REJECTED_STATUS | DDS_LIVELINESS_CHANGED_STATUS | DDS_REQUESTED_DEADLINE_MISSED_STATUS | DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS | DDS_DATA_AVAILABLE_STATUS | DDS_SUBSCRIPTION_MATCHED_STATUS | DDS_SAMPLE_LOST_STATUS); fail_unless (r == DDS_RETCODE_OK); lp = DDS_DataReader_get_listener (dr); fail_unless (lp != NULL && lp->on_sample_rejected == sample_rejected && lp->on_liveliness_changed == liveliness_changed && lp->on_requested_deadline_missed == requested_deadline_missed && lp->on_requested_incompatible_qos == requested_inc_qos && lp->on_data_available == data_available && lp->on_subscription_matched == subscription_matched && lp->on_sample_lost == sample_lost && lp->cookie == (void *) 0x44556677); v_printf (" - Test default reader listener update.\r\n"); r = DDS_DataReader_set_listener (dr, NULL, DDS_REQUESTED_DEADLINE_MISSED_STATUS); fail_unless (r == DDS_RETCODE_OK); lp = DDS_DataReader_get_listener (dr); fail_unless (lp != NULL && lp->on_sample_rejected == NULL && lp->on_liveliness_changed == NULL && lp->on_requested_deadline_missed == NULL && lp->on_requested_incompatible_qos == NULL && lp->on_data_available == NULL && lp->on_subscription_matched == NULL && lp->on_sample_lost == NULL); 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); }
static void test_qos (int enabled) { DDS_DomainParticipantFactoryQos qos; DDS_DomainParticipant p; DDS_Publisher pub; DDS_Subscriber sub; DDS_DataWriter dw; DDS_DataReader dr; DDS_Topic t; DDS_TopicDescription td; DDS_DataReaderQos rq, refrq; DDS_ReturnCode_t r; static unsigned char data [] = { 0x77, 0x88, 0xaa, 0xbb, 0xcc, 0xdd }; unsigned char d2 [sizeof (data) + 1]; unsigned n; int err; v_printf (" - Set factory QoS to %sabled.\r\n", (enabled) ? "en" : "dis"); r = DDS_DomainParticipantFactory_get_qos (&qos); fail_unless (r == DDS_RETCODE_OK); qos.entity_factory.autoenable_created_entities = enabled; r = DDS_DomainParticipantFactory_set_qos (&qos); fail_unless (r == DDS_RETCODE_OK); 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, NULL, NULL, 0); fail_unless (sub != NULL); DDS_DataReaderQos__init (&refrq); err = dds_seq_from_array (&refrq.user_data, data, sizeof (data)); fail_unless (err == 0); v_printf (" - Create datareader with specific QoS parameters.\r\n"); dr = DDS_Subscriber_create_datareader (sub, td, &refrq, NULL, 0); fail_unless (dr != NULL); memset (&rq, 0, sizeof (rq)); r = DDS_DataReader_get_qos (dr, &rq); n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2)); fail_unless (r == DDS_RETCODE_OK && DDS_SEQ_LENGTH (refrq.user_data.value) == sizeof (data)); n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2)); fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data))); DDS_DataReaderQos__clear (&rq); r = DDS_Subscriber_delete_datareader (sub, dr); fail_unless (r == DDS_RETCODE_OK); v_printf (" - Create datareader with default QoS parameters.\r\n"); dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0); fail_unless (dr != NULL); pub = DDS_DomainParticipant_create_publisher (p, DDS_PUBLISHER_QOS_DEFAULT, NULL, 0); fail_unless (sub != NULL); dw = DDS_Publisher_create_datawriter (pub, t, DDS_DATAWRITER_QOS_DEFAULT, NULL, 0); fail_unless (dw != NULL); v_printf (" - Update datareader QoS parameters.