static int subscriber_main(int domainId, int sample_count, int sel_cft)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
struct DDS_DataReaderListener reader_listener =
DDS_DataReaderListener_INITIALIZER;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = {1,0};
DDS_ContentFilteredTopic *cft = NULL;
/* If you want to modify datareader_qos programatically you
* will need to use the following structure. */
struct DDS_DataReaderQos datareader_qos = DDS_DataReaderQos_INITIALIZER;
/* For this filter we only allow 1 parameter*/
struct DDS_StringSeq parameters;
const char* param_list[] = {"SOME_STRING"};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(
participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = cftTypeSupport_get_type_name();
retcode = cftTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(
participant, "Example cft",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
DDS_StringSeq_initialize(¶meters);
DDS_StringSeq_set_maximum(¶meters, 1);
/* Here we set the default filter using the param_list */
DDS_StringSeq_from_array(¶meters, param_list, 1);
if (sel_cft) {
/* create_contentfilteredtopic_with_filter */
cft = DDS_DomainParticipant_create_contentfilteredtopic_with_filter(
participant,"ContentFilteredTopic", topic, "name MATCH %0",
¶meters, DDS_STRINGMATCHFILTER_NAME);
if (cft == NULL) {
printf("create_contentfilteredtopic error\n");
subscriber_shutdown(participant);
return -1;
}
}
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
cftListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
cftListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected =
cftListener_on_sample_rejected;
reader_listener.on_liveliness_changed =
cftListener_on_liveliness_changed;
reader_listener.on_sample_lost =
cftListener_on_sample_lost;
reader_listener.on_subscription_matched =
cftListener_on_subscription_matched;
reader_listener.on_data_available =
cftListener_on_data_available;
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
if (sel_cft) {
printf("Using ContentFiltered Topic\n");
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_ContentFilteredTopic_as_topicdescription(cft),
&DDS_DATAREADER_QOS_DEFAULT, &reader_listener, DDS_STATUS_MASK_ALL);
} else {
printf("Using Normal Topic\n");
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&DDS_DATAREADER_QOS_DEFAULT, &reader_listener, DDS_STATUS_MASK_ALL);
}
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* If you want to set the reliability and history QoS settings
* programmatically rather than using the XML, you will need to add
* the following lines to your code and comment out the create_datareader
* calls above.
*/
/*
retcode = DDS_Subscriber_get_default_datareader_qos(subscriber,
&datareader_qos);
if (retcode != DDS_RETCODE_OK) {
printf("get_default_datareader_qos error\n");
return -1;
}
datareader_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
datareader_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
datareader_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
datareader_qos.history.depth = 20;
if (sel_cft) {
printf("Using ContentFiltered Topic\n");
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_ContentFilteredTopic_as_topicdescription(cft),
&datareader_qos, &reader_listener, DDS_STATUS_MASK_ALL);
} else {
printf("Using Normal Topic\n");
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&datareader_qos, &reader_listener, DDS_STATUS_MASK_ALL);
}
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
*/
/* Change the filter */
if (sel_cft) {
printf(">>> Now setting a new filter: name MATCH \"EVEN\"\n");
retcode = DDS_ContentFilteredTopic_append_to_expression_parameter(
cft, 0,"EVEN");
if (retcode != DDS_RETCODE_OK) {
printf("append_to_expression_parameter error\n");
subscriber_shutdown(participant);
return -1;
}
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
NDDS_Utility_sleep(&poll_period);
if (sel_cft == 0) {
continue;
}
if (count == 10) {
printf("\n===========================\n");
printf("Changing filter parameters\n");
printf("Append 'ODD' filter\n");
printf("===========================\n");
retcode = DDS_ContentFilteredTopic_append_to_expression_parameter(
cft, 0,"ODD");
if (retcode != DDS_RETCODE_OK) {
printf("append_to_expression_parameter error\n");
subscriber_shutdown(participant);
return -1;
}
} else if (count == 20) {
printf("\n===========================\n");
printf("Changing filter parameters\n");
printf("Removing 'EVEN' filter \n");
printf("===========================\n");
retcode = DDS_ContentFilteredTopic_remove_from_expression_parameter(
cft, 0,"EVEN");
if (retcode != DDS_RETCODE_OK) {
printf("append_to_expression_parameter error\n");
subscriber_shutdown(participant);
return -1;
}
}
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domain_id, int sample_count,
char *participant_auth) {
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
struct DDS_DataReaderListener reader_listener =
DDS_DataReaderListener_INITIALIZER;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = { 1, 0 };
struct DDS_DomainParticipantQos participant_qos =
