main(int argc, const char *argv[])
{
os_time os_delay_500ms = { 0, 500000000 };
os_time os_delay_200ms = { 0, 200000000 };
os_time os_delay_2ms = { 0, 2000000 };
int x, i;
DDS_boolean autodispose_unregistered_instances = FALSE;
DDS_Publisher writerStatePublisher;
DDS_DataWriter writerStateWriter;
DDS_Publisher msgPublisher;
DDS_DataWriter msgWriter;
DDS_DataWriter msgWriter_stopper;
int messageLength;
LifecycleData_Msg *sample_Msg;
// Force the output to be unbuffered.
setbuf(stdout, (char *) 0);
printf("\n\n Starting LifecyclePublisher...");
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();
}
autodispose_unregistered_instances = (strcmp(argv[1], "true") == 0);
// First initialize the Topics and their DDS Entities
// Create DDS DomainParticipant
createParticipant("Lifecycle example");
//------------------ Msg topic --------------------//
// Register Msg Topic's type in the DDS Domain.
g_msgTypeSupport = LifecycleData_MsgTypeSupport__alloc();
checkHandle(g_msgTypeSupport, "LifecycleData_MsgTypeSupport__alloc");
registerMsgType(g_msgTypeSupport);
// Create Msg Topic in the DDS Domain.
g_msgTypeName = (char*) LifecycleData_MsgTypeSupport_get_type_name(g_msgTypeSupport);
g_msgTopic = createTopic("Lifecycle_Msg", g_msgTypeName);
DDS_free(g_msgTypeName);
DDS_free(g_msgTypeSupport);
// Create the Publisher's in the DDS Domain.
msgPublisher = createPublisher();
// Request a Writer from the the Publisher.
msgWriter = createDataWriter(msgPublisher, g_msgTopic, autodispose_unregistered_instances);
msgWriter_stopper = createDataWriter(msgPublisher, g_msgTopic, autodispose_unregistered_instances);
//End initialization.
os_nanoSleep(os_delay_200ms);
// Start publishing...
printf("\n=== [Publisher] Ready...");
if (strcmp(argv[2], "dispose") == 0)
{
// Publish a Msg Sample and dispose the instance
LifecycleData_Msg *sample_Msg = LifecycleData_Msg__alloc();
sample_Msg->userID = 1;
messageLength = strlen("Lifecycle_1");
sample_Msg->message = DDS_string_alloc(messageLength);
snprintf(sample_Msg->message, messageLength + 1, "%s", "Lifecycle_1");
messageLength = strlen("SAMPLE_SENT -> INSTANCE_DISPOSED -> DATAWRITER_DELETED");
sample_Msg->writerStates = DDS_string_alloc(messageLength);
snprintf(sample_Msg->writerStates, messageLength + 1, "%s", "SAMPLE_SENT -> INSTANCE_DISPOSED -> DATAWRITER_DELETED");
printf("\n=== [Publisher] :");
printf("\n userID : %d", sample_Msg->userID);
printf("\n Message : %s", sample_Msg->message);
printf("\n writerStates : %s", sample_Msg->writerStates);
g_status = LifecycleData_MsgDataWriter_write(msgWriter, sample_Msg, 0);
checkStatus(g_status, "MsgDataWriter_write");
os_nanoSleep(os_delay_500ms);
printf("\n=== [Publisher] : SAMPLE_SENT");
// Dispose instance
g_status = LifecycleData_MsgDataWriter_dispose(msgWriter, sample_Msg, 0);
checkStatus(g_status, "LifecycleData_MsgDataWriter_dispose");
printf("\n=== [Publisher] : INSTANCE_DISPOSED");
// OpenSplice will recursively free the content of the sample,
// provided it has all been allocated through the DDS_xxxx_alloc API...