\r\n"); r = DDS_DataReader_get_qos (dr, &rq); fail_unless (r == DDS_RETCODE_OK); DDS_DataReaderQos__clear (&refrq); fail_unless (r == DDS_RETCODE_OK && !memcmp (&rq, &refrq, sizeof (refrq))); err = dds_seq_from_array (&refrq.user_data, data, sizeof (data)); fail_unless (err == 0); r = DDS_DataReader_set_qos (dr, &refrq); fail_unless (r == DDS_RETCODE_OK); delay (); r = DDS_DataReader_get_qos (dr, &rq); fail_unless (r == DDS_RETCODE_OK && DDS_SEQ_LENGTH (rq.user_data.value) == sizeof (data)); n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2)); fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data))); DDS_DataReaderQos__clear (&refrq); DDS_DataReaderQos__clear (&rq); delay (); if (!enabled) { v_printf (" - Enable all entities.\r\n"); r = DDS_DomainParticipant_enable (p); fail_unless (r == DDS_RETCODE_OK); r = DDS_Topic_enable (t); fail_unless (r == DDS_RETCODE_OK); r = DDS_Publisher_enable (pub); fail_unless (r == DDS_RETCODE_OK); r = DDS_Subscriber_enable (sub); fail_unless (r == DDS_RETCODE_OK); r = DDS_DataWriter_enable (dw); fail_unless (r == DDS_RETCODE_OK); r = DDS_DataReader_enable (dr); fail_unless (r == DDS_RETCODE_OK); sleep (1); } r = DDS_Publisher_delete_datawriter (pub, dw); fail_unless (r == DDS_RETCODE_OK); r = DDS_Subscriber_delete_datareader (sub, dr); fail_unless (r == DDS_RETCODE_OK); r = DDS_DomainParticipant_delete_publisher (p, pub); 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); }
int main (int argc, char *argv []) { int domain_id = 128; DDS_ReturnCode_t error; do_switches (argc, argv); #ifdef DDS_DEBUG DDS_Debug_start (); #endif DDS_set_generate_callback (calculate_member_id); sem_init(&_sync, 0, 0); part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0); if (!part) fatal ("DDS_DomainParticipantFactory_create_participant () failed!"); if (tsm_type == 0) { error = register_HelloWorldData_type (part); if (error) { DDS_DomainParticipantFactory_delete_participant (part); fatal ("DDS_DomainParticipant_register_type ('HelloWorldData') failed (%s)!", DDS_error (error)); } sm = DDS_INCONSISTENT_TOPIC_STATUS; topic = DDS_DomainParticipant_create_topic (part, "HelloWorld", "HelloWorldData", NULL, NULL, sm); if (!topic) { DDS_DomainParticipantFactory_delete_participant (part); fatal ("DDS_DomainParticipant_create_topic ('HelloWorld') failed!"); } topic_desc = DDS_DomainParticipant_lookup_topicdescription (part, "HelloWorld"); if (!topic_desc) { DDS_DomainParticipantFactory_delete_participant (part); fatal ("Unable to create topic description for 'HelloWorld'!"); } } else { _tsm_types[0].flags |= TSMFLAG_KEY; error = register_TestType_type (part); if (error) { DDS_DomainParticipantFactory_delete_participant (part); fatal ("DDS_DomainParticipant_register_type ('HelloWorldData') failed (%s)!", DDS_error (error)); } sm = DDS_INCONSISTENT_TOPIC_STATUS; topic = DDS_DomainParticipant_create_topic (part, _tsm_types->name, _tsm_types->name, NULL, NULL, sm); if (!topic) { DDS_DomainParticipantFactory_delete_participant (part); fatal ("DDS_DomainParticipant_create_topic ('%s') failed!", _tsm_types->name); } topic_desc = DDS_DomainParticipant_lookup_topicdescription (part, _tsm_types->name); if (!topic_desc) { DDS_DomainParticipantFactory_delete_participant (part); fatal ("Unable to create topic description for '%s'!", _tsm_types->name); } } if (test == 3) { /* interop test */ make_state_reader (); make_state_writer (key); } else { if (reader) make_state_reader (); if (writer) make_state_writer (key); } if (reader) remove_state_reader (); if (writer) remove_state_writer (); if (test == 3) { remove_state_reader (); remove_state_writer (); } error = DDS_DomainParticipant_delete_topic (part, topic); if (error) fatal ("DDS_DomainParticipant_delete_topic () failed (%s)!", DDS_error (error)); free_HelloWorldData_type (part); error = DDS_DomainParticipant_delete_contained_entities (part); if (error) fatal ("DDS_DomainParticipant_delete_contained_entities () failed (%s)!", DDS_error (error)); error = DDS_DomainParticipantFactory_delete_participant (part); if (error) fatal ("DDS_DomainParticipantFactory_delete_participant () failed (%s)!", DDS_error (error)); return (0); }