DDS_DomainParticipantQos_INITIALIZER;
int len, max;
retcode = DDS_DomainParticipantFactory_get_default_participant_qos(
DDS_TheParticipantFactory, &participant_qos);
if (retcode != DDS_RETCODE_OK) {
printf("get_default_participant_qos error\n");
return -1;
}
/* The maximum length for USER_DATA QoS field is set by default
to 256 bytes. To increase it programmatically uncomment the
following line of code. */
/*
participant_qos.resource_limits.participant_user_data_max_length = 1024;
*/
/* We include the subscriber credentials into de USER_DATA QoS. */
len = strlen(participant_auth) + 1;
max = participant_qos.resource_limits.participant_user_data_max_length;
if (len > max) {
printf("error, participant user_data exceeds resource limits\n");
} else {
/*
* DDS_Octet is defined to be 8 bits. If chars are not 8 bits
* on your system, this will not work.
*/
DDS_OctetSeq_from_array(&participant_qos.user_data.value,
(DDS_Octet*) (participant_auth), len);
}
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domain_id, &participant_qos,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* Done! All the listeners are installed, so we can enable the
* participant now.
*/
if (DDS_Entity_enable((DDS_Entity*) participant) != DDS_RETCODE_OK) {
printf("***Error: Failed to Enable Participant\n");
return -1;
}
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(participant,
&DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = msgTypeSupport_get_type_name();
retcode = msgTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(participant, "Example msg",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
msgListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
msgListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected = msgListener_on_sample_rejected;
reader_listener.on_liveliness_changed = msgListener_on_liveliness_changed;
reader_listener.on_sample_lost = msgListener_on_sample_lost;
reader_listener.on_subscription_matched =
msgListener_on_subscription_matched;
reader_listener.on_data_available = msgListener_on_data_available;
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader = DDS_Subscriber_create_datareader(subscriber,
DDS_Topic_as_topicdescription(topic), &DDS_DATAREADER_QOS_DEFAULT,
&reader_listener, DDS_STATUS_MASK_ALL);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Main loop */
for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
/*
printf("msg subscriber sleeping for %d sec...\n",
poll_period.sec);
*/
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count) {
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber[MAX_SUBSCRIBERS] = { 0 };
DDS_Topic *topic = NULL;
DDS_DataReader *reader[MAX_SUBSCRIBERS] = { 0 };
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = { 4, 0 };
orderedDataReader *ordered_reader[MAX_SUBSCRIBERS] = { 0 };
int i;
struct DDS_SubscriberQos subscriber_qos = DDS_SubscriberQos_INITIALIZER;
struct DDS_DataReaderQos datareader_qos = DDS_DataReaderQos_INITIALIZER;
char* profile_name[] = { "ordered_Profile_subscriber_instance",
"ordered_Profile_subscriber_topic"
};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant, &subscriber_qos, &datareader_qos);
return -1;
}
/* Register the type before creating the topic */
type_name = orderedTypeSupport_get_type_name();
retcode = orderedTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant, &subscriber_qos, &datareader_qos);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(participant, "Example ordered",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant, &subscriber_qos, &datareader_qos);
return -1;
}
/* Start changes for ordered_presentation */
/* Create two subscriber to illustrate different presentation QoS
* This is a publisher/subscriber level QoS, so we have to do it
* here instead of just making two datareaders
*/
/* Subscriber[0], reader[0] and ordered_reader[0] is getting
* the profile "ordered_Profile_subscriber_instance"
*/
for (i = 0; i < MAX_SUBSCRIBERS; ++i) {
/* Subscriber[1], reader[1] and ordered_reader[1] is getting
* the profile "ordered_Profile_subscriber_topic"
*/
printf("Subscriber %d using %s\n", i, profile_name[i]);
subscriber[i] = DDS_DomainParticipant_create_subscriber_with_profile(
participant, "ordered_Library", profile_name[i],
NULL /* Listener */, DDS_STATUS_MASK_NONE);
if (subscriber[i] == NULL) {
printf("create_subscriber%d error\n", i);
subscriber_shutdown(participant, &subscriber_qos, &datareader_qos);
return -1;
}
reader[i] = DDS_Subscriber_create_datareader_with_profile(subscriber[i],
DDS_Topic_as_topicdescription(topic), "ordered_Library",
profile_name[i], NULL, DDS_STATUS_MASK_NONE);
if (reader[i] == NULL) {
printf("create_datareader%d error\n", i);
subscriber_shutdown(participant, &subscriber_qos, &datareader_qos);
return -1;
}
ordered_reader[i] = orderedDataReader_narrow(reader[i]);
if (ordered_reader[i] == NULL) {
printf("DataReader%d narrow error\n", i);
return -1;
}
}
/* If you want to change the Publisher's QoS programmatically rather than
* using the XML file, you will need to add the following lines to your
* code and comment out the above 'for' loop.
