Topic<T, DELEGATE>::Topic(const dds::domain::DomainParticipant& dp,
const std::string& topic_name) :
::dds::core::Reference< DELEGATE<T> >(new DELEGATE<T>(
dp,
topic_name,
"",
dp.is_nil() ? dds::topic::qos::TopicQos() : dp.default_topic_qos(),
NULL,
dds::core::status::StatusMask::none()))
{
ISOCPP_REPORT_STACK_DDS_BEGIN(dp);
this->delegate()->init(this->impl_);
}
dds::topic::Topic<T, dds::topic::detail::Topic>
dds::topic::detail::Topic<T>::discover_topic(
const dds::domain::DomainParticipant& dp,
const std::string& name,
const dds::core::Duration& timeout)
{
u_topic uTopic = dp.delegate()->lookup_topic(name, timeout);
if (uTopic == NULL) {
return dds::core::null;
}
os_char *uTypename = u_topicTypeName(uTopic);
std::string type_name = uTypename;
os_free(uTypename);
u_topicQos uQos;
u_result uResult = u_topicGetQos(uTopic, &uQos);
ISOCPP_U_RESULT_CHECK_AND_THROW(uResult, "Failed to get user layer topic qos");
qos::TopicQos qos;
qos.delegate().u_qos(uQos);
u_topicQosFree(uQos);
typename dds::topic::Topic<T, dds::topic::detail::Topic>::DELEGATE_REF_T ref(new Topic<T>(dp, name, type_name, qos, uTopic));
ref->init(ref);
return dds::topic::Topic<T>(ref);
}
void
dds::topic::detail::Topic<T>::discover_topics(
const dds::domain::DomainParticipant& dp,
std::vector<dds::topic::Topic<T, dds::topic::detail::Topic> >& topics,
uint32_t max_size)
{
std::vector<u_topic> uTopics;
dp.delegate()->lookup_topics(topic_type_name<T>::value(), uTopics, max_size);
topics.clear();
topics.reserve(uTopics.size());
for (std::vector<u_topic>::const_iterator it = uTopics.begin(); it != uTopics.end(); ++it) {
u_topic uTopic = *it;
os_char *topic_name = u_topicName(uTopic);
os_char *type_name = u_topicTypeName(uTopic);
u_topicQos uQos;
u_result uResult = u_topicGetQos(uTopic, &uQos);
ISOCPP_U_RESULT_CHECK_AND_THROW(uResult, "Failed to get user layer topic qos");
dds::topic::qos::TopicQos qos;
qos.delegate().u_qos(uQos);
u_topicQosFree(uQos);
typename dds::topic::Topic<T, dds::topic::detail::Topic>::DELEGATE_REF_T ref(new Topic<T>(dp, topic_name, type_name, qos, uTopic));
ref->init(ref);
os_free(topic_name);
os_free(type_name);
topics.push_back(dds::topic::Topic<T>(ref));
}
}
Topic(const dds::domain::DomainParticipant& dp,
const std::string& name,
const std::string& type_name)
: dds::topic::detail::TopicDescription<T>(dp, name, type_name),
dp_(dp),
qos_(),
listener_(0),
mask_(dds::core::status::StatusMask())
{
char* tn = ts_.get_type_name();
ts_.register_type(dp->dp_.get(), tn);
qos(dp.default_topic_qos());
DDS::TopicQos tqos = convertQos(qos_);
t_ = dp->dp_->create_topic(name.c_str(), tn, tqos, 0,
mask_.to_ulong());
if (t_ == 0)
throw dds::core::NullReferenceError(
org::opensplice::core::exception_helper(
OSPL_CONTEXT_LITERAL(
"dds::core::NullReferenceError : Unable to create Topic! "
"Nil return from ::create_topic")));
topic_ = org::opensplice::core::DDS_TOPIC_REF(t_, org::opensplice::core::TopicDeleter(dp->dp_));
}
Topic<T, DELEGATE>::Topic(const dds::domain::DomainParticipant& dp,
const std::string& topic_name)
: dds::topic::TopicDescription<T, DELEGATE>(new DELEGATE<T>(dp,
topic_name,
topic_type_name<T>::value(),
dp.default_topic_qos(),
NULL,
dds::core::status::StatusMask::all()))
{ }
TPublisher<DELEGATE>::TPublisher(const dds::domain::DomainParticipant& dp)
: ::dds::core::Reference<DELEGATE>(new DELEGATE(dp,
dp.default_publisher_qos(),
NULL,
dds::core::status::StatusMask::none()))
{
ISOCPP_REPORT_STACK_DDS_BEGIN(dp);
this->delegate()->init(this->impl_);
}
dds::topic::TopicDescription
find_topic_description(
const dds::domain::DomainParticipant& dp,
