/**
* This function performs the publisher role in this example.
* @return 0 if a sample is successfully written, 1 otherwise.
*/
int publisher(int argc, char *argv[])
{
int result = 0;
try
{
/** A dds::domain::DomainParticipant is created for the default domain. */
dds::domain::DomainParticipant dp(org::opensplice::domain::default_id());
/** The Durability::Transient policy is specified as a dds::topic::qos::TopicQos
* so that even if the subscriber does not join until after the sample is written
* then the DDS will still retain the sample for it. The Reliability::Reliable
* policy is also specified to guarantee delivery. */
dds::topic::qos::TopicQos topicQos
= dp.default_topic_qos()
<< dds::core::policy::Durability::Transient()
<< dds::core::policy::Reliability::Reliable();
/** A dds::topic::Topic is created for our sample type on the domain participant. */
dds::topic::Topic<HelloWorldData::Msg> topic(dp, "HelloWorldData_Msg", topicQos);
/** A dds::pub::Publisher is created on the domain participant. */
std::string name = "HelloWorld example";
dds::pub::qos::PublisherQos pubQos
= dp.default_publisher_qos()
<< dds::core::policy::Partition(name);
dds::pub::Publisher pub(dp, pubQos);
/** The dds::pub::qos::DataWriterQos is derived from the topic qos and the
* WriterDataLifecycle::ManuallyDisposeUnregisteredInstances policy is
* specified as an addition. This is so the publisher can optionally be run (and
* exit) before the subscriber. It prevents the middleware default 'clean up' of
* the topic instance after the writer deletion, this deletion implicitly performs
* DataWriter::unregister_instance */
dds::pub::qos::DataWriterQos dwqos = topic.qos();
dwqos << dds::core::policy::WriterDataLifecycle::ManuallyDisposeUnregisteredInstances();
/** A dds::pub::DataWriter is created on the Publisher & Topic with the modififed Qos. */
dds::pub::DataWriter<HelloWorldData::Msg> dw(pub, topic, dwqos);
/** A sample is created and then written. */
HelloWorldData::Msg msgInstance(1, "Hello World");
dw << msgInstance;
std::cout << "=== [Publisher] written a message containing :" << std::endl;
std::cout << " userID : " << msgInstance.userID() << std::endl;
std::cout << " Message : \"" << msgInstance.message() << "\"" << std::endl;
/* A short sleep ensures time is allowed for the sample to be written to the network.
If the example is running in *Single Process Mode* exiting immediately might
otherwise shutdown the domain services before this could occur */
exampleSleepMilliseconds(1000);
}
catch (const dds::core::Exception& e)
{
std::cerr << "ERROR: Exception: " << e.what() << std::endl;
result = 1;
}
return result;
}
/**
* Runs the subscriber role of this example.
* @return 0 if a sample was successfully read by the listener and the listener
* received a notification of deadline expiration successfully, 1 otherwise.
*/
int subscriber(int argc, char *argv[])
{
int result = 0;
try
{
/** A domain participant, topic, and subscriber are created with matching QoS to
the ::publisher */
dds::domain::DomainParticipant dp(org::opensplice::domain::default_id());
dds::topic::qos::TopicQos topicQos = dp.default_topic_qos()
<< dds::core::policy::Durability::Transient()
<< dds::core::policy::Reliability::Reliable()
<< dds::core::policy::Deadline(dds::core::Duration(1, 0));
dds::topic::Topic<ListenerData::Msg> topic(dp, "ListenerData_Msg", topicQos);
dp.default_topic_qos(topicQos);
std::string name = "Listener example";
dds::sub::qos::SubscriberQos subQos
= dp.default_subscriber_qos()
<< dds::core::policy::Partition(name);
dds::sub::Subscriber sub(dp, subQos);
dds::sub::qos::DataReaderQos drqos = topic.qos();
/** An ExampleDataReaderListener and dds::core::status::StatusMask for the events
* StatusMask::requested_deadline_missed() and StatusMask::data_available() are
* both created and then specified when creating the dds::sub::DataReader */
ExampleDataReaderListener listener;
dds::core::status::StatusMask mask;
mask << dds::core::status::StatusMask::data_available()
<< dds::core::status::StatusMask::requested_deadline_missed();
std::cout << "=== [ListenerDataSubscriber] Set listener" << std::endl;
dds::sub::DataReader<ListenerData::Msg> dr(sub, topic, drqos, &listener, mask);
std::cout << "=== [ListenerDataSubscriber] Ready ..." << std::endl;
/** The main thread then pauses until the listener thread has received a notification
* that the deadline has expired (i.e. no more messages have been received for at least
* 1 second) */
int count = 0;
while(! listener.deadline_expired_ && count < 20)
{
exampleSleepMilliseconds(1000);
count++;
}
result = ! (listener.deadline_expired_ && listener.data_received_);
/** Remove the ExampleDataReaderListener from the DataReader */
dr.listener(0, dds::core::status::StatusMask::none());
std::cout << "=== [ListenerDataSubscriber] Closed" << std::endl;
}
catch (const dds::core::Exception& e)
{
std::cerr << "ERROR: Exception: " << e.what() << std::endl;
result = 1;
}
return result;
}
virtual void run(const dds::domain::DomainParticipant& dp,
const dds::topic::Topic<T>& topic,
const Params& params)
{
dds::pub::qos::PublisherQos pqos =
dp.default_publisher_qos() << Partition("ishapes");
dds::pub::Publisher pub(dp, pqos);
dds::pub::qos::DataWriterQos dwqos =
pub.default_datawriter_qos() << Durability::Transient() << Reliability::Reliable();
dds::pub::DataWriter<T> dw(pub, topic, dwqos);
const uint32_t period = params.period;
const uint32_t samples = params.samples;
uint32_t sleep_time = period * 1000;
srand(clock());
const uint32_t x0 = 10;
const uint32_t y0 = 10;
const uint32_t r = 200;
const uint32_t dx = 5;
const uint32_t dy = 7;
// AnyDataWriter work just fine...
