static qeo_retcode_t write_generated_data(qeocore_writer_t *writer, int arraysize){
org_qeo_dynamic_qdm_test_TypeWithStructs_t t = {};
size_t i, j;
qeo_retcode_t rc = QEO_EFAIL;
int stringsize = 10;
t.mfloat32 = 32;
t.mstring = "asdfdfasdfqwreqwrqwdfadfadsfadfd";
DDS_SEQ_INIT(t.msubstruct3);
org_qeo_dynamic_qdm_test_Substruct3_t ss3[arraysize];
char strings[arraysize][arraysize+2][stringsize];
for (i = 0; i < arraysize; ++i) {
ss3[i].msubfloat = i;
ss3[i].msubstring = str_random(strings[i][0], stringsize);
DDS_SEQ_INIT(ss3[i].msubstruct2);
org_qeo_dynamic_qdm_test_Substruct2_t ss2[arraysize];
for (j = 0; j < arraysize; ++j) {
ss2[j].msubshort = j*i;
ss2[j].msubstring = str_random(strings[i][j+2], stringsize);
}
dds_seq_from_array(&ss3[i].msubstruct2, ss2, arraysize);
}
dds_seq_from_array(&t.msubstruct3, ss3, arraysize);
DDS_SEQ_INIT(t.msubstruct1);
org_qeo_dynamic_qdm_test_Substruct1_t ss1[arraysize];
for (i = 0; i < arraysize; ++i) {
ss1[i].msubint32 = i;
ss1[i].msubstring = str_random(strings[i][1], stringsize);
}
dds_seq_from_array(&t.msubstruct1, ss1, arraysize);
rc = qeocore_writer_write(writer, &t);
for(i = 0; i < DDS_SEQ_LENGTH(t.msubstruct3); ++i) {
dds_seq_cleanup(&(DDS_SEQ_ITEM(t.msubstruct3, i).msubstruct2));
}
dds_seq_cleanup(&t.msubstruct3);
dds_seq_cleanup(&t.msubstruct1);
return rc;
}
static void test_qos (int enabled)
{
DDS_DomainParticipantFactoryQos qos;
DDS_DomainParticipant p;
DDS_Publisher pub;
DDS_Subscriber sub;
DDS_DataWriter dw;
DDS_DataReader dr;
DDS_Topic t;
DDS_TopicDescription td;
DDS_DataReaderQos rq, refrq;
DDS_ReturnCode_t r;
static unsigned char data [] = { 0x77, 0x88, 0xaa, 0xbb, 0xcc, 0xdd };
unsigned char d2 [sizeof (data) + 1];
unsigned n;
int err;
v_printf (" - Set factory QoS to %sabled.\r\n", (enabled) ? "en" : "dis");
r = DDS_DomainParticipantFactory_get_qos (&qos);
fail_unless (r == DDS_RETCODE_OK);
qos.entity_factory.autoenable_created_entities = enabled;
r = DDS_DomainParticipantFactory_set_qos (&qos);
fail_unless (r == DDS_RETCODE_OK);
p = DDS_DomainParticipantFactory_create_participant (0, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0);
fail_unless (p != NULL);
r = register_HelloWorldData_type (p);
fail_unless (r == DDS_RETCODE_OK);
t = DDS_DomainParticipant_create_topic (p, "HelloWorld", TYPE_NAME, DDS_TOPIC_QOS_DEFAULT, NULL, 0);
fail_unless (t != NULL);
td = DDS_DomainParticipant_lookup_topicdescription (p, "HelloWorld");
fail_unless (td != NULL);
sub = DDS_DomainParticipant_create_subscriber (p, NULL, NULL, 0);
fail_unless (sub != NULL);
DDS_DataReaderQos__init (&refrq);
err = dds_seq_from_array (&refrq.user_data, data, sizeof (data));
fail_unless (err == 0);
v_printf (" - Create datareader with specific QoS parameters.\r\n");
dr = DDS_Subscriber_create_datareader (sub, td, &refrq, NULL, 0);
fail_unless (dr != NULL);
memset (&rq, 0, sizeof (rq));
r = DDS_DataReader_get_qos (dr, &rq);
n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2));
fail_unless (r == DDS_RETCODE_OK &&
DDS_SEQ_LENGTH (refrq.user_data.value) == sizeof (data));
n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2));
fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data)));
DDS_DataReaderQos__clear (&rq);