*/
/*
for (i = 0; i < MAX_SUBSCRIBERS; ++i) {
*/ /* Get default subscriber QoS to customize */
/* retcode = DDS_DomainParticipant_get_default_subscriber_qos(participant,
&subscriber_qos);
if (retcode != DDS_RETCODE_OK) {
printf("get_default_subscriber_qos error\n");
return -1;
}
*/ /* Set ordered_access = TRUE for both subscribers */
/* subscriber_qos.presentation.ordered_access = DDS_BOOLEAN_TRUE;
*/ /* We are assuming there are only 2 subscribers. Otherwise you
* will need to modify the following conditions.
*/
/* if (i == 0) {
printf("Subscriber 0 using Instance access scope\n");
subscriber_qos.presentation.access_scope =
DDS_INSTANCE_PRESENTATION_QOS;
} else {
printf("Subscriber 1 using Topic access scope\n");
subscriber_qos.presentation.access_scope =
DDS_TOPIC_PRESENTATION_QOS;
}
*/ /* To create subscriber with default QoS, use DDS_SUBSCRIBER_QOS_DEFAULT
instead of subscriber_qos */
/* subscriber[i] = DDS_DomainParticipant_create_subscriber(participant,
&subscriber_qos, NULL, DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant, &subscriber_qos, &datareader_qos);
return -1;
}
*/ /* No listener needed, but we do need to increase history depth */
/* Get default datareader QoS to customize */
/* retcode = DDS_Subscriber_get_default_datareader_qos(subscriber[i],
&datareader_qos);
if (retcode != DDS_RETCODE_OK) {
printf("get_default_datareader_qos error\n");
return -1;
}
datareader_qos.history.depth = 10;
*/ /* To create datareader with default QoS, use DDS_DATAREADER_QOS_DEFAULT
instead of datareader_qos */
/* reader[i] = DDS_Subscriber_create_datareader(subscriber[i],
DDS_Topic_as_topicdescription(topic), &datareader_qos, NULL,
DDS_STATUS_MASK_NONE);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant, &subscriber_qos, &datareader_qos);
return -1;
}
ordered_reader[i] = orderedDataReader_narrow(reader[i]);
if (ordered_reader[i] == NULL) {
printf("DataReader narrow error\n");
return -1;
}
}
*/
/* Main loop */
for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
printf("ordered subscriber sleeping for %d sec...\n", poll_period.sec);
NDDS_Utility_sleep(&poll_period);
poll_data(ordered_reader, MAX_SUBSCRIBERS);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant, &subscriber_qos, &datareader_qos);
}
static int subscriber_main(int domainId, int sample_count) {
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
struct DDS_DataReaderListener reader_listener =
DDS_DataReaderListener_INITIALIZER;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = { 1, 0 };
const char* param_list[] = { "2", "divides" };
DDS_ContentFilteredTopic *cft = NULL;
struct DDS_StringSeq parameters;
struct DDS_ContentFilter custom_filter = DDS_ContentFilter_INITIALIZER;
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(participant,
&DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = ccfTypeSupport_get_type_name();
retcode = ccfTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(participant, "Example ccf",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/*------ Start changes for Custom_Content_Filter ------*/
/* Create and register custom filter */
custom_filter.compile = custom_filter_compile_function;
custom_filter.evaluate = custom_filter_evaluate_function;
custom_filter.finalize = custom_filter_finalize_function;
custom_filter.filter_data = NULL;
retcode = DDS_DomainParticipant_register_contentfilter(participant,
"CustomFilter", &custom_filter);
if (retcode != DDS_RETCODE_OK) {
printf("Failed to register custom content filter");
subscriber_shutdown(participant);
return -1;
}
DDS_StringSeq_initialize(¶meters);
DDS_StringSeq_set_maximum(¶meters, 2);
DDS_StringSeq_from_array(¶meters, param_list, 2);
cft = DDS_DomainParticipant_create_contentfilteredtopic_with_filter(
participant, "ContentFilteredTopic", topic, "%0 %1 x", ¶meters,
"CustomFilter");
if (cft == NULL) {
