Exemplo n.º 1
0
static void make_state_reader ()
{
	DDS_DataReaderQos	rd_qos;
	DDS_ReturnCode_t error;

	printf ("Create Reader\r\n");

	/* === Create a subscriber === */
	sub = DDS_DomainParticipant_create_subscriber (part, 0, NULL, 0);
	if (!sub) {
		fatal ("DDS_DomainParticipant_create_subscriber () returned an error!");
		DDS_DomainParticipantFactory_delete_participant (part);
	}

	/* Test get_qos() fynctionality. */
	if ((error = DDS_Subscriber_get_qos (sub, &sqos)) != DDS_RETCODE_OK)
		fatal ("DDS_Subscriber_get_qos () failed (%s)!", DDS_error (error));

	/* Setup reader QoS parameters. */
	DDS_Subscriber_get_default_datareader_qos (sub, &rd_qos);

	/* === create the reader === */
	
	rd_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
        rd_qos.history.depth = 1;
        rd_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
        rd_qos.durability.kind  = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
        rd_qos.ownership.kind   = DDS_EXCLUSIVE_OWNERSHIP_QOS;

	dr = DDS_Subscriber_create_datareader (sub, topic_desc, &rd_qos, NULL, sm);
	if (!dr)
		fatal ("DDS_DomainParticipant_create_datareader () returned an error!");

	DDS_DataReaderListener *l = DDS_DataReader_get_listener(dr);
	if (NULL != l) {
		l->on_data_available  = dr_listener_data_available;
		error = DDS_DataReader_set_listener(dr, l, DDS_DATA_AVAILABLE_STATUS);
	}
	error = DDS_DataReader_enable(dr);
			
	/* === end program === */

	if (test == 3)
		return;

	if (!writer)
		while (1)
			sleep (1);
}
Exemplo n.º 2
0
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);
}
Exemplo n.º 3
0
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);
}