r = DDS_Subscriber_delete_datareader (sub, dr);
fail_unless (r == DDS_RETCODE_OK);
v_printf (" - Create datareader with default QoS parameters.\r\n");
dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr != NULL);
pub = DDS_DomainParticipant_create_publisher (p, DDS_PUBLISHER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
dw = DDS_Publisher_create_datawriter (pub, t, DDS_DATAWRITER_QOS_DEFAULT, NULL, 0);
fail_unless (dw != NULL);
v_printf (" - Update datareader QoS parameters.\r\n");
r = DDS_DataReader_get_qos (dr, &rq);
fail_unless (r == DDS_RETCODE_OK);
DDS_DataReaderQos__clear (&refrq);
fail_unless (r == DDS_RETCODE_OK && !memcmp (&rq, &refrq, sizeof (refrq)));
err = dds_seq_from_array (&refrq.user_data, data, sizeof (data));
fail_unless (err == 0);
r = DDS_DataReader_set_qos (dr, &refrq);
fail_unless (r == DDS_RETCODE_OK);
delay ();
r = DDS_DataReader_get_qos (dr, &rq);
fail_unless (r == DDS_RETCODE_OK &&
DDS_SEQ_LENGTH (rq.user_data.value) == sizeof (data));
n = dds_seq_to_array (&rq.user_data, d2, sizeof (d2));
fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data)));
DDS_DataReaderQos__clear (&refrq);
DDS_DataReaderQos__clear (&rq);
delay ();
if (!enabled) {
v_printf (" - Enable all entities.\r\n");
r = DDS_DomainParticipant_enable (p);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Topic_enable (t);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Publisher_enable (pub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_enable (sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataWriter_enable (dw);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_enable (dr);
fail_unless (r == DDS_RETCODE_OK);
sleep (1);
}
r = DDS_Publisher_delete_datawriter (pub, dw);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_delete_datareader (sub, dr);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_publisher (p, pub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_topic (p, t);
fail_unless (r == DDS_RETCODE_OK);
unregister_HelloWorldData_type (p);
r = DDS_DomainParticipantFactory_delete_participant (p);
fail_unless (r == DDS_RETCODE_OK);
}
static void test_qos (int enabled)
{
DDS_DomainParticipantFactoryQos qos;
DDS_DomainParticipant p;
DDS_Publisher pub;
DDS_Subscriber sub;
DDS_DataWriter dw;
DDS_DataReader dr;
DDS_Topic t;
DDS_TopicDescription td;
DDS_SubscriberQos psq, refsq;
DDS_ReturnCode_t r;
static char *buf [] = { "Hello", "World" };
static unsigned char data [] = { 0x77, 0x88, 0xaa, 0xbb, 0xcc };
unsigned char d2 [sizeof (data) + 1];
unsigned n;
size_t i;
int err;
v_printf (" - Set factory QoS to %sabled.\r\n", (enabled) ? "en" : "dis");
r = DDS_DomainParticipantFactory_get_qos (&qos);
fail_unless (r == DDS_RETCODE_OK);
qos.entity_factory.autoenable_created_entities = enabled;
r = DDS_DomainParticipantFactory_set_qos (&qos);
fail_unless (r == DDS_RETCODE_OK);
p = DDS_DomainParticipantFactory_create_participant (1, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0);
fail_unless (p != NULL);
r = register_HelloWorldData_type (p);
fail_unless (r == DDS_RETCODE_OK);
DDS_SubscriberQos__init (&refsq);
for (i = 0; (size_t) i < sizeof (buf) / sizeof (char *); i++) {
err = dds_seq_append (&refsq.partition.name, &buf [i]);
fail_unless (err == 0);
}