AnyDataWriter adw = dw;
DataWriter<ShapeType> xdw = adw.get<ShapeType>();
std::cout << "Topic Name = " << xdw.topic().name()
<< "\tType Name = " << xdw.topic().type_name() << std::endl;
// ShapeType s = {params.color, x0, y0, params.shape_size};
ShapeType s = {params.color.c_str(), x0 , y0, params.shape_size};
std::cout << ">> Writing Data...";
std::flush(std::cout);
for (uint32_t i = 0; i < samples; ++i) {
// Regular write
dw.write(s);
// Stream write
dw << s;
s.x = (s.x + dx) % r;
s.y = (s.y + dy) % r;
exampleSleepMilliseconds(sleep_time); // period is in ms
}
}
/**
* Runs the subscriber role of this example.
* @return 0 if a sample is successfully read, 1 otherwise.
*/
int subscriber(int argc, char *argv[])
{
int result = 0;
try
{
/** A domain participant and topic are created identically as in
the ::publisher */
dds::domain::DomainParticipant dp(org::opensplice::domain::default_id());
dds::topic::qos::TopicQos topicQos = dp.default_topic_qos()
<< dds::core::policy::Durability::Transient()
<< dds::core::policy::Reliability::Reliable();
dds::topic::Topic<HelloWorldData::Msg> topic(dp, "HelloWorldData_Msg", topicQos);
/** A dds::sub::Subscriber is created on the domain participant. */
std::string name = "HelloWorld example";
dds::sub::qos::SubscriberQos subQos
= dp.default_subscriber_qos()
<< dds::core::policy::Partition(name);
dds::sub::Subscriber sub(dp, subQos);
/** The dds::sub::qos::DataReaderQos are derived from the topic qos */
dds::sub::qos::DataReaderQos drqos = topic.qos();
/** A dds::sub::DataReader is created on the Subscriber & Topic with the DataReaderQos. */
dds::sub::DataReader<HelloWorldData::Msg> dr(sub, topic, drqos);
/** An attempt to take samples is made repeatedly until it succeeds,
* or sixty seconds have elapsed. */
bool sampleReceived = false;
int count = 0;
do
{
dds::sub::LoanedSamples<HelloWorldData::Msg> samples = dr.take();
for (dds::sub::LoanedSamples<HelloWorldData::Msg>::const_iterator sample = samples.begin();
sample < samples.end();
++sample)
{
if (sample->info().valid())
{
std::cout << "=== [Subscriber] message received :" << std::endl;
std::cout << " userID : " << sample->data().userID() << std::endl;
std::cout << " Message : \"" << sample->data().message() << "\"" << std::endl;
sampleReceived = true;
}
}
exampleSleepMilliseconds(100);
++count;
}
while (!sampleReceived && count < 600);
if (!sampleReceived)
{
std::cerr << "ERROR: Waited for 60 seconds but no sample received" << std::endl;
result = 1;
}
}
catch (const dds::core::Exception& e)
{
std::cerr << "ERROR: Exception: " << e.what() << std::endl;
result = 1;
}
return result;
}
/**
* This function performs the MessageBoard role in this example.
* @return 0 if successful, 1 otherwise.
*/
int MessageBoard(int argc, char *argv[])
{
int result = 0;
try
{
/** Initialise entities */
SubEntities e;
/** Get the userID to ignore from the program parameters */
/** Parameters: MessageBoard [ignoreUserID] */
int ignoreUserID = 0;
if(argc > 1)
{
ignoreUserID = atoi(argv[1]);
}
/** Create a DataState which will ensure the take onlys take alive messages */
dds::sub::status::DataState aliveDataState;
aliveDataState << dds::sub::status::SampleState::any()
<< dds::sub::status::ViewState::any()
<< dds::sub::status::InstanceState::alive();
/**
* Create a Query to ignore messages from the userID taken from the program
* parameters
*/
std::stringstream queryString;
queryString << "userID<>" << ignoreUserID;