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_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); }