printf("create_contentfilteredtopic error\n");
subscriber_shutdown(participant);
return -1;
}
printf("Filter: 2 divides x\n");
/* Note that we pass 'ccf' rather than 'topic' to the datareader below */
/*------ End changes for Custom_Content_Filter ------*/
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
ccfListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
ccfListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected = ccfListener_on_sample_rejected;
reader_listener.on_liveliness_changed = ccfListener_on_liveliness_changed;
reader_listener.on_sample_lost = ccfListener_on_sample_lost;
reader_listener.on_subscription_matched =
ccfListener_on_subscription_matched;
reader_listener.on_data_available = ccfListener_on_data_available;
/*
* NOTE THAT WE USE THE PREVIOUSLY CREATED CUSTOM FILTERED TOPIC TO READ
* NEW SAMPLES
*/
reader = DDS_Subscriber_create_datareader(subscriber,
DDS_Topic_as_topicdescription(cft), &DDS_DATAREADER_QOS_DEFAULT,
&reader_listener, DDS_STATUS_MASK_ALL);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Start changes for Custom_Content_Filter */
/* Main loop */
for (count = 0; (sample_count == 0) || (count < sample_count); ++count) {
if (count == 10) {
printf("changing filter parameters\n");
printf("Filter: 15 greater-than x\n");
DDS_String_free(DDS_StringSeq_get(¶meters, 0));
DDS_String_free(DDS_StringSeq_get(¶meters, 1));
*DDS_StringSeq_get_reference(¶meters, 0) = DDS_String_dup("15");
*DDS_StringSeq_get_reference(¶meters, 1) = DDS_String_dup(
"greater-than");
retcode = DDS_ContentFilteredTopic_set_expression_parameters(cft,
¶meters);
if (retcode != DDS_RETCODE_OK) {
printf("set_expression_parameters error\n");
subscriber_shutdown(participant);
return -1;
}
} else if (count == 20) {
struct DDS_StringSeq oldParameters;
printf("changing filter parameters\n");
printf("Filter: 3 divides x\n");
DDS_ContentFilteredTopic_get_expression_parameters(cft,
&oldParameters);
DDS_String_free(DDS_StringSeq_get(&oldParameters, 0));
*DDS_StringSeq_get_reference(&oldParameters, 0) = DDS_String_dup(
"3");
*DDS_StringSeq_get_reference(&oldParameters, 1) = DDS_String_dup(
"divides");
retcode = DDS_ContentFilteredTopic_set_expression_parameters(cft,
&oldParameters);
if (retcode != DDS_RETCODE_OK) {
printf("set_expression_parameters error\n");
subscriber_shutdown(participant);
return -1;
}
}
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic1 = NULL;
DDS_Topic *topic2 = NULL;
DDS_Topic *topic3 = NULL;
struct DDS_SubscriberListener subscriber_listener =
DDS_SubscriberListener_INITIALIZER;
DDS_DataReader *reader1 = NULL;
DDS_DataReader *reader2 = NULL;
DDS_DataReader *reader3 = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = {4,0};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* Set up Subscriber listener and establish on_data_on_readers callback */
/* Set up a data reader listener */
subscriber_listener.on_data_on_readers =
ordered_groupListener_on_data_on_readers;
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(
participant, &DDS_SUBSCRIBER_QOS_DEFAULT,
&subscriber_listener /* listener */, DDS_DATA_ON_READERS_STATUS);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = ordered_groupTypeSupport_get_type_name();
retcode = ordered_groupTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* TOPICS */
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic1 = DDS_DomainParticipant_create_topic(
participant, "Topic1",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic1 == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
topic2 = DDS_DomainParticipant_create_topic(
participant, "Topic2",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic2 == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
topic3 = DDS_DomainParticipant_create_topic(
participant, "Topic3",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic3 == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* DATAREADERS */
