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);
}
/* 4x callback */
void Lock_CmdCallback(void* listener_data, DDS_DataReader* reader)
{
Lock_Cmd *recvIssue;
DDS_ReturnCode_t retcode;
DDS_Boolean result;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
struct Lock_CmdSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfo* info = NULL;
long i,numIssues;
Lock_CmdDataReader *LockCmd_reader = NULL;
DDS_TopicDescription *topicDesc;
LockCmd_reader = Lock_CmdDataReader_narrow(pLockCmdSubs[0]->pDReader);
if ( LockCmd_reader == NULL)
{
errLogRet(LOGIT,debugInfo, "Lock_CmdCallback: DataReader narrow error.\n");
return;
}
topicDesc = DDS_DataReader_get_topicdescription(reader);
DPRINT2(-1,"Lock_CmdCallback; Type: '%s', Name: '%s'\n",
DDS_TopicDescription_get_type_name(topicDesc), DDS_TopicDescription_get_name(topicDesc));
while(1)
{
// Given DDS_HANDLE_NIL as a parameter, take_next_instance returns
// a sequence containing samples from only the next (in a well-determined
// but unspecified order) un-taken instance.
retcode = Lock_CmdDataReader_take_next_instance(
LockCmd_reader,
&data_seq, &info_seq, DDS_LENGTH_UNLIMITED,
&DDS_HANDLE_NIL,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
// retcode = Lock_CmdDataReader_take(LockCmd_reader,
// &data_seq, &info_seq,
// DDS_LENGTH_UNLIMITED, DDS_ANY_SAMPLE_STATE,
// DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
if (retcode == DDS_RETCODE_NO_DATA) {
break ; // return;
} else if (retcode != DDS_RETCODE_OK) {
errLogRet(LOGIT,debugInfo, "Lock_CmdCallback: next instance error %d\n",retcode);
break ; // return;
}
numIssues = Lock_CmdSeq_get_length(&data_seq);
for (i=0; i < numIssues; i++)
{
info = DDS_SampleInfoSeq_get_reference(&info_seq, i);
if ( info->valid_data)
{
recvIssue = Lock_CmdSeq_get_reference(&data_seq,i);
DPRINT5(-1,"Lock_Cmd CallBack: cmd: %d, arg1: %d, arg2: %d, arg3: %lf, arg4: %lf crc: 0x%lx\n",
recvIssue->cmd,recvIssue->arg1, recvIssue->arg2, recvIssue->arg3, recvIssue->arg4);
msgQSend(pMsgesToLockParser, (char*) recvIssue, sizeof(Lock_Cmd), NO_WAIT, MSG_PRI_NORMAL);
}
}
retcode = Lock_CmdDataReader_return_loan( LockCmd_reader,
&data_seq, &info_seq);
DDS_SampleInfoSeq_set_maximum(&info_seq, 0);
} // while
return;
}