static void test_aux (void) { DDS_DomainParticipant np, p; DDS_Subscriber sub; DDS_Topic t; DDS_TopicDescription td; DDS_DataReader dr, dr0, dr1; DDS_StatusCondition sc, sc2; DDS_StatusMask sm; DDS_InstanceHandle_t h, h2; DDS_DataReaderQos drq; DDS_ReturnCode_t r; v_printf (" - Test auxiliary subscriber functions.\r\n"); p = DDS_DomainParticipantFactory_create_participant (1, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0); fail_unless (p != NULL); sub = DDS_DomainParticipant_create_subscriber (p, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0); fail_unless (sub != NULL); sc = DDS_Subscriber_get_statuscondition (sub); fail_unless (sc != NULL); sc2 = DDS_Entity_get_statuscondition (sub); fail_unless (sc2 != NULL); sm = DDS_Subscriber_get_status_changes (sub); fail_unless (sm == 0); sm = DDS_Entity_get_status_changes (sub); fail_unless (sm == 0); /*dbg_printf ("(mask=%u)", sm);*/ h = DDS_Subscriber_get_instance_handle (sub); fail_unless (h != 0); h2 = DDS_Entity_get_instance_handle (sub); fail_unless (h == h2); np = DDS_Subscriber_get_participant (sub); fail_unless (np == p); 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); dr0 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0); fail_unless (dr0 != NULL); dr = DDS_Subscriber_lookup_datareader (sub, "HelloWorld"); fail_unless (dr == dr0); dr1 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0); fail_unless (dr1 != NULL); delay (); r = DDS_Subscriber_delete_contained_entities (sub); fail_unless (r == DDS_RETCODE_OK); v_printf (" - Test default child QoS of subscriber entities\r\n"); r = DDS_Subscriber_get_default_datareader_qos (sub, &drq); fail_unless (r == DDS_RETCODE_OK); drq.ownership.kind = DDS_EXCLUSIVE_OWNERSHIP_QOS; r = DDS_Subscriber_set_default_datareader_qos (sub, &drq); fail_unless (r == DDS_RETCODE_OK); dr1 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0); fail_unless (dr1 != NULL); delay (); v_printf (" - Test coherency (not implemented).\r\n"); r = DDS_Subscriber_begin_access (sub); fail_unless (r == DDS_RETCODE_UNSUPPORTED); r = DDS_Subscriber_end_access (sub); fail_unless (r == DDS_RETCODE_UNSUPPORTED); r = DDS_Subscriber_copy_from_topic_qos (sub, &drq, NULL); fail_unless (r == DDS_RETCODE_OK); r = DDS_Subscriber_notify_datareaders (sub); fail_unless (r == DDS_RETCODE_OK); r = DDS_DomainParticipant_delete_subscriber (p, sub); fail_unless (r == DDS_RETCODE_PRECONDITION_NOT_MET); r = DDS_Subscriber_delete_datareader (sub, dr1); 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); }
static void test_qos (int enabled) { DDS_DomainParticipantFactoryQos qos; DDS_DomainParticipant p; DDS_Publisher pub; DDS_Subscriber sub; DDS_DataWriter dw; DDS_DataReader dr; DDS_Topic t; DDS_TopicDescription td; DDS_SubscriberQos psq, refsq; DDS_ReturnCode_t r; static char *buf [] = { "Hello", "World" }; static unsigned char data [] = { 0x77, 0x88, 0xaa, 0xbb, 0xcc }; unsigned char d2 [sizeof (data) + 1]; unsigned n; size_t i; int err; v_printf (" - Set factory QoS to %sabled.\r\n", (enabled) ? "en" : "dis"); r = DDS_DomainParticipantFactory_get_qos (&qos); fail_unless (r == DDS_RETCODE_OK); qos.entity_factory.autoenable_created_entities = enabled; r = DDS_DomainParticipantFactory_set_qos (&qos); fail_unless (r == DDS_RETCODE_OK); p = DDS_DomainParticipantFactory_create_participant (1, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0); fail_unless (p != NULL); r = register_HelloWorldData_type (p); fail_unless (r == DDS_RETCODE_OK); DDS_SubscriberQos__init (&refsq); for (i = 0; (size_t) i < sizeof (buf) / sizeof (char *); i++) { err = dds_seq_append (&refsq.partition.name, &buf [i]); fail_unless (err == 0); } err = dds_seq_from_array (&refsq.group_data, data, sizeof (data)); fail_unless (err == 0); v_printf (" - Create subscriber with specific QoS parameters.