const std::string& topic_name)
{
dds::topic::TopicDescription t = dds::core::null;
org::opensplice::core::ObjectDelegate::ref_type entity = dp.delegate()->find_topic(topic_name);
if (!entity) {
entity = dp.delegate()->find_cfTopic(topic_name);
}
if (entity) {
dds::topic::TopicDescription::DELEGATE_REF_T ref =
OSPL_CXX11_STD_MODULE::dynamic_pointer_cast<org::opensplice::topic::TopicDescriptionDelegate>(entity);
t = dds::topic::TopicDescription(ref);
}
return t;
}
TOPIC find(const dds::domain::DomainParticipant& dp, const std::string& topic_name)
{
(void)dp;
std::stringstream ss;
ss << topic_name;
ss << dp.domain_id();
TOPIC t =
org::opensplice::core::EntityRegistry<std::string, TOPIC>::get(ss.str());
if(t != dds::core::null)
{
return t;
}
return TOPIC(dds::core::null);
}
virtual void run(const dds::domain::DomainParticipant& dp,
const dds::topic::Topic<T>& topic,
const Params& params)
{
dds::pub::qos::PublisherQos pqos =
dp.default_publisher_qos() << Partition("ishapes");
dds::pub::Publisher pub(dp, pqos);
dds::pub::qos::DataWriterQos dwqos =
pub.default_datawriter_qos() << Durability::Transient() << Reliability::Reliable();
dds::pub::DataWriter<T> dw(pub, topic, dwqos);
const uint32_t period = params.period;
const uint32_t samples = params.samples;
uint32_t sleep_time = period * 1000;
srand(clock());
const uint32_t x0 = 10;
const uint32_t y0 = 10;
const uint32_t r = 200;
const uint32_t dx = 5;
const uint32_t dy = 7;
// AnyDataWriter work just fine...
AnyDataWriter adw = dw;
DataWriter<ShapeType> xdw = adw.get<ShapeType>();
std::cout << "Topic Name = " << xdw.topic().name()
<< "\tType Name = " << xdw.topic().type_name() << std::endl;
// ShapeType s = {params.color, x0, y0, params.shape_size};
ShapeType s = {params.color.c_str(), x0 , y0, params.shape_size};
std::cout << ">> Writing Data...";
std::flush(std::cout);
for (uint32_t i = 0; i < samples; ++i) {
// Regular write
dw.write(s);
// Stream write
dw << s;
s.x = (s.x + dx) % r;
s.y = (s.y + dy) % r;
exampleSleepMilliseconds(sleep_time); // period is in ms
}
}
dds::topic::AnyTopic
find_any_topic(
const dds::domain::DomainParticipant& dp,
const std::string& topic_name)
{
dds::topic::AnyTopic t = dds::core::null;
org::opensplice::core::EntityDelegate::ref_type entity = dp.delegate()->find_topic(topic_name);
if (entity) {
dds::topic::AnyTopic::DELEGATE_REF_T ref =
OSPL_CXX11_STD_MODULE::dynamic_pointer_cast<org::opensplice::topic::AnyTopicDelegate>(entity);
t = dds::topic::AnyTopic(ref);
}
return t;
}
SubscriberDelegate::SubscriberDelegate(
const dds::domain::DomainParticipant& dp,
const dds::sub::qos::SubscriberQos& qos,
dds::sub::SubscriberListener* listener,
const dds::core::status::StatusMask& event_mask) :
dp_(dp),
qos_(qos)
{
ISOCPP_REPORT_STACK_DDS_BEGIN(dp);
u_subscriber uSub;
u_participant uPar;
u_subscriberQos uQos;
uPar = u_participant(this->dp_.delegate()->get_user_handle());
if (!uPar) {
ISOCPP_THROW_EXCEPTION(ISOCPP_ERROR, "Could not get subscriber participant.");
}
qos.delegate().check();
uQos = qos.delegate().u_qos();
if (!uQos) {
ISOCPP_THROW_EXCEPTION(ISOCPP_ERROR, "Could not convert subscriber QoS.");
}
std::string name = this->dp_.delegate()->create_child_name("subscriber");
uSub = u_subscriberNew(uPar, name.c_str(), uQos);
u_subscriberQosFree (uQos);
if (!uSub) {
ISOCPP_THROW_EXCEPTION(ISOCPP_ERROR, "Could not create subscriber.");
}
/* ObjectDelegate class will free the userlayer object in its destructor. */
this->userHandle = u_object(uSub);
this->listener_set((void*)listener, event_mask);
set_domain_id(dp.delegate()->get_domain_id());
}