// this just wraps ALL the code in total catch block
int Kernel::run(int argc, const char* argv[], const std::string& appName)
{
m_argc = argc;
m_argv = argv;
m_appName = appName;
int switches_status = do_switches();
if (switches_status)
return switches_status;
int startup_status = do_startup();
if (startup_status)
return startup_status;
int execution_status = do_execution();
// note we will try to shutdown cleanly even if we got an error condition
// in the execution phase
int shutdown_status = do_shutdown();
if (execution_status)
return execution_status;
return shutdown_status;
}
int main (int argc, const char *argv [])
{
int n;
const POOL_LIMITS str = {
2, ~0, 0
}, refs = {
2, ~0, 0
}, dtypes = {
2, ~0, 0
}, ddata = {
2, ~0, 0
};
n = do_switches (argc, argv);
fail_unless (str_pool_init (&str, &refs, 20000, 1) == 0);
fail_unless (dds_typesupport_init () == 0);
fail_unless (xd_pool_init (&dtypes, &ddata) == 0);
if (n == argc)
run_all ();
else
while (n < argc)
run_named (argv [n++]);
xd_pool_final ();
dds_typesupport_final ();
str_pool_free ();
return (0);
}
int main (int argc, char *argv [])
{
int domain_id = 128;
DDS_ReturnCode_t error;
do_switches (argc, argv);
#ifdef DDS_DEBUG
DDS_Debug_start ();
#endif
DDS_set_generate_callback (calculate_member_id);
sem_init(&_sync, 0, 0);
part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0);
if (!part)
fatal ("DDS_DomainParticipantFactory_create_participant () failed!");
if (tsm_type == 0) {
error = register_HelloWorldData_type (part);
if (error) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("DDS_DomainParticipant_register_type ('HelloWorldData') failed (%s)!", DDS_error (error));
}
sm = DDS_INCONSISTENT_TOPIC_STATUS;
topic = DDS_DomainParticipant_create_topic (part, "HelloWorld", "HelloWorldData",
NULL, NULL, sm);
if (!topic) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("DDS_DomainParticipant_create_topic ('HelloWorld') failed!");
}
topic_desc = DDS_DomainParticipant_lookup_topicdescription (part, "HelloWorld");
if (!topic_desc) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("Unable to create topic description for 'HelloWorld'!");
}
} else {
_tsm_types[0].flags |= TSMFLAG_KEY;
error = register_TestType_type (part);
if (error) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("DDS_DomainParticipant_register_type ('HelloWorldData') failed (%s)!", DDS_error (error));
}
sm = DDS_INCONSISTENT_TOPIC_STATUS;
topic = DDS_DomainParticipant_create_topic (part, _tsm_types->name, _tsm_types->name,
NULL, NULL, sm);
if (!topic) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("DDS_DomainParticipant_create_topic ('%s') failed!", _tsm_types->name);
}
topic_desc = DDS_DomainParticipant_lookup_topicdescription (part, _tsm_types->name);
if (!topic_desc) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("Unable to create topic description for '%s'!", _tsm_types->name);
}
}
if (test == 3) {
/* interop test */
make_state_reader ();
make_state_writer (key);
} else {
if (reader)
make_state_reader ();
if (writer)
make_state_writer (key);
}
if (reader)
remove_state_reader ();
if (writer)
remove_state_writer ();
if (test == 3) {
remove_state_reader ();
remove_state_writer ();
}
error = DDS_DomainParticipant_delete_topic (part, topic);
if (error)
fatal ("DDS_DomainParticipant_delete_topic () failed (%s)!", DDS_error (error));
free_HelloWorldData_type (part);
error = DDS_DomainParticipant_delete_contained_entities (part);
if (error)
fatal ("DDS_DomainParticipant_delete_contained_entities () failed (%s)!", DDS_error (error));
error = DDS_DomainParticipantFactory_delete_participant (part);
if (error)
fatal ("DDS_DomainParticipantFactory_delete_participant () failed (%s)!", DDS_error (error));
return (0);
}
int dds_chat_main(int argc, char *argv[])
#endif
{
DDS_DataWriterQos wr_qos;
DDS_DataReaderQos rd_qos;
DDS_ReturnCode_t error;
struct in_addr addr;
/* Configure the network */
/* Set up our host address */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_IPADDR);
netlib_sethostaddr("eth0", &addr);
/* Set up the default router address */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_DRIPADDR);
netlib_setdraddr("eth0", &addr);
/* Setup the subnet mask */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_NETMASK);
netlib_setnetmask("eth0", &addr);
/* Start the application */
printf("Network configured, starting DDS chat:\n");
