void msgListener_on_data_available(void* listener_data,
DDS_DataReader* reader) {
msgDataReader *msg_reader = NULL;
struct msgSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
DDS_ReturnCode_t retcode;
int i;
msg_reader = msgDataReader_narrow(reader);
if (msg_reader == NULL) {
printf("DataReader narrow error\n");
return;
}
retcode = msgDataReader_take(msg_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) {
return;
} else if (retcode != DDS_RETCODE_OK) {
printf("take error %d\n", retcode);
return;
}
for (i = 0; i < msgSeq_get_length(&data_seq); ++i) {
if (DDS_SampleInfoSeq_get_reference(&info_seq, i)->valid_data) {
msgTypeSupport_print_data(msgSeq_get_reference(&data_seq, i));
}
}
retcode = msgDataReader_return_loan(msg_reader, &data_seq, &info_seq);
if (retcode != DDS_RETCODE_OK) {
printf("return loan error %d\n", retcode);
}
}
/* We are going to use the BuiltinPublicationListener_on_data_available
* to detect the topics that are being published on the domain
*
* Once we have detected a new topic, we will print out the Topic Name,
* Participant ID, DataWriter id, and Data Type.
*/
void BuiltinPublicationListener_on_data_available(
void* listener_data,
DDS_DataReader* reader)
{
DDS_PublicationBuiltinTopicDataDataReader *builtin_reader = NULL;
struct DDS_PublicationBuiltinTopicDataSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_PublicationBuiltinTopicData *data = NULL;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
DDS_ReturnCode_t retcode;
DDS_ExceptionCode_t exception_code;
int i, len;
builtin_reader = DDS_PublicationBuiltinTopicDataDataReader_narrow(reader);
retcode = DDS_PublicationBuiltinTopicDataDataReader_take(
builtin_reader,
&data_seq, &info_seq, DDS_LENGTH_UNLIMITED,
DDS_ANY_SAMPLE_STATE, DDS_NEW_VIEW_STATE,
DDS_ANY_INSTANCE_STATE);
if (retcode == DDS_RETCODE_NO_DATA)
return;
if (retcode != DDS_RETCODE_OK) {
printf("***Error: failed to access data from the built-in reader\n");
return;
}
len = DDS_PublicationBuiltinTopicDataSeq_get_length(&data_seq);
for (i = 0; i < len; ++i) {
if (DDS_SampleInfoSeq_get_reference(&info_seq, i)->valid_data) {
data = DDS_PublicationBuiltinTopicDataSeq_get_reference(&data_seq, i);
printf("-----\nFound topic \"%s\"\nparticipant: %08x%08x%08x\ndatawriter: %08x%08x%08x\ntype:\n",
data->topic_name,
data->participant_key.value[0],
data->participant_key.value[1],
data->participant_key.value[2],
data->key.value[0],
data->key.value[1],
data->key.value[2]);
if (data->type_code == NULL) {
printf("No type code received, perhaps increase type_code_max_serialized_length?\n");
continue;
}
/* Using the type_code propagated we print the data type
* with print_IDL(). */
DDS_TypeCode_print_IDL(data->type_code, 2, &exception_code);
if (exception_code != DDS_NO_EXCEPTION_CODE) {
printf("Error***: print_IDL returns exception code %d",
exception_code);
}
}
}
DDS_PublicationBuiltinTopicDataDataReader_return_loan(
builtin_reader, &data_seq, &info_seq);
}
void tbfListener_on_data_available(
void* listener_data,
DDS_DataReader* reader)
{
tbfDataReader *tbf_reader = NULL;
struct tbfSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
DDS_ReturnCode_t retcode;
int i;
double source_timestamp;
tbf* data;
struct DDS_SampleInfo *sample_info;
tbf_reader = tbfDataReader_narrow(reader);
if (tbf_reader == NULL) {
printf("DataReader narrow error\n");
return;
}
retcode = tbfDataReader_take(
tbf_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) {
return;
} else if (retcode != DDS_RETCODE_OK) {
printf("take error %d\n", retcode);
return;
}
for (i = 0; i < tbfSeq_get_length(&data_seq); ++i) {
sample_info = DDS_SampleInfoSeq_get_reference(&info_seq, i);
if (sample_info->valid_data) {
data = tbfSeq_get_reference(&data_seq, i);
/* Here we get source timestamp of the sample using the sample info.
*
* info_seq[i].source_timestamp returns DDS_Time_t
* ({seconds,nanoseconds}). We convert nanoseconds to seconds to get
* the decimal part of the timestamp.