err = dds_seq_from_array (&refsq.group_data, data, sizeof (data));
fail_unless (err == 0);
v_printf (" - Create subscriber with specific QoS parameters.\r\n");
sub = DDS_DomainParticipant_create_subscriber (p, &refsq, NULL, 0);
fail_unless (sub != NULL);
memset (&psq, 0, sizeof (psq));
r = DDS_Subscriber_get_qos (sub, &psq);
fail_unless (r == DDS_RETCODE_OK &&
DDS_SEQ_LENGTH (refsq.partition.name) == DDS_SEQ_LENGTH (psq.partition.name) &&
DDS_SEQ_LENGTH (refsq.group_data.value) == sizeof (data));
DDS_SEQ_FOREACH (refsq.partition.name, i)
fail_unless (!strcmp (DDS_SEQ_ITEM (psq.partition.name, i),
DDS_SEQ_ITEM (refsq.partition.name, i)));
n = dds_seq_to_array (&psq.group_data, d2, sizeof (d2));
fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data)));
DDS_SubscriberQos__clear (&psq);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
v_printf (" - Create topic/publisher/writer/subscriber/reader entities.\r\n");
t = DDS_DomainParticipant_create_topic (p, "HelloWorld", TYPE_NAME, DDS_TOPIC_QOS_DEFAULT, NULL, 0);
fail_unless (t != NULL);
td = DDS_DomainParticipant_lookup_topicdescription (p, "HelloWorld");
fail_unless (td != NULL);
pub = DDS_DomainParticipant_create_publisher (p, DDS_PUBLISHER_QOS_DEFAULT, NULL, 0);
fail_unless (pub != NULL);
dw = DDS_Publisher_create_datawriter (pub, t, DDS_DATAWRITER_QOS_DEFAULT, NULL, 0);
fail_unless (dw != NULL);
sub = DDS_DomainParticipant_create_subscriber (p, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr != NULL);
v_printf (" - Update subscriber QoS.\r\n");
r = DDS_Subscriber_get_qos (sub, &psq);
fail_unless (r == DDS_RETCODE_OK);
DDS_SubscriberQos__clear (&refsq);
fail_unless (r == DDS_RETCODE_OK && !memcmp (&psq, &refsq, sizeof (refsq)));
for (i = 0; (size_t) i < sizeof (buf) / sizeof (char *); i++) {
err = dds_seq_append (&refsq.partition.name, &buf [i]);
fail_unless (err == 0);
}
err = dds_seq_from_array (&refsq.group_data, data, sizeof (data));
fail_unless (err == 0);
r = DDS_Subscriber_set_qos (sub, &refsq);
fail_unless (r == DDS_RETCODE_OK);
delay ();
r = DDS_Subscriber_get_qos (sub, &psq);
fail_unless (r == DDS_RETCODE_OK &&
DDS_SEQ_LENGTH (refsq.partition.name) == DDS_SEQ_LENGTH (psq.partition.name) &&
DDS_SEQ_LENGTH (psq.group_data.value) == sizeof (data));
DDS_SEQ_FOREACH (psq.partition.name, i)
fail_unless (!strcmp (DDS_SEQ_ITEM (psq.partition.name, i),
DDS_SEQ_ITEM (refsq.partition.name, i)));
n = dds_seq_to_array (&psq.group_data, d2, sizeof (d2));
fail_unless (n == sizeof (data) && !memcmp (data, d2, sizeof (data)));
DDS_SubscriberQos__clear (&refsq);
DDS_SubscriberQos__clear (&psq);
delay ();
if (!enabled) {
v_printf (" - Enable child entities.\r\n");
r = DDS_DomainParticipant_enable (p);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Topic_enable (t);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Publisher_enable (pub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_enable (sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataWriter_enable (dw);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_enable (dr);
fail_unless (r == DDS_RETCODE_OK);
sleep (1);
}
v_printf (" - Delete child entities.\r\n");