DDS_free(sample_Msg);
}
else if (strcmp(argv[2], "unregister") == 0)
{
// Publish a Msg Sample and unregister the instance
LifecycleData_Msg *sample_Msg = LifecycleData_Msg__alloc();
sample_Msg->userID = 1;
messageLength = strlen("Lifecycle_2");
sample_Msg->message = DDS_string_alloc(messageLength);
snprintf(sample_Msg->message, messageLength + 1, "%s", "Lifecycle_2");
messageLength = strlen("SAMPLE_SENT -> INSTANCE_UNREGISTERED -> DATAWRITER_DELETED");
sample_Msg->writerStates = DDS_string_alloc(messageLength);
snprintf(sample_Msg->writerStates, messageLength + 1, "%s", "SAMPLE_SENT -> INSTANCE_UNREGISTERED -> DATAWRITER_DELETED");
printf("\n=== [Publisher] :");
printf("\n userID : %d", sample_Msg->userID);
printf("\n Message : %s", sample_Msg->message);
printf("\n writerStates : %s", sample_Msg->writerStates);
g_status = LifecycleData_MsgDataWriter_write(msgWriter, sample_Msg, 0);
checkStatus(g_status, "MsgDataWriter_write");
os_nanoSleep(os_delay_500ms);
printf("\n=== [Publisher] : SAMPLE_SENT");
// Unregister instance : the auto_dispose_unregistered_instances flag
// is currently ignored and the instance is never disposed automatically
g_status = LifecycleData_MsgDataWriter_unregister_instance(msgWriter, sample_Msg, 0);
checkStatus(g_status, "LifecycleData_MsgDataWriter_unregister_instance");
printf("\n=== [Publisher] : INSTANCE_UNREGISTERED");
// OpenSplice will recursively free the content of the sample,
// provided it has all been allocated through the DDS_xxxx_alloc API...
DDS_free(sample_Msg);
}
else if (strcmp(argv[2], "stoppub") == 0)
{
// Publish a Msg Sample
LifecycleData_Msg *sample_Msg = LifecycleData_Msg__alloc();
sample_Msg->userID = 1;
messageLength = strlen("Lifecycle_3");
sample_Msg->message = DDS_string_alloc(messageLength);
snprintf(sample_Msg->message, messageLength + 1, "%s", "Lifecycle_3");
messageLength = strlen("SAMPLE_SENT -> DATAWRITER_DELETED");
sample_Msg->writerStates = DDS_string_alloc(messageLength);
snprintf(sample_Msg->writerStates, messageLength + 1, "%s", "SAMPLE_SENT -> DATAWRITER_DELETED");
printf("\n=== [Publisher] :");
printf("\n userID : %d", sample_Msg->userID);
printf("\n Message : %s", sample_Msg->message);
printf("\n writerStates : %s", sample_Msg->writerStates);
g_status = LifecycleData_MsgDataWriter_write(msgWriter, sample_Msg, 0);
checkStatus(g_status, "MsgDataWriter_write");
os_nanoSleep(os_delay_500ms);
printf("\n=== [Publisher] : SAMPLE_SENT");
// OpenSplice will recursively free the content of the sample,
// provided it has all been allocated through the DDS_xxxx_alloc API...
DDS_free(sample_Msg);
}
// let the subscriber treat the previous writer state !!!!
printf("\n=== [Publisher] waiting 500ms to let the subscriber treat the previous write state ...");
os_nanoSleep(os_delay_500ms);
/* Remove the DataWriters */
deleteDataWriter(msgPublisher, &msgWriter);
printf("\n=== [Publisher] : DATAWRITER_DELETED");
os_nanoSleep(os_delay_500ms);
printf("\n=== [Publisher] : Sending a message to stop the subscriber");
/* send a Msg sample to stop the subscriber */
sample_Msg = LifecycleData_Msg__alloc();
sample_Msg->userID = 1;
messageLength = strlen("Lifecycle_4");
sample_Msg->message = DDS_string_alloc(messageLength);
snprintf(sample_Msg->message, messageLength + 1, "%s", "Lifecycle_4");
messageLength = strlen("STOPPING_SUBSCRIBER");
sample_Msg->writerStates = DDS_string_alloc(messageLength);
snprintf(sample_Msg->writerStates, messageLength + 1, "%s", "STOPPING_SUBSCRIBER");
printf("\n=== [Publisher] :");
printf("\n userID : %d", sample_Msg->userID);
printf("\n Message : %s", sample_Msg->message);
printf("\n writerStates : %s\n", sample_Msg->writerStates);
g_status = LifecycleData_MsgDataWriter_write(msgWriter_stopper, sample_Msg, 0);
checkStatus(g_status, "MsgDataWriter_write");
os_nanoSleep(os_delay_500ms);
// OpenSplice will recursively free the content of the sample,
// provided it has all been allocated through the DDS_xxxx_alloc API...