\r\n"); sub = DDS_DomainParticipant_create_subscriber (p, &refsq, NULL, 0); fail_unless (sub != NULL); memset (&psq, 0, sizeof (psq)); r = DDS_Subscriber_get_qos (sub, &psq); fail_unless (r == DDS_RETCODE_OK && DDS_SEQ_LENGTH (refsq.partition.name) == DDS_SEQ_LENGTH (psq.partition.name) && DDS_SEQ_LENGTH (refsq.group_data.value) == sizeof (data)); DDS_SEQ_FOREACH (refsq.partition.name, i) fail_unless (!strcmp (DDS_SEQ_ITEM (psq.partition.name, i), DDS_SEQ_ITEM (refsq.partition.name, i))); n = dds_seq_to_array (&psq.group_data, d2, sizeof (d2)); fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data))); DDS_SubscriberQos__clear (&psq); r = DDS_DomainParticipant_delete_subscriber (p, sub); fail_unless (r == DDS_RETCODE_OK); v_printf (" - Create topic/publisher/writer/subscriber/reader entities.\r\n"); 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); pub = DDS_DomainParticipant_create_publisher (p, DDS_PUBLISHER_QOS_DEFAULT, NULL, 0); fail_unless (pub != NULL); dw = DDS_Publisher_create_datawriter (pub, t, DDS_DATAWRITER_QOS_DEFAULT, NULL, 0); fail_unless (dw != NULL); sub = DDS_DomainParticipant_create_subscriber (p, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0); fail_unless (sub != NULL); dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0); fail_unless (dr != NULL); v_printf (" - Update subscriber QoS.\r\n"); r = DDS_Subscriber_get_qos (sub, &psq); fail_unless (r == DDS_RETCODE_OK); DDS_SubscriberQos__clear (&refsq); fail_unless (r == DDS_RETCODE_OK && !memcmp (&psq, &refsq, sizeof (refsq))); for (i = 0; (size_t) i < sizeof (buf) / sizeof (char *); i++) { err = dds_seq_append (&refsq.partition.name, &buf [i]); fail_unless (err == 0); } err = dds_seq_from_array (&refsq.group_data, data, sizeof (data)); fail_unless (err == 0); r = DDS_Subscriber_set_qos (sub, &refsq); fail_unless (r == DDS_RETCODE_OK); delay (); r = DDS_Subscriber_get_qos (sub, &psq); fail_unless (r == DDS_RETCODE_OK && DDS_SEQ_LENGTH (refsq.partition.name) == DDS_SEQ_LENGTH (psq.partition.name) && DDS_SEQ_LENGTH (psq.group_data.value) == sizeof (data)); DDS_SEQ_FOREACH (psq.partition.name, i) fail_unless (!strcmp (DDS_SEQ_ITEM (psq.partition.name, i), DDS_SEQ_ITEM (refsq.partition.name, i))); n = dds_seq_to_array (&psq.group_data, d2, sizeof (d2)); fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data))); DDS_SubscriberQos__clear (&refsq); DDS_SubscriberQos__clear (&psq); delay (); if (!enabled) { v_printf (" - Enable child entities.\r\n"); r = DDS_DomainParticipant_enable (p); fail_unless (r == DDS_RETCODE_OK); r = DDS_Topic_enable (t); fail_unless (r == DDS_RETCODE_OK); r = DDS_Publisher_enable (pub); fail_unless (r == DDS_RETCODE_OK); r = DDS_Subscriber_enable (sub); fail_unless (r == DDS_RETCODE_OK); r = DDS_DataWriter_enable (dw); fail_unless (r == DDS_RETCODE_OK); r = DDS_DataReader_enable (dr); fail_unless (r == DDS_RETCODE_OK); sleep (1); } v_printf (" - Delete child entities.\r\n"); r = DDS_Publisher_delete_datawriter (pub, dw); fail_unless (r == DDS_RETCODE_OK); r = DDS_Subscriber_delete_datareader (sub, dr); fail_unless (r == DDS_RETCODE_OK); r = DDS_DomainParticipant_delete_publisher (p, pub); 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); }