int main(int argc, char *argv[])
{
os_time delay_2ms = { 0, 2000000 };
DDSEntityManager *mgr = new DDSEntityManager();
// create domain participant
char partition_name[] = "Listener example";
mgr->createParticipant(partition_name);
//create type
MsgTypeSupport_var mt = new MsgTypeSupport();
mgr->registerType(mt.in());
//create Topic
char topic_name[] = "ListenerData_Msg";
mgr->createTopic(topic_name);
//create Publisher
mgr->createPublisher();
// create DataWriter
mgr->createWriter();
// Publish Events
DataWriter_ptr dwriter = mgr->getWriter();
MsgDataWriter_var listenerWriter = MsgDataWriter::_narrow(dwriter);
Msg msgInstance; /* Example on Stack */
msgInstance.userID = 1;
msgInstance.message = CORBA::string_dup("Hello World");
cout << "=== [ListenerDataPublisher] writing a message containing :" << endl;
cout << " userID : " << msgInstance.userID << endl;
cout << " Message : \"" << msgInstance.message << "\"" << endl;
ReturnCode_t status = listenerWriter->write(msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_2ms);
/* Remove the DataWriters */
mgr->deleteWriter(listenerWriter.in ());
/* Remove the Publisher. */
mgr->deletePublisher();
/* Remove the Topics. */
mgr->deleteTopic();
/* Remove Participant. */
mgr->deleteParticipant();
delete mgr;
return 0;
}
DDSBroker::DDSBroker()
{
//create a default participant
#ifdef USE_OPENSPLICE_DDS
domain = DDS::DOMAIN_ID_DEFAULT;
dpf = DomainParticipantFactory::get_instance();
#endif
#ifdef USE_OPENDDS
char* cfgFileName = getenv("DDS_CONFIG_FILE");
int argc = 3;
char *argv[3];
argv[0] = ACE_OS_String::strdup ("");
if ((cfgFileName != NULL) && (strlen(cfgFileName) != 0) && (access(cfgFileName, 0 ) != -1))
{
argv[1] = ACE_OS_String::strdup ("-DCPSConfigFile");
argv[2] = cfgFileName;
}
else
{
ROS_ERROR("The environment variable DDS_CONFIG_FILE is not set or the file cannot be found.");
ROS_ERROR("You should export this variable to a OpenDDS transport configuration file.");
exit(1);
}
domain = 0;
dpf = TheParticipantFactoryWithArgs(argc, argv);
#endif
ROS_ASSERT_MSG(dpf.in(), "[DDS] Failed to get DDS factory.");
participant = dpf->create_participant(domain, PARTICIPANT_QOS_DEFAULT, NULL, STATUS_MASK_NONE);
ROS_ASSERT_MSG(participant.in(), "[DDS] Failed to create DDS participant.");
//register the default ROSDDS message type
#ifdef USE_OPENSPLICE_DDS
MsgTypeSupport_var mt = new ROSDDS::MsgTypeSupport();
#endif
#ifdef USE_OPENDDS
ROSDDS::MsgTypeSupport_var mt = new ROSDDS::MsgTypeSupportImpl();
#endif
type_name = mt->get_type_name();
DDS::ReturnCode_t status;
status = mt->register_type(participant.in(), type_name);
ROS_ASSERT_MSG(status == DDS::RETCODE_OK, "[DDS] Failed to register DDS datatype");
ROS_INFO("[DDS] DDS Ready!");
}
int OSPL_MAIN (int argc, char *argv[])
{
os_time delay_20ms = { 0, 20000000 };
os_time delay_200ms = { 0, 200000000 };
MsgSeq msgList;
SampleInfoSeq infoSeq;
// create domain participant
char partition_name[] = "Lifecycle example";
//------------------ Msg topic --------------------//
DDSEntityManager mgr;
// create domain participant
mgr.createParticipant(partition_name);
//create type
MsgTypeSupport_var mt = new MsgTypeSupport();
mgr.registerType(mt.in());
//create Topic
char topic_name[] = "Lifecycle_Msg";
mgr.createTopic(topic_name);
//create Subscriber
mgr.createSubscriber();
// create DataReader
mgr.createReader();
DataReader_var dreader = mgr.getReader();
MsgDataReader_var LifecycleReader = MsgDataReader::_narrow(dreader.in());
checkHandle(LifecycleReader.in(), "MsgDataReader::_narrow");
cout << "=== [Subscriber] Ready ..." << endl;
bool closed = false;
ReturnCode_t status;
int nbIter = 1;
int nbIterMax = 100;
while ((closed == false) && (nbIter < nbIterMax))
{
status = LifecycleReader->read(msgList, infoSeq, LENGTH_UNLIMITED,
ANY_SAMPLE_STATE, ANY_VIEW_STATE, ANY_INSTANCE_STATE);
checkStatus(status, "msgDataReader::read");
for (DDS::ULong j = 0; j < msgList.length(); j++)
{
cout << endl << " Message : " << msgList[j].message.in() << endl;
cout << " writerStates : " << msgList[j].writerStates.in() << endl;
cout << " valid_data : " << (int)infoSeq[j].valid_data << endl;
cout << "sample_state:" << sSampleState[index(infoSeq[j].sample_state)] << "-view_state:" << sViewState[index(infoSeq[j].view_state)] << "-instance_state:" << sInstanceState[index(infoSeq[j].instance_state)] << endl;
os_nanoSleep(delay_200ms);