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader1 = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic1),
&DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (reader1 == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
reader2 = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic2),
&DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (reader2 == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
reader3 = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic3),
&DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (reader3 == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
printf("ordered_group subscriber sleeping for %d sec...\n",
poll_period.sec);
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t wait_timeout = {1,0};
/* Additional variables for this example */
int i;
DDS_WaitSet *waitset = NULL;
DDS_QueryCondition* query_condition = NULL;
waitset_query_condDataReader *waitset_query_cond_reader = NULL;
const char* query_expression = DDS_String_dup("name MATCH %0");
struct DDS_StringSeq query_parameters;
struct DDS_ConditionSeq active_conditions_seq =
DDS_SEQUENCE_INITIALIZER;
struct waitset_query_condSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
/* Auxiliary variables */
char * odd_string = DDS_String_dup("'ODD'");
char * even_string = DDS_String_dup("'EVEN'");
/* The initial value of the param_list is EVEN string */
const char* param_list[] = {even_string};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(
participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = waitset_query_condTypeSupport_get_type_name();
retcode = waitset_query_condTypeSupport_register_type(participant,
type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(
participant, "Example waitset_query_cond",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Narrow the reader into your specific data type */
waitset_query_cond_reader = waitset_query_condDataReader_narrow(reader);
if (waitset_query_cond_reader == NULL) {
printf("DataReader narrow error\n");
return -1;
}
/* Create query condition */
DDS_StringSeq_initialize(&query_parameters);
DDS_StringSeq_set_maximum(&query_parameters, 1);
/*Here we set the default filter using the param_list */
DDS_StringSeq_from_array(&query_parameters, param_list, 1);
query_condition = DDS_DataReader_create_querycondition(
reader,
DDS_NOT_READ_SAMPLE_STATE,
DDS_ANY_VIEW_STATE,
DDS_ANY_INSTANCE_STATE,
query_expression,
&query_parameters);
if (query_condition == NULL) {
printf("create_query_condition error\n");
subscriber_shutdown(participant);
return -1;
}
waitset = DDS_WaitSet_new();
if (waitset == NULL) {
printf("create waitset error\n");
subscriber_shutdown(participant);
return -1;
}
/* Attach Query Conditions */
retcode = DDS_WaitSet_attach_condition(waitset,
(DDS_Condition*)query_condition);
if (retcode != DDS_RETCODE_OK) {
printf("attach_condition error\n");
subscriber_shutdown(participant);
return -1;
}
printf ("\n>>>Timeout: %.0d sec & %d nanosec\n",wait_timeout.sec,
wait_timeout.nanosec);
printf (">>> Query conditions: name MATCH %%0\n");
printf ("\t%%0 = %s\n", param_list[0]);
printf ("---------------------------------\n\n");
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
/* We set a new parameter in the Query Condition after 7 secs */
if (count == 7) {
param_list[0] = odd_string;
printf ("CHANGING THE QUERY CONDITION\n");
printf ("\n>>> Query conditions: name MATCH %%0\n");
printf ("\t%%0 = %s\n", param_list[0]);
printf (">>> We keep one sample in the history\n");
printf ("-------------------------------------\n\n");
DDS_StringSeq_from_array(&query_parameters, param_list, 1);
DDS_QueryCondition_set_query_parameters(query_condition,
&query_parameters);
}
/* wait() blocks execution of the thread until one or more attached
* Conditions become true, or until a user-specified timeout expires.