r = DDS_Publisher_delete_datawriter (pub, dw);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_delete_datareader (sub, dr);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_publisher (p, pub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_topic (p, t);
fail_unless (r == DDS_RETCODE_OK);
unregister_HelloWorldData_type (p);
r = DDS_DomainParticipantFactory_delete_participant (p);
fail_unless (r == DDS_RETCODE_OK);
}
void test_dyn_mutable2 (void)
{
DDS_DynamicTypeSupport ts;
DDS_DynamicTypeBuilder sb2, stb, sstb;
DDS_DynamicType s2, st, sst;
DDS_TypeDescriptor *desc;
DDS_MemberDescriptor *md;
DDS_DynamicData dd, dd2, dds;
DDS_ReturnCode_t rc;
DDS_StringSeq ss;
unsigned n;
char *strings [] = {
"Hi there", "blabla", "\0", NULL,
"got here", "not yet done", "", "num8",
"9", "10", "11", "12",
"13", "14", "15", "16",
"17", "18", "19", "done :)"
};
v_printf ("test_mutable2 - ");
/* 1. Create the type. */
desc = DDS_TypeDescriptor__alloc ();
fail_unless (desc != NULL);
desc->kind = DDS_STRUCTURE_TYPE;
desc->name = "dstruct2m";
sb2 = DDS_DynamicTypeBuilderFactory_create_type (desc);
fail_unless (sb2 != NULL);
md = DDS_MemberDescriptor__alloc ();
fail_unless (md != NULL);
ADD_FIELD (sb2, md, "u16", 0, 5, DDS_UINT_16_TYPE);
set_key_annotation (sb2, "u16");
stb = DDS_DynamicTypeBuilderFactory_create_string_type (DDS_UNBOUNDED_COLLECTION);
fail_unless (stb != NULL);
st = DDS_DynamicTypeBuilder_build (stb);
fail_unless (st != NULL);
DDS_DynamicTypeBuilderFactory_delete_type (stb);
sstb = DDS_DynamicTypeBuilderFactory_create_sequence_type (st,
DDS_UNBOUNDED_COLLECTION);
fail_unless (sstb != NULL);
sst = DDS_DynamicTypeBuilder_build (sstb);
fail_unless (sst != NULL);
DDS_DynamicTypeBuilderFactory_delete_type (sstb);
md->name = "s";
md->index = 1;
md->id = 6;
md->type = sst;
rc = DDS_DynamicTypeBuilder_add_member (sb2, md);
fail_unless (rc == DDS_RETCODE_OK);
set_ext_annotation (sb2, "MUTABLE_EXTENSIBILITY");
s2 = DDS_DynamicTypeBuilder_build (sb2);
fail_unless (s2 != NULL);
DDS_DynamicTypeBuilderFactory_delete_type (sb2);
ts = DDS_DynamicTypeSupport_create_type_support (s2);
fail_unless (ts != NULL);
DDS_TypeDescriptor__free (desc);
DDS_MemberDescriptor__free (md);
/* 2. Create a Dynamic data item for this type. */
DDS_SEQ_INIT (ss);
dds_seq_from_array (&ss, strings, sizeof (strings) / sizeof (char *));
for (n = 0; n <= DDS_SEQ_MAXIMUM (ss); n++) {
dd = DDS_DynamicDataFactory_create_data (s2);
fail_unless (dd != NULL);
SET_FIELD (dd, 5, uint16, n);
dds = DDS_DynamicDataFactory_create_data (sst);
fail_unless (dds != NULL);
DDS_SEQ_LENGTH (ss) = n;
rc = DDS_DynamicData_set_string_values (dds, 0, &ss);
fail_unless (rc == DDS_RETCODE_OK);
SET_FIELD (dd, 6, complex, dds);
marshallDynamic (dd, &dd2, ts);
DDS_DynamicDataFactory_delete_data (dd);
DDS_DynamicDataFactory_delete_data (dds);
if (n > 2) {
n += 3;
if (n == 18)
n++;
}
}
dds_seq_cleanup (&ss);
DDS_DynamicTypeBuilderFactory_delete_type (s2);
DDS_DynamicTypeBuilderFactory_delete_type (sst);
DDS_DynamicTypeBuilderFactory_delete_type (st);
DDS_DynamicTypeSupport_delete_type_support (ts);
set_key_annotation (NULL, NULL);
set_ext_annotation (NULL, NULL);
v_printf ("success!\r\n");
}
void test_dyn_mutable1 (void)
{
DDS_DynamicTypeSupport ts;
DDS_DynamicTypeBuilder sb2, ostb;
DDS_DynamicType s2, ot, ost;
