int main(int argc, char *argv[])
{
os_time delay_200ms = { 0, 200000000 };
os_time delay_500ms = { 0, 500000000 };
cout << "argc=" << argc << endl;
if (argc < 3)
{
usage();
}
if ((strcmp(argv[1], "false") != 0) &&
(strcmp(argv[1], "true") != 0) &&
(strcmp(argv[2], "dispose") != 0) &&
(strcmp(argv[2], "unregister") != 0) &&
(strcmp(argv[2], "stoppub") != 0))
{
usage();
}
bool autodispose_unregistered_instances = (strcmp(argv[1], "true") == 0);
// create domain participant
char partition_name[] = "Lifecycle example";
//------------------ Msg topic --------------------//
DDSEntityManager *mgr = new DDSEntityManager
(autodispose_unregistered_instances);
// create domain participant
mgr->createParticipant(partition_name);
//create type
MsgTypeSupport_var mt = new MsgTypeSupport();
mgr->registerType(mt.in());
//create Topic
char topic_name[] = "Lifecycle_Msg";
mgr->createTopic(topic_name);
//create Publisher
mgr->createPublisher();
// create DataWriters
mgr->createWriters();
DataWriter_ptr dwriter = mgr->getWriter();
MsgDataWriter_var LifecycleWriter = MsgDataWriter::_narrow(dwriter);
DataWriter_ptr dwriter_stopper = mgr->getWriter_stopper();
MsgDataWriter_var LifecycleWriter_stopper = MsgDataWriter::_narrow(dwriter_stopper);
os_nanoSleep(delay_500ms);
ReturnCode_t status;
if (strcmp(argv[2], "dispose") == 0)
{
Msg *msgInstance = new Msg();
msgInstance->userID = 1;
msgInstance->message = CORBA::string_dup("Lifecycle_1");
msgInstance->writerStates = CORBA::string_dup("SAMPLE_SENT -> INSTANCE_DISPOSED -> DATAWRITER_DELETED");
cout << "=== [Publisher] :" << endl;
cout << " userID : " << msgInstance->userID << endl;
cout << " Message : \"" << msgInstance->message << "\"" << endl;
cout << " writerStates : \"" << msgInstance->writerStates << "\"" << endl;
status = LifecycleWriter->write(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_500ms); //
cout << "=== [Publisher] : SAMPLE_SENT" << endl;
// Dispose instance
status = LifecycleWriter->dispose(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::dispose");
cout << "=== [Publisher] : INSTANCE_DISPOSED" << endl;
/* Release the data-samples. */
delete msgInstance;
// msg allocated on heap: explicit de-allocation required!!
}
else if (strcmp(argv[2], "unregister") == 0)
{
Msg *msgInstance = new Msg();
msgInstance->userID = 2;
msgInstance->message = CORBA::string_dup("Lifecycle_2");
msgInstance->writerStates = CORBA::string_dup("SAMPLE_SENT -> INSTANCE_UNREGISTERED -> DATAWRITER_DELETED");
cout << "=== [Publisher] :" << endl;
cout << " userID : " << msgInstance->userID << endl;
cout << " Message : \"" << msgInstance->message << "\"" << endl;
cout << " writerStates : \"" << msgInstance->writerStates << "\"" << endl;
status = LifecycleWriter->write(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_500ms); //
cout << "=== [Publisher] : SAMPLE_SENT" << endl;
// Unregister instance : the auto_dispose_unregistered_instances flag
// is currently ignored and the instance is never disposed automatically
status = LifecycleWriter->unregister_instance(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::unregister_instance");
cout << "=== [Publisher] : INSTANCE_UNREGISTERED" << endl;
/* Release the data-samples. */
delete msgInstance;
// msg allocated on heap: explicit de-allocation required!!
}
else if (strcmp(argv[2], "stoppub") == 0)
{
Msg *msgInstance = new Msg();
msgInstance->userID = 3;
msgInstance->message = CORBA::string_dup("Lifecycle_3");
msgInstance->writerStates = CORBA::string_dup("SAMPLE_SENT -> DATAWRITER_DELETED");
cout << "=== [Publisher] :" << endl;
cout << " userID : " << msgInstance->userID << endl;
cout << " Message : \"" << msgInstance->message << "\"" << endl;
cout << " writerStates : \"" << msgInstance->writerStates << "\"" << endl;
status = LifecycleWriter->write(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_500ms); //
cout << "=== [Publisher] : SAMPLE_SENT" << endl;
/* Release the data-samples. */
delete msgInstance;
// msg allocated on heap: explicit de-allocation required!!