*/
retcode = DDS_WaitSet_wait(
waitset, /* waitset */
&active_conditions_seq, /* active conditions sequence */
&wait_timeout); /* timeout */
/* We get to timeout if no conditions were triggered */
if (retcode == DDS_RETCODE_TIMEOUT) {
printf("Wait timed out!! No conditions were triggered.\n");
continue;
} else if (retcode != DDS_RETCODE_OK) {
printf("wait returned error: %d", retcode);
break;
}
retcode = DDS_RETCODE_OK;
while (retcode != DDS_RETCODE_NO_DATA) {
retcode =
waitset_query_condDataReader_take_w_condition(
waitset_query_cond_reader, &data_seq, &info_seq,
DDS_LENGTH_UNLIMITED,
DDS_QueryCondition_as_readcondition(query_condition));
for (i = 0; i < waitset_query_condSeq_get_length(&data_seq);
++i) {
if (!DDS_SampleInfoSeq_get_reference(
&info_seq, i)->valid_data) {
printf("Got metadata\n");
continue;
}
waitset_query_condTypeSupport_print_data(
waitset_query_condSeq_get_reference(&data_seq, i));
}
waitset_query_condDataReader_return_loan(
waitset_query_cond_reader, &data_seq, &info_seq);
}
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
struct DDS_DataReaderListener reader_listener =
DDS_DataReaderListener_INITIALIZER;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
DDS_StatusCondition *status_condition;
DDS_WaitSet *waitset = NULL;
waitset_statuscondDataReader *waitsets_reader = NULL;
struct DDS_Duration_t timeout = {4,0};
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(
participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = waitset_statuscondTypeSupport_get_type_name();
retcode = waitset_statuscondTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(
participant, "Example waitset_statuscond",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&DDS_DATAREADER_QOS_DEFAULT, NULL, DDS_STATUS_MASK_NONE);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
status_condition = DDS_Entity_get_statuscondition((DDS_Entity*)reader);
if (status_condition == NULL) {
printf("get_statuscondition error\n");
subscriber_shutdown(participant);
return -1;
}
// Since a single status condition can match many statuses,
// enable only those we're interested in.
retcode = DDS_StatusCondition_set_enabled_statuses(
status_condition,
DDS_DATA_AVAILABLE_STATUS);
if (retcode != DDS_RETCODE_OK) {
printf("set_enabled_statuses error\n");
subscriber_shutdown(participant);
return -1;
}
// Create WaitSet, and attach conditions
waitset = DDS_WaitSet_new();
if (waitset == NULL) {
printf("create waitset error\n");
subscriber_shutdown(participant);
return -1;
}
retcode = DDS_WaitSet_attach_condition(waitset, (DDS_Condition*)status_condition);
if (retcode != DDS_RETCODE_OK) {
printf("attach_condition error\n");
subscriber_shutdown(participant);
return -1;
}
// Get narrowed datareader
waitsets_reader = waitset_statuscondDataReader_narrow(reader);
if (waitsets_reader == NULL) {
printf("DataReader narrow error\n");
return -1;
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
struct DDS_ConditionSeq active_conditions = DDS_SEQUENCE_INITIALIZER;
int i, j;
retcode = DDS_WaitSet_wait(waitset, &active_conditions, &timeout);
if (retcode == DDS_RETCODE_TIMEOUT) {
printf("wait timed out\n");
count+=2;
continue;
} else if (retcode != DDS_RETCODE_OK) {
printf("wait returned error: %d\n", retcode);
break;
}
printf("got %d active conditions\n",
DDS_ConditionSeq_get_length(&active_conditions));
for (i = 0; i < DDS_ConditionSeq_get_length(&active_conditions); ++i) {
if (DDS_ConditionSeq_get(&active_conditions, i) == (DDS_Condition*)status_condition) {