closed = (strcmp(msgList[j].writerStates.in(), "STOPPING_SUBSCRIBER") == 0);
}
status = LifecycleReader->return_loan(msgList, infoSeq);
checkStatus(status, "MsgDataReader::return_loan");
os_nanoSleep(delay_20ms);
nbIter++;
}
cout << "=== [Subscriber] stopping after "<< nbIter << " iterations - closed=" << closed << endl;
if (nbIter == nbIterMax) cout << "*** Error : max " << nbIterMax << "iterations reached" << endl;
//cleanup
// Lifecycle topic
mgr.deleteReader(LifecycleReader.in ());
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
return 0;
}
int OSPL_MAIN (int argc, char *argv[])
{
bool automatic = true;
ReturnCode_t status = - 1;
os_time delay = { 20, 0 };
os_time delay_1s = { 1, 0 };
char buf[MAX_MSG_LEN];
if (argc < 4)
{
usage();
}
if ((strcmp(argv[1], "transient") && strcmp(argv[1], "persistent")) ||
(strcmp(argv[2], "false") && strcmp(argv[2], "true")))
{
usage();
}
string durability_kind(argv[1]);
bool autodispose_unregistered_instances = (strcmp(argv[2], "true") == 0);
DDSEntityManager mgr (durability_kind, autodispose_unregistered_instances);
automatic = (strcmp(argv[3], "true") == 0);
// Wait for the Subscriber (case of transient = true && auto_dispose = true)
os_nanoSleep(delay_1s);
// create domain participant
char partition_name[] = "Durability example";
mgr.createParticipant(partition_name);
//create type
MsgTypeSupport_var mt = new MsgTypeSupport();
mgr.registerType(mt.in());
//create Topic
char topic_name[] = "DurabilityData_Msg";
mgr.createTopic(topic_name);
//create Publisher
mgr.createPublisher();
// create DataWriter
mgr.createWriter();
// Publish Events
DataWriter_var dwriter = mgr.getWriter();
MsgDataWriter_var DurabilityDataWriter = MsgDataWriter::_narrow(dwriter.in());
Msg *instances[10];
InstanceHandle_t userHandle[10];
for (int x = 0; x < 10; x++)
{
instances[x] = new Msg();
instances[x]->id = x;
snprintf(buf, MAX_MSG_LEN, "%d", x);
userHandle[x] = DurabilityDataWriter->register_instance(*instances[x]);
instances[x]->content = DDS::string_dup(buf);
cout << instances[x]->content << endl;
DurabilityDataWriter->write(*instances[x], userHandle[x]);
}
if (! automatic) {
char c = 0;
cout << "Enter E to exit" << endl;
while (c != 'E')
{
cin >> c;
}
}
int main(int argc, char *argv[])
{
os_time delay_200ms = { 0, 200000000 };
os_time delay_500ms = { 0, 500000000 };
cout << "argc=" << argc << endl;
if (argc < 3)
{
usage();
}
if ((strcmp(argv[1], "false") != 0) &&
(strcmp(argv[1], "true") != 0) &&
(strcmp(argv[2], "dispose") != 0) &&
(strcmp(argv[2], "unregister") != 0) &&
(strcmp(argv[2], "stoppub") != 0))
{
usage();
}
bool autodispose_unregistered_instances = (strcmp(argv[1], "true") == 0);
// create domain participant
char partition_name[] = "Lifecycle example";
//------------------ Msg topic --------------------//
DDSEntityManager *mgr = new DDSEntityManager
(autodispose_unregistered_instances);
// create domain participant
mgr->createParticipant(partition_name);
//create type
MsgTypeSupport_var mt = new MsgTypeSupport();
mgr->registerType(mt.in());
//create Topic
char topic_name[] = "Lifecycle_Msg";
mgr->createTopic(topic_name);
//create Publisher
mgr->createPublisher();
// create DataWriters
mgr->createWriters();
DataWriter_ptr dwriter = mgr->getWriter();
MsgDataWriter_var LifecycleWriter = MsgDataWriter::_narrow(dwriter);
DataWriter_ptr dwriter_stopper = mgr->getWriter_stopper();
MsgDataWriter_var LifecycleWriter_stopper = MsgDataWriter::_narrow(dwriter_stopper);
os_nanoSleep(delay_500ms);
ReturnCode_t status;
if (strcmp(argv[2], "dispose") == 0)
{
Msg *msgInstance = new Msg();
msgInstance->userID = 1;
msgInstance->message = CORBA::string_dup("Lifecycle_1");
msgInstance->writerStates = CORBA::string_dup("SAMPLE_SENT -> INSTANCE_DISPOSED -> DATAWRITER_DELETED");
cout << "=== [Publisher] :" << endl;
cout << " userID : " << msgInstance->userID << endl;
cout << " Message : \"" << msgInstance->message << "\"" << endl;
cout << " writerStates : \"" << msgInstance->writerStates << "\"" << endl;
status = LifecycleWriter->write(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_500ms); //
cout << "=== [Publisher] : SAMPLE_SENT" << endl;
// Dispose instance
status = LifecycleWriter->dispose(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::dispose");
cout << "=== [Publisher] : INSTANCE_DISPOSED" << endl;
/* Release the data-samples. */
delete msgInstance;
// msg allocated on heap: explicit de-allocation required!!