*/
source_timestamp = sample_info->source_timestamp.sec +
sample_info->source_timestamp.nanosec/NANOSECOND;
printf("%f\t%d\t\t%d\n",
source_timestamp,
data->code, data->x);
}
}
retcode = tbfDataReader_return_loan(
tbf_reader,
&data_seq, &info_seq);
if (retcode != DDS_RETCODE_OK) {
printf("return loan error %d\n", retcode);
}
}
/* No listener is needed; we poll readers in this function*/
void poll_data(orderedDataReader *ordered_reader[], int numreaders) {
struct DDS_SampleInfoSeq info_seq;
struct orderedSeq data_seq = DDS_SEQUENCE_INITIALIZER;
DDS_ReturnCode_t retcode = DDS_RETCODE_OK;
int r, i, ident;
for (r = 0; r < numreaders; ++r) {
retcode = orderedDataReader_take(ordered_reader[r], &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) {
/* Not an error */
continue;
} else if (retcode != DDS_RETCODE_OK) {
/* Is an error */
printf("take error: %d\n", retcode);
return;
}
for (i = 0; i < orderedSeq_get_length(&data_seq); ++i) {
ordered* data;
if (DDS_SampleInfoSeq_get_reference(&info_seq, i)->valid_data) {
data = orderedSeq_get_reference(&data_seq, i);
/* Make things a bit easier to read. */
ident = r;
while (ident--) {
printf("\t");
}
printf("Reader %d: Instance%d->value = %d\n", r, data->id,
data->value);
}
}
retcode = orderedDataReader_return_loan(ordered_reader[r], &data_seq,
&info_seq);
if (retcode != DDS_RETCODE_OK) {
printf("return loan error %d\n", retcode);
}
DDS_SampleInfoSeq_set_maximum(&info_seq, 0);
orderedSeq_set_maximum(&data_seq, 0);
}
}
void FidCt_StatCallback(void* listener_data, DDS_DataReader* reader)
{
FidCt_Stat *FidCtIssue;
struct DDS_SampleInfo* info = NULL;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
DDS_ReturnCode_t retcode;
DDS_Boolean result;
long i,numIssues;
struct FidCt_StatSeq data_seq = DDS_SEQUENCE_INITIALIZER;
FidCt_StatDataReader *FidCt_Stat_reader = NULL;
FidCt_Stat_reader = FidCt_StatDataReader_narrow(pFidCt_StatSub->pDReader);
if ( FidCt_Stat_reader == NULL)
{
errLogRet(LOGIT,debugInfo,"FidCt_StatCallback: DataReader narrow error\n");
return;
}
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 = FidCt_StatDataReader_take_next_instance(
FidCt_Stat_reader,
&data_seq, &info_seq, DDS_LENGTH_UNLIMITED,
&DDS_HANDLE_NIL,
DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
// retcode = Cntlr_CommDataReader_take(CntlrComm_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,"FidCt_StatCallback: next instance error %d\n",retcode);
break; // return;
}
numIssues = FidCt_StatSeq_get_length(&data_seq);
for (i=0; i < numIssues; i++)
{
info = DDS_SampleInfoSeq_get_reference(&info_seq, i);
if (info->valid_data)
{
FidCtIssue = (FidCt_Stat *) Cntlr_CommSeq_get_reference(&data_seq,i);
DPRINT2(+3,"FidCt_StatCallback(): FID=%d, Ct=%d\n",
FidCtIssue->FidCt, FidCtIssue->Ct);
if (pCurrentStatBlock != NULL)
{
if ( (pCurrentStatBlock->Acqstate == ACQ_INACTIVE) && (FidCtIssue->FidCt == 0) && (FidCtIssue->Ct == 0) )
{
/* DPRINT(-5,"Set IDLE\n"); */
pCurrentStatBlock->Acqstate = ACQ_IDLE;
}
else if ( (pCurrentStatBlock->Acqstate == ACQ_IDLE) && (FidCtIssue->FidCt == -1) && (FidCtIssue->Ct == -1) )
{
pCurrentStatBlock->Acqstate = ACQ_INACTIVE;
/* DPRINT(-5,"Set INACTIVE\n"); */
}
if ( (pCurrentStatBlock->Acqstate != ACQ_ACQUIRE) || FidCtIssue->FidCt || FidCtIssue->Ct )
{
pCurrentStatBlock->AcqFidCnt = FidCtIssue->FidCt;
pCurrentStatBlock->AcqCtCnt = FidCtIssue->Ct;
sendConsoleStatus();
}
}
}
}
retcode = FidCt_StatDataReader_return_loan( FidCt_Stat_reader,
&data_seq, &info_seq);
DDS_SampleInfoSeq_set_maximum(&info_seq, 0);
} // while
return;
}
/* NDDS 4x callback */
void Monitor_CmdCallback(void* listener_data, DDS_DataReader* reader)
{
Monitor_Cmd *recvIssue;
NDDSBUFMNGR_ID pBufMngr;
char *bufferAddr;
char *bufptr;
DDS_ReturnCode_t retcode;
DDS_Boolean result;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