DDS_free(sample_Msg);
/* Remove the DataWriter */
deleteDataWriter(msgPublisher, &msgWriter_stopper);
// Cleanup DDS from the created Entities.
deletePublisher(&msgPublisher);
deleteTopic(g_msgTopic);
deleteParticipant();
return 0;
}
int main(int argc, char *argv[])
{
DDS_sequence_LifecycleData_Msg* msgSeq = DDS_sequence_LifecycleData_Msg__alloc();
DDS_SampleInfoSeq* msgInfoSeq = DDS_SampleInfoSeq__alloc();
DDS_Subscriber msgSubscriber;
DDS_DataReader msgDataReader;
unsigned long j, inputChar;
os_time os_delay20ms = (os_time) {0, 20000000};
os_time os_delay200ms = (os_time) {0, 200000000};
// Force the output to be unbuffered.
setbuf(stdout, (char *) 0);
// First initialize the Topics and their DDS Entities
// Create DDS DomainParticipant
createParticipant("Lifecycle example");
//------------------ Msg topic --------------------//
// Register Msg Topic's type in the DDS Domain.
g_msgTypeSupport = LifecycleData_MsgTypeSupport__alloc();
checkHandle(g_msgTypeSupport, "LifecycleData_MsgTypeSupport__alloc");
registerMsgType(g_msgTypeSupport);
// Create Msg Topic in the DDS Domain.
g_msgTypeName = (char*) LifecycleData_MsgTypeSupport_get_type_name(g_msgTypeSupport);
g_msgTopic = createTopic("Lifecycle_Msg", g_msgTypeName);
DDS_free(g_msgTypeName);
DDS_free(g_msgTypeSupport);
// Create the Publisher's in the DDS Domain.
msgSubscriber = createSubscriber();
// Request a DataReader from the the Subscriber.
msgDataReader = createDataReader(msgSubscriber, g_msgTopic);
//End initialization.
printf("\n=== [Subscriber] Ready...");
msgInfoSeq->_length = 0;
DDS_boolean closed = FALSE;
int nbIter = 1;
int nbIterMax = 100;
while ((closed == FALSE) && (nbIter < nbIterMax))
{
g_status = LifecycleData_MsgDataReader_read(msgDataReader, msgSeq, msgInfoSeq, 1, DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
checkStatus(g_status, "LifecycleData_MsgDataReader_read");
if( msgInfoSeq->_length > 0 )
{
if( msgInfoSeq->_buffer[0].valid_data == TRUE )
{
printf("\n\n Message : %s", msgSeq->_buffer[0].message);
printf("\n WriterStates : %s", msgSeq->_buffer[0].writerStates);
printf("\n valid_data : %d", msgInfoSeq->_buffer[0].valid_data);
printf("\n sample_state:%s-view_state:%s-instance_state:%s\n",
sSampleState[getIndex(msgInfoSeq->_buffer[0].sample_state)],
sViewState[getIndex(msgInfoSeq->_buffer[0].view_state)],
sInstanceState[getIndex(msgInfoSeq->_buffer[0].instance_state)]);
}
closed = strcmp(msgSeq->_buffer[0].writerStates, "STOPPING_SUBSCRIBER") == 0 ? TRUE : FALSE;
printf("=== closed=%d - nbIter %d\n", closed, nbIter);
g_status = LifecycleData_MsgDataReader_return_loan(msgDataReader, msgSeq, msgInfoSeq);
checkStatus(g_status, "LifecycleData_MsgDataReader_return_loan");
// Useless to harass the system, so we wait before to retry.
os_nanoSleep(os_delay200ms);
msgInfoSeq->_length = 0;
nbIter++;
}
}
printf("\n=== [Subscriber] stopping after %d iterations ..\n", nbIter);
if (nbIter == nbIterMax) printf ("*** Error : max %d iterations reached", nbIterMax);
// Cleanup DDS from the created Entities.
deleteDataReader(msgSubscriber, msgDataReader);
deleteSubscriber(msgSubscriber);
deleteTopic(g_msgTopic);
deleteParticipant();
// Cleanup C allocations, recursively freeing the allocated structures and sequences using the OpenSplice API.
DDS__free(msgSeq);
DDS__free(msgInfoSeq);
return 0;
}