}
else if (strcmp(argv[2], "unregister") == 0)
{
Msg *msgInstance = new Msg();
msgInstance->userID = 2;
msgInstance->message = CORBA::string_dup("Lifecycle_2");
msgInstance->writerStates = CORBA::string_dup("SAMPLE_SENT -> INSTANCE_UNREGISTERED -> DATAWRITER_DELETED");
cout << "=== [Publisher] :" << endl;
cout << " userID : " << msgInstance->userID << endl;
cout << " Message : \"" << msgInstance->message << "\"" << endl;
cout << " writerStates : \"" << msgInstance->writerStates << "\"" << endl;
status = LifecycleWriter->write(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_500ms); //
cout << "=== [Publisher] : SAMPLE_SENT" << endl;
// Unregister instance : the auto_dispose_unregistered_instances flag
// is currently ignored and the instance is never disposed automatically
status = LifecycleWriter->unregister_instance(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::unregister_instance");
cout << "=== [Publisher] : INSTANCE_UNREGISTERED" << endl;
/* Release the data-samples. */
delete msgInstance;
// msg allocated on heap: explicit de-allocation required!!
}
else if (strcmp(argv[2], "stoppub") == 0)
{
Msg *msgInstance = new Msg();
msgInstance->userID = 3;
msgInstance->message = CORBA::string_dup("Lifecycle_3");
msgInstance->writerStates = CORBA::string_dup("SAMPLE_SENT -> DATAWRITER_DELETED");
cout << "=== [Publisher] :" << endl;
cout << " userID : " << msgInstance->userID << endl;
cout << " Message : \"" << msgInstance->message << "\"" << endl;
cout << " writerStates : \"" << msgInstance->writerStates << "\"" << endl;
status = LifecycleWriter->write(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_500ms); //
cout << "=== [Publisher] : SAMPLE_SENT" << endl;
/* Release the data-samples. */
delete msgInstance;
// msg allocated on heap: explicit de-allocation required!!
}
// let the subscriber treat the previous writer state !!!!
cout << "=== [Publisher] waiting 500ms to let the subscriber treat the previous write state ..." << endl;
os_nanoSleep(delay_500ms);
/* Remove the DataWriters */
mgr->deleteWriter(LifecycleWriter.in ());
os_nanoSleep(delay_500ms);
cout << "=== [Publisher] : DATAWRITER_DELETED" << endl;
// Stop the subscriber
Msg *msgInstance = new Msg();
msgInstance->userID = 4;
msgInstance->message = CORBA::string_dup("Lifecycle_4");
msgInstance->writerStates = CORBA::string_dup("STOPPING_SUBSCRIBER");
cout << "=== [Publisher] :" << endl;
cout << " userID : " << msgInstance->userID << endl;
cout << " Message : \"" << msgInstance->message << "\"" << endl;
cout << " writerStates : \"" << msgInstance->writerStates << "\"" << endl;
status = LifecycleWriter_stopper->write(*msgInstance, NULL);
checkStatus(status, "MsgDataWriter::write");
os_nanoSleep(delay_500ms); //
//cout << "=== [Publisher] : SAMPLE_SENT" << endl;
/* Release the data-samples. */
delete msgInstance;
// msg allocated on heap: explicit de-allocation required!!