}
// let the subscriber treat the previous writer state !!!!
cout << "=== [Publisher] waiting 500ms to let the subscriber treat the previous write state ..." << endl;
os_nanoSleep(delay_500ms);
/* Remove the DataWriters */
mgr->deleteWriter(LifecycleWriter.in ());
os_nanoSleep(delay_500ms);
cout << "=== [Publisher] : DATAWRITER_DELETED" << endl;
// Stop the subscriber
Msg *msgInstance = new Msg();
msgInstance->userID = 4;
msgInstance->message = CORBA::string_dup("Lifecycle_4");
msgInstance->writerStates = CORBA::string_dup("STOPPING_SUBSCRIBER");
cout << "=== [Publisher] :" << endl;
cout << " userID : " << msgInstance->userID << endl;
cout << " Message : \"" << msgInstance->message << "\"" << endl;
cout << " writerStates : \"" << msgInstance->writerStates << "\"" << endl;
status = LifecycleWriter_stopper->write(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_500ms); //
//cout << "=== [Publisher] : SAMPLE_SENT" << endl;
/* Release the data-samples. */
delete msgInstance;
// msg allocated on heap: explicit de-allocation required!!
/* Remove the DataWriter_stopper */
mgr->deleteWriter(LifecycleWriter_stopper.in ());
/* Remove the Publisher. */
mgr->deletePublisher();
/* Remove the Topics. */
mgr->deleteTopic();
mgr->deleteParticipant();
delete mgr;
return 0;
}
int main(int argc, char *argv[])
{
os_time delay_500ms = { 0, 500000000 };
DDSEntityManager *mgr = new DDSEntityManager();
// create domain participant
// create domain participant
char partition_name[] = "WaitSet example";
mgr->createParticipant(partition_name);
//create type
MsgTypeSupport_var mt = new MsgTypeSupport();
mgr->registerType(mt.in());
//create Topic
char topic_name[] = "WaitSetData_Msg";
mgr->createTopic(topic_name);
//create Publisher
mgr->createPublisher();
// create DataWriter
mgr->createWriter();
// Publish Events
DataWriter_ptr dwriter = mgr->getWriter();
MsgDataWriter_var WaitSetDataWriter = MsgDataWriter::_narrow(dwriter);
Msg msgInstance; /* Example on Stack */
msgInstance.userID = 1;
msgInstance.message = CORBA::string_dup("First Hello");
cout << "=== [Publisher] writing a message containing :" << endl;
cout << " userID : " << msgInstance.userID << endl;
cout << " Message : \"" << msgInstance.message << "\"" << endl;
ReturnCode_t status = WaitSetDataWriter->write(msgInstance, DDS::HANDLE_NIL);
checkStatus(status, "MsgDataWriter::write1");
os_nanoSleep(delay_500ms);
// Write a second message
msgInstance.message = CORBA::string_dup("Hello again");
status = WaitSetDataWriter->write(msgInstance, DDS::HANDLE_NIL);
checkStatus(status, "MsgDataWriter::write2");
cout << endl << "=== [Publisher] writing a message containing :" << endl;
cout << " userID : " << msgInstance.userID << endl;
cout << " Message : \"" << msgInstance.message << "\"" << endl;
os_nanoSleep(delay_500ms);
// clean up
status = WaitSetDataWriter->dispose(msgInstance, DDS::HANDLE_NIL);
checkStatus(status, "MsgDataWriter::dispose");
status = WaitSetDataWriter->unregister_instance(msgInstance, DDS::HANDLE_NIL);
checkStatus(status, "MsgDataWriter::unregister_instance");
/* Remove the DataWriters */
mgr->deleteWriter(WaitSetDataWriter.in ());
/* Remove the Publisher. */
mgr->deletePublisher();
/* Remove the Topics. */
mgr->deleteTopic();
/* Remove Participant. */
mgr->deleteParticipant();
delete mgr;
return 0;
}