sprintf (user_name, ".pid.%u", getpid ());
do_switches (argc, argv);
if (verbose > 1)
DDS_Log_stdio (1);
DDS_entity_name ("ROS 2.0 embedded");
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
enable_security ();
#endif
part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0);
if (!part) {
printf ("Can't create participant!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Domain Participant created.\r\n");
ts = ChatMsg_type_new ();
if (!ts) {
printf ("Can't create chat message type!\r\n");
exit (1);
}
error = DDS_DynamicTypeSupport_register_type (ts, part, "ChatMsg");
if (error) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Topic type ('%s') registered.\r\n", "ChatMsg");
topic = DDS_DomainParticipant_create_topic (part, "Chat", "ChatMsg", NULL, NULL, 0);
if (!topic) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS ChatMsg Topic created.\r\n");
td = DDS_DomainParticipant_lookup_topicdescription (part, "Chat");
if (!td) {
printf ("Can't get topicdescription.\r\n");
exit (1);
}
pub = DDS_DomainParticipant_create_publisher (part, NULL, NULL, 0);
if (!pub) {
printf ("DDS_DomainParticipant_create_publisher () failed!\r\n");
exit (1);
}
DDS_Publisher_get_default_datawriter_qos (pub, &wr_qos);
#ifdef TRANSIENT_LOCAL
wr_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
wr_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
wr_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
wr_qos.history.depth = DDS_LENGTH_UNLIMITED;
wr_qos.resource_limits.max_samples_per_instance = HISTORY;
wr_qos.resource_limits.max_instances = HISTORY * 10;
wr_qos.resource_limits.max_samples = HISTORY * 4;
#else
wr_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
wr_qos.history.depth = HISTORY;
#endif
/* Create a Data Writer. */
dw = DDS_Publisher_create_datawriter (pub, topic, &wr_qos, NULL, 0);
if (!dw) {
printf ("Unable to create chat message writer.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Chat message writer created.\r\n");
sub = DDS_DomainParticipant_create_subscriber (part, NULL, NULL, 0);
if (!sub) {
printf ("DDS_DomainParticipant_create_subscriber () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Subscriber created.\r\n");
DDS_Subscriber_get_default_datareader_qos (sub, &rd_qos);
#ifdef TRANSIENT_LOCAL
rd_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
rd_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
rd_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
rd_qos.history.depth = DDS_LENGTH_UNLIMITED;
rd_qos.resource_limits.max_samples_per_instance = HISTORY;
rd_qos.resource_limits.max_instances = HISTORY * 10;
rd_qos.resource_limits.max_samples = HISTORY * 4;
#else
rd_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
rd_qos.history.depth = HISTORY;
#endif
dr = DDS_Subscriber_create_datareader (sub, td, &rd_qos,
#ifndef WAITSETS
&msg_listener, DDS_DATA_AVAILABLE_STATUS);
#else
NULL, 0);
#endif
if (!dr) {
printf ("DDS_DomainParticipant_create_datareader () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Chat message reader created.\r\n");
#ifdef WAITSETS
start_chat_reader (dr);
#endif
do_chat (dw);
#ifdef WAITSETS
stop_chat_reader (dr);
#endif
DDS_Publisher_delete_datawriter (pub, dw);
usleep (200000);
error = DDS_DomainParticipant_delete_contained_entities (part);
if (verbose)
printf ("DDS Entities deleted (error = %u).\r\n", error);
ChatMsg_type_free (ts);
if (verbose)
printf ("Chat Type deleted.\r\n");
error = DDS_DomainParticipantFactory_delete_participant (part);
if (verbose)
printf ("DDS Participant deleted (error = %u).\r\n", error);
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
cleanup_security ();
#endif
return (0);
}
int main (int argc, const char **argv)
#endif
/* defined (NUTTX_RTOS) */
{
DDS_DataWriterQos wr_qos;
DDS_DataReaderQos rd_qos;
DDS_ReturnCode_t error;
sprintf (user_name, ".pid.%u", getpid ());
do_switches (argc, argv);
if (verbose > 1)
DDS_Log_stdio (1);
DDS_entity_name ("Technicolor Chatroom");
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
enable_security ();
#endif
part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0);
if (!part) {
printf ("Can't create participant!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Domain Participant created.\r\n");
ts = ChatMsg_type_new ();
if (!ts) {
printf ("Can't create chat message type!\r\n");
exit (1);
}