// A status condition triggered--see which ones
DDS_StatusMask triggeredmask;
triggeredmask = DDS_Entity_get_status_changes((DDS_Entity*)waitsets_reader);
if (triggeredmask & DDS_DATA_AVAILABLE_STATUS) {
struct waitset_statuscondSeq data_seq =
DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfoSeq info_seq =
DDS_SEQUENCE_INITIALIZER;
retcode = waitset_statuscondDataReader_take(
waitsets_reader, &data_seq, &info_seq,
DDS_LENGTH_UNLIMITED, DDS_ANY_SAMPLE_STATE,
DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
if (retcode != DDS_RETCODE_OK) {
printf("take error %d\n", retcode);
break;
}
for (j = 0; j < waitset_statuscondSeq_get_length(&data_seq); ++j) {
if (!DDS_SampleInfoSeq_get_reference(&info_seq, j)->valid_data) {
printf(" Got metadata\n");
continue;
}
waitset_statuscondTypeSupport_print_data(
waitset_statuscondSeq_get_reference(&data_seq, j));
}
retcode = waitset_statuscondDataReader_return_loan(
waitsets_reader, &data_seq, &info_seq);
if (retcode != DDS_RETCODE_OK) {
printf("return loan error %d\n", retcode);
}
}
}
}
}
/* Delete all entities */
retcode = DDS_WaitSet_delete(waitset);
if (retcode != DDS_RETCODE_OK) {
printf("delete waitset error %d\n", retcode);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
struct DDS_DataReaderListener reader_listener =
DDS_DataReaderListener_INITIALIZER;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = {4,0};
/*
* This example uses a built-in QoS profile to enable monitoring on the
* DomainParticipant. The code below loads the XML QoS from the
* USER_QOS_PROFILES.xml file, which is inheriting from the
* "BuiltinQoSLib::Generic.Monitoring.Common" profile to enable monitoring.
*
* !!!! NOTE: This example will only work when dynamically linking !!!
* In Visual Studio, change the target to "Debug DLL" or "Release DLL"
* to build.
*/
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
/* If you want to change the DomainParticipant's QoS programatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_participant call above.
*
* This example uses a built-in QoS profile to enable
* monitoring on the DomainParticipant.*/
/*participant = DDS_DomainParticipantFactory_create_participant_with_profile(
DDS_TheParticipantFactory, domainId,
DDS_BUILTIN_QOS_LIB, DDS_PROFILE_GENERIC_MONITORING_COMMON,
NULL /* listener * /, DDS_STATUS_MASK_NONE);
*/
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(
participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = profilesTypeSupport_get_type_name();
retcode = profilesTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(
participant, "Example profiles",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
profilesListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
profilesListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected =
profilesListener_on_sample_rejected;
reader_listener.on_liveliness_changed =
profilesListener_on_liveliness_changed;
reader_listener.on_sample_lost =
profilesListener_on_sample_lost;
reader_listener.on_subscription_matched =
profilesListener_on_subscription_matched;
reader_listener.on_data_available =
profilesListener_on_data_available;
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&DDS_DATAREADER_QOS_DEFAULT, &reader_listener, DDS_STATUS_MASK_ALL);
/* If you want to change the DataReader's QoS programatically rather
* than using the XML file, you will need to add the following lines to
* your code and comment out the create_datareader call above.