/* Remove the DataWriter_stopper */
mgr->deleteWriter(LifecycleWriter_stopper.in ());
/* Remove the Publisher. */
mgr->deletePublisher();
/* Remove the Topics. */
mgr->deleteTopic();
mgr->deleteParticipant();
delete mgr;
return 0;
}
int main(int argc, char *argv[])
{
os_time delay_500ms = { 0, 500000000 };
DDSEntityManager *mgr = new DDSEntityManager();
// create domain participant
// create domain participant
char partition_name[] = "WaitSet example";
mgr->createParticipant(partition_name);
//create type
MsgTypeSupport_var mt = new MsgTypeSupport();
mgr->registerType(mt.in());
//create Topic
char topic_name[] = "WaitSetData_Msg";
mgr->createTopic(topic_name);
//create Publisher
mgr->createPublisher();
// create DataWriter
mgr->createWriter();
// Publish Events
DataWriter_ptr dwriter = mgr->getWriter();
MsgDataWriter_var WaitSetDataWriter = MsgDataWriter::_narrow(dwriter);
Msg msgInstance; /* Example on Stack */
msgInstance.userID = 1;
msgInstance.message = CORBA::string_dup("First Hello");
cout << "=== [Publisher] writing a message containing :" << endl;
cout << " userID : " << msgInstance.userID << endl;
cout << " Message : \"" << msgInstance.message << "\"" << endl;
ReturnCode_t status = WaitSetDataWriter->write(msgInstance, DDS::HANDLE_NIL);
checkStatus(status, "MsgDataWriter::write1");
os_nanoSleep(delay_500ms);
// Write a second message
msgInstance.message = CORBA::string_dup("Hello again");
status = WaitSetDataWriter->write(msgInstance, DDS::HANDLE_NIL);
checkStatus(status, "MsgDataWriter::write2");
cout << endl << "=== [Publisher] writing a message containing :" << endl;
cout << " userID : " << msgInstance.userID << endl;
cout << " Message : \"" << msgInstance.message << "\"" << endl;
os_nanoSleep(delay_500ms);
// clean up
status = WaitSetDataWriter->dispose(msgInstance, DDS::HANDLE_NIL);
checkStatus(status, "MsgDataWriter::dispose");
status = WaitSetDataWriter->unregister_instance(msgInstance, DDS::HANDLE_NIL);
checkStatus(status, "MsgDataWriter::unregister_instance");
/* Remove the DataWriters */
mgr->deleteWriter(WaitSetDataWriter.in ());
/* Remove the Publisher. */
mgr->deletePublisher();
/* Remove the Topics. */
mgr->deleteTopic();
/* Remove Participant. */
mgr->deleteParticipant();
delete mgr;
return 0;
}
int OSPL_MAIN (int argc, char *argv[])
{
MsgSeq msgList;
SampleInfoSeq infoSeq;
Duration_t timeout = { 0, 200000000 };
int count = 0;
DDSEntityManager mgr;
// create domain participant
char partition_name[] = "Listener example";
mgr.createParticipant(partition_name);
//create type
MsgTypeSupport_var st = new MsgTypeSupport();
mgr.registerType(st.in());
//create Topic
char topic_name[] = "ListenerData_Msg";
mgr.createTopic(topic_name);
//create Subscriber
mgr.createSubscriber();
// create DataReader
mgr.createReader();
DataReader_var dreader = mgr.getReader();
ListenerDataListener *myListener = new ListenerDataListener();
myListener->m_MsgReader = MsgDataReader::_narrow(dreader.in());
checkHandle(myListener->m_MsgReader.in(), "MsgDataReader::_narrow");
cout << "=== [ListenerDataSubscriber] set_listener" << endl;
DDS::StatusMask mask =
DDS::DATA_AVAILABLE_STATUS | DDS::REQUESTED_DEADLINE_MISSED_STATUS;
myListener->m_MsgReader->set_listener(myListener, mask);
cout << "=== [ListenerDataSubscriber] Ready ..." << endl;
myListener->m_closed = false;
// waitset used to avoid spinning in the loop below
DDS::WaitSet_var ws = new DDS::WaitSet();
ws->attach_condition(myListener->m_guardCond);
DDS::ConditionSeq condSeq;
while (!myListener->m_closed && count < 1500 ){
// To avoid spinning here. We can either use a sleep or better a WaitSet.
ws->wait(condSeq, timeout);
myListener->m_guardCond->set_trigger_value(false);
++count;
}
cout << "===[ListenerDataSubscriber] Market Closed" << endl;
//cleanup
mgr.deleteReader(myListener->m_MsgReader.in ());
mgr.deleteSubscriber();
mgr.deleteTopic();
mgr.deleteParticipant();
delete myListener;
cout << "Completed Listener example." << endl;
return 0;
}