error = DDS_DynamicTypeSupport_register_type (ts, part, "ChatMsg");
if (error) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Topic type ('%s') registered.\r\n", "ChatMsg");
topic = DDS_DomainParticipant_create_topic (part, "Chat", "ChatMsg", NULL, NULL, 0);
if (!topic) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS ChatMsg Topic created.\r\n");
td = DDS_DomainParticipant_lookup_topicdescription (part, "Chat");
if (!td) {
printf ("Can't get topicdescription.\r\n");
exit (1);
}
pub = DDS_DomainParticipant_create_publisher (part, NULL, NULL, 0);
if (!pub) {
printf ("DDS_DomainParticipant_create_publisher () failed!\r\n");
exit (1);
}
DDS_Publisher_get_default_datawriter_qos (pub, &wr_qos);
#ifdef TRANSIENT_LOCAL
wr_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
wr_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
wr_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
wr_qos.history.depth = DDS_LENGTH_UNLIMITED;
wr_qos.resource_limits.max_samples_per_instance = HISTORY;
wr_qos.resource_limits.max_instances = HISTORY * 10;
wr_qos.resource_limits.max_samples = HISTORY * 4;
#else
wr_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
wr_qos.history.depth = HISTORY;
#endif
/* Create a Data Writer. */
dw = DDS_Publisher_create_datawriter (pub, topic, &wr_qos, NULL, 0);
if (!dw) {
printf ("Unable to create chat message writer.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Chat message writer created.\r\n");
sub = DDS_DomainParticipant_create_subscriber (part, NULL, NULL, 0);
if (!sub) {
printf ("DDS_DomainParticipant_create_subscriber () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Subscriber created.\r\n");
DDS_Subscriber_get_default_datareader_qos (sub, &rd_qos);
#ifdef TRANSIENT_LOCAL
rd_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
rd_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
rd_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
rd_qos.history.depth = DDS_LENGTH_UNLIMITED;
rd_qos.resource_limits.max_samples_per_instance = HISTORY;
rd_qos.resource_limits.max_instances = HISTORY * 10;
rd_qos.resource_limits.max_samples = HISTORY * 4;
#else
rd_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
rd_qos.history.depth = HISTORY;
#endif
dr = DDS_Subscriber_create_datareader (sub, td, &rd_qos,
#ifndef WAITSETS
&msg_listener, DDS_DATA_AVAILABLE_STATUS);
#else
NULL, 0);
#endif
if (!dr) {
printf ("DDS_DomainParticipant_create_datareader () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Chat message reader created.\r\n");
#ifdef WAITSETS
start_chat_reader (dr);
#endif
do_chat (dw);
#ifdef WAITSETS
stop_chat_reader (dr);
#endif
DDS_Publisher_delete_datawriter (pub, dw);
usleep (200000);
error = DDS_DomainParticipant_delete_contained_entities (part);
if (verbose)
printf ("DDS Entities deleted (error = %u).\r\n", error);
ChatMsg_type_free (ts);
if (verbose)
printf ("Chat Type deleted.\r\n");
error = DDS_DomainParticipantFactory_delete_participant (part);
if (verbose)
printf ("DDS Participant deleted (error = %u).\r\n", error);
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
cleanup_security ();
#endif
return (0);
}
int app_main(int argc, char **argv) {
app_data_t app_data;
ui_cmd_t cmd;
BOOL exit = FALSE;
UNUSED(argc);
UNUSED(argv);
app_data.tasks = NULL;
app_data.initialized = FALSE;
app_data.loaded = FALSE;
do{
cmd = get_command();
if (!strcmp("exit", cmd.command))
{
exit = TRUE;
}
else if (!strcmp("load", cmd.command))
{
if (!do_load(&cmd, &app_data))
continue;
}
else if (!strcmp("run", cmd.command))
{
if (!do_run(&cmd, &app_data))
continue;
}
else if (!strcmp("SW", cmd.command))
{
if (!do_sw(&cmd, &app_data))
continue;
}
else if (!strcmp("MSW", cmd.command))
{
if (!do_msw(&cmd, &app_data))
continue;
}
else if (!strcmp("ASW", cmd.command))
{
if (!do_asw(&cmd, &app_data))
continue;
}
else if (!strcmp("switches", cmd.command))
{
if (!do_switches(&cmd, &app_data))
continue;
}
else if (!strcmp("JW", cmd.command))
{
if (!do_jw(&cmd, &app_data))
continue;
}
else if (!strcmp("MJW", cmd.command))
{
if (!do_mjw(&cmd, &app_data))
continue;
}
else if (!strcmp("AJW", cmd.command))
{
if (!do_ajw(&cmd, &app_data))
continue;
}
else if (!strcmp("tasks", cmd.command))
{
if (!do_tasks(&cmd, &app_data))
continue;
}
else
{
printf("Unknown command %s.\n", cmd.command);
}
}while (!exit);
if (!app_data.initialized)
{
free_app_data(&app_data);
}
return 0;
}