struct Monitor_CmdSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfo* info = NULL;
long i,numIssues,len;
Monitor_CmdDataReader *MonitorCmd_reader = NULL;
pBufMngr = (NDDSBUFMNGR_ID) listener_data;
MonitorCmd_reader = Monitor_CmdDataReader_narrow(pMonitorSub->pDReader);
if ( MonitorCmd_reader == NULL)
{
errLogRet(LOGIT,debugInfo, "Monitor_CmdCallback: DataReader narrow error.\n");
return;
}
retcode = Monitor_CmdDataReader_take(MonitorCmd_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) {
return;
} else if (retcode != DDS_RETCODE_OK) {
errLogRet(LOGIT,debugInfo, "Monitor_CmdCallback: next instance error %d\n",retcode);
return;
}
numIssues = Monitor_CmdSeq_get_length(&data_seq);
for (i=0; i < numIssues; i++)
{
info = DDS_SampleInfoSeq_get_reference(&info_seq, i);
if ( info->valid_data)
{
recvIssue = Monitor_CmdSeq_get_reference(&data_seq,i);
DPRINT6(1,"Monitor_CmdCallback() - Cmds: %ld, arg1: %ld, arg2: %ld, arg3: %ld, crc: 0x%lx, msgstr: '%s'\n",
recvIssue->cmd, recvIssue->arg1, recvIssue->arg2, recvIssue->arg3, recvIssue->crc32chksum, recvIssue->msgstr);
bufferAddr = msgeBufGet(pBufMngr);
if (bufferAddr == NULL)
return;
memcpy(bufferAddr,recvIssue,sizeof(Monitor_Cmd));
len = strlen(recvIssue->msgstr);
bufptr = bufferAddr + sizeof(Monitor_Cmd);
/* DPRINT3(3,"bufferAddr: 0x%lx, offset: 0x%lx, msgptr: 0x%lx\n", bufferAddr, sizeof(Monitor_Cmd), bufptr); */
if (len > 0)
{
DPRINT1(1,"Msge: '%s'\n",recvIssue->msgstr);
strncpy(bufptr,recvIssue->msgstr,len+1);
}
else
{
bufptr = (char) 0;
}
msgePost(pBufMngr,bufferAddr);
pthread_kill(main_threadId,SIGUSR2); /* signal console msg arrival to main thread */
}
}
retcode = Monitor_CmdDataReader_return_loan( MonitorCmd_reader,
&data_seq, &info_seq);
return;
}
/* 4x callback */
void Monitor_CmdCallback(void* listener_data, DDS_DataReader* reader)
{
Monitor_Cmd *recvIssue;
MONITOR_MSG monIssue;
DDS_ReturnCode_t retcode;
DDS_Boolean result;
struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
struct Monitor_CmdSeq data_seq = DDS_SEQUENCE_INITIALIZER;
struct DDS_SampleInfo* info = NULL;
long i,numIssues;
Monitor_CmdDataReader *MonitorCmd_reader = NULL;
void decode(MONITOR_MSG *issue);
MonitorCmd_reader = Monitor_CmdDataReader_narrow(pMonitorSub->pDReader);
if ( MonitorCmd_reader == NULL)
{
errLogRet(LOGIT,debugInfo, "Monitor_CmdCallback: DataReader narrow error.\n");
return;
}
retcode = Monitor_CmdDataReader_take(MonitorCmd_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) {
return;
} else if (retcode != DDS_RETCODE_OK) {
errLogRet(LOGIT,debugInfo, "Monitor_CmdCallback: next instance error %d\n",retcode);
return;
}
numIssues = Monitor_CmdSeq_get_length(&data_seq);
for (i=0; i < numIssues; i++)
{
info = DDS_SampleInfoSeq_get_reference(&info_seq, i);
if ( info->valid_data)
{
recvIssue = Monitor_CmdSeq_get_reference(&data_seq,i);
monIssue.cmd = recvIssue->cmd;
monIssue.arg1 = recvIssue->arg1;
monIssue.arg2 = recvIssue->arg2;
monIssue.arg3 = recvIssue->arg3;
monIssue.arg4 = recvIssue->arg4;
monIssue.arg5 = recvIssue->arg5;
monIssue.crc32chksum = recvIssue->crc32chksum;
monIssue.msgstr.len = strlen(recvIssue->msgstr)+1;
strncpy(monIssue.msgstr.val,recvIssue->msgstr,MAX_MONITOR_MSG_STR);
DPRINT6(+1,"Monitor_Cmd CallBack: cmd: %d, arg1: %d, arg2: %d, arg3: %d, crc: 0x%lx, msgstr: '%s'\n",
recvIssue->cmd,recvIssue->arg1, recvIssue->arg2, recvIssue->arg3, recvIssue->crc32chksum, recvIssue->msgstr);
msgQSend(pMsgesToMonitor,(char*) &monIssue, sizeof(MONITOR_MSG), NO_WAIT, MSG_PRI_NORMAL);
}
}
retcode = Monitor_CmdDataReader_return_loan( MonitorCmd_reader,
&data_seq, &info_seq);
return;
}
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);
}
/* 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;
}
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);
}