*
* This example uses a built-in QoS profile to tune the QoS for
* reliable streaming data. */
/*reader = DDS_Subscriber_create_datareader_with_profile(
subscriber, DDS_Topic_as_topicdescription(topic),
DDS_BUILTIN_QOS_LIB_EXP, DDS_PROFILE_PATTERN_RELIABLE_STREAMING,
&reader_listener, DDS_STATUS_MASK_ALL);
*/
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
printf("profiles subscriber sleeping for %d sec...\n",
poll_period.sec);
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
int count = 0;
struct DDS_Duration_t poll_period = {4,0};
DDS_ReturnCode_t retcode;
DDS_Subscriber *builtin_subscriber = NULL;
DDS_PublicationBuiltinTopicDataDataReader *builtin_publication_datareader = NULL;
/* Listener for the Built-in Publication Data Reader */
struct DDS_DataReaderListener builtin_publication_listener =
DDS_DataReaderListener_INITIALIZER;
/* If you want to change the type_code_max_serialized_length
* programmatically (e.g., to 3070) rather than using the XML file, you
* will need to add the following lines to your code and comment out the
* create_participant call bellow. */
/*
struct DDS_DomainParticipantQos participant_qos =
DDS_DomainParticipantQos_INITIALIZER;
retcode = DDS_DomainParticipantFactory_get_default_participant_qos(
DDS_TheParticipantFactory, &participant_qos);
if (retcode != DDS_RETCODE_OK) {
printf("get_default_participant_qos error\n");
return -1;
}
participant_qos.resource_limits.type_code_max_serialized_length = 3070;
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &participant_qos,
NULL, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
*/
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* First get the built-in subscriber */
builtin_subscriber = DDS_DomainParticipant_get_builtin_subscriber(participant);
if (builtin_subscriber == NULL) {
printf("***Error: failed to create builtin subscriber\n");
return 0;
}
/* Then get the data reader for the built-in subscriber */
builtin_publication_datareader =
(DDS_PublicationBuiltinTopicDataDataReader*)
DDS_Subscriber_lookup_datareader(builtin_subscriber,
DDS_PUBLICATION_TOPIC_NAME);
if (builtin_publication_datareader == NULL) {
printf("***Error: failed to create builtin publication data reader\n");
return 0;
}
/* Finally install the listener */
builtin_publication_listener.on_data_available =
BuiltinPublicationListener_on_data_available;
DDS_DataReader_set_listener((DDS_DataReader*)builtin_publication_datareader,
&builtin_publication_listener,
DDS_DATA_AVAILABLE_STATUS);
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
struct DDS_DataReaderListener reader_listener =
DDS_DataReaderListener_INITIALIZER;
DDS_DataReader *reader = NULL;
DDS_ReturnCode_t retcode;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = {4,0};
/* To change the time-based filter programmatically you will need to declare
* the DataReaderQoS */
struct DDS_DataReaderQos datareader_qos = DDS_DataReaderQos_INITIALIZER;
/* To customize participant QoS, use
the configuration file USER_QOS_PROFILES.xml */
participant = DDS_DomainParticipantFactory_create_participant(
DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize subscriber QoS, use
the configuration file USER_QOS_PROFILES.xml */
subscriber = DDS_DomainParticipant_create_subscriber(
participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = tbfTypeSupport_get_type_name();
retcode = tbfTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
the configuration file USER_QOS_PROFILES.xml */
topic = DDS_DomainParticipant_create_topic(
participant, "Example tbf",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
DDS_STATUS_MASK_NONE);
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
tbfListener_on_requested_deadline_missed;
reader_listener.on_requested_incompatible_qos =
tbfListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected =
tbfListener_on_sample_rejected;
reader_listener.on_liveliness_changed =
tbfListener_on_liveliness_changed;
reader_listener.on_sample_lost =
tbfListener_on_sample_lost;
reader_listener.on_subscription_matched =
tbfListener_on_subscription_matched;
reader_listener.on_data_available =
tbfListener_on_data_available;
/* To customize data reader QoS, use
the configuration file USER_QOS_PROFILES.xml */
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&DDS_DATAREADER_QOS_DEFAULT, &reader_listener, DDS_STATUS_MASK_ALL);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* If you want to change the time-based filter programmatically (e.g., to
* 2 seconds) rather than using the XML file, you will need to add the
* following lines to your code and comment out the create_datareader
* call above. */
/*datareader_qos.time_based_filter.minimum_separation.sec = 2;
datareader_qos.time_based_filter.minimum_separation.nanosec = 0;
reader = DDS_Subscriber_create_datareader(
subscriber, DDS_Topic_as_topicdescription(topic),
&datareader_qos, &reader_listener, DDS_STATUS_MASK_ALL);
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}*/
/* Results table header: (1) source timestamp of the sample received;
* (2) instance id (instance.code value); and (3) value of x (instance.x).
*/
printf("================================================\n");
printf("Source Timestamp\tInstance\tX\n");
printf("================================================\n");
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
/*printf("tbf subscriber sleeping for %d sec...\n",
poll_period.sec);*/
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}