DDS_TypeDescriptor *desc;
DDS_MemberDescriptor *md;
DDS_DynamicData dd, dd2, dds;
DDS_ReturnCode_t rc;
DDS_ByteSeq bseq;
unsigned char values [] = { 0x22, 0x33, 0x4f, 0x5e, 0x6d, 0x7c, 0x8b };
v_printf ("test_mutable1 - ");
/* 1. Create the type. */
desc = DDS_TypeDescriptor__alloc ();
fail_unless (desc != NULL);
desc->kind = DDS_STRUCTURE_TYPE;
desc->name = "dstruct1m";
sb2 = DDS_DynamicTypeBuilderFactory_create_type (desc);
fail_unless (sb2 != NULL);
md = DDS_MemberDescriptor__alloc ();
fail_unless (md != NULL);
ADD_FIELD (sb2, md, "i16", 0, 99, DDS_INT_16_TYPE);
set_id_annotation (sb2, "i16", 20);
ADD_FIELD (sb2, md, "u32", 1, 2, DDS_UINT_32_TYPE);
set_key_annotation (sb2, "u32");
ADD_FIELD (sb2, md, "i32", 2, 100, DDS_INT_32_TYPE);
set_id_annotation (sb2, "i32", 50);
ADD_FIELD (sb2, md, "u16", 0, DDS_MEMBER_ID_INVALID, DDS_UINT_16_TYPE);
set_id_annotation (sb2, "u16", 10);
set_key_annotation (sb2, "u16");
ADD_FIELD (sb2, md, "u64", 5, 51, DDS_UINT_64_TYPE);
ADD_FIELD (sb2, md, "i64", 5, DDS_MEMBER_ID_INVALID, DDS_INT_64_TYPE);
ADD_FIELD (sb2, md, "fl", 6, 53, DDS_FLOAT_32_TYPE);
ADD_FIELD (sb2, md, "d", 7, 54, DDS_FLOAT_64_TYPE);
ADD_FIELD (sb2, md, "ch", 8, 55, DDS_CHAR_8_TYPE);
set_id_annotation (sb2, "ch", 5);
set_key_annotation (sb2, "ch");
set_id_annotation (sb2, "fl", 4);
ot = DDS_DynamicTypeBuilderFactory_get_primitive_type (DDS_BYTE_TYPE);
fail_unless (ot != NULL);
ostb = DDS_DynamicTypeBuilderFactory_create_sequence_type (ot,
DDS_UNBOUNDED_COLLECTION);
fail_unless (ostb != NULL);
ost = DDS_DynamicTypeBuilder_build (ostb);
fail_unless (ost != NULL);
DDS_DynamicTypeBuilderFactory_delete_type (ostb);
md->name = "s";
md->index = 9;
md->id = 9;
md->type = ost;
rc = DDS_DynamicTypeBuilder_add_member (sb2, md);
fail_unless (rc == DDS_RETCODE_OK);
set_ext_annotation (sb2, "MUTABLE_EXTENSIBILITY");
s2 = DDS_DynamicTypeBuilder_build (sb2);
fail_unless (s2 != NULL);
DDS_DynamicTypeBuilderFactory_delete_type (sb2);
ts = DDS_DynamicTypeSupport_create_type_support (s2);
fail_unless (ts != NULL);
DDS_TypeDescriptor__free (desc);
DDS_MemberDescriptor__free (md);
/* 2. Create a Dynamic data item for this type. */
dd = DDS_DynamicDataFactory_create_data (s2);
fail_unless (dd != NULL);
SET_FIELD (dd, 50, int32, -5);
SET_FIELD (dd, 10, uint16, 0xDEAD);
SET_FIELD (dd, 20, int16, INT16_MIN);
SET_FIELD (dd, 2, uint32, UINT32_MAX);
SET_FIELD (dd, 52, int64, 100);
SET_FIELD (dd, 4, float32, 0.5f);
SET_FIELD (dd, 54, float64, 100e-5);
SET_FIELD (dd, 5, char8, 'd');
SET_FIELD (dd, 51, uint64, 5010000);
dds = DDS_DynamicDataFactory_create_data (ost);
fail_unless (dds != NULL);
DDS_SEQ_INIT (bseq);
dds_seq_from_array (&bseq, values, sizeof (values));
rc = DDS_DynamicData_set_byte_values (dds, 0, &bseq);
dds_seq_cleanup (&bseq);
fail_unless (rc == DDS_RETCODE_OK);
SET_FIELD (dd, 9, complex, dds);
marshallDynamic (dd, &dd2, ts);
DDS_DynamicDataFactory_delete_data (dd);
DDS_DynamicDataFactory_delete_data (dds);
DDS_DynamicTypeBuilderFactory_delete_type (s2);
DDS_DynamicTypeBuilderFactory_delete_type (ost);
DDS_DynamicTypeSupport_delete_type_support (ts);
set_id_annotation (NULL, NULL, 0);
set_key_annotation (NULL, NULL);
set_ext_annotation (NULL, NULL);
v_printf ("success!\r\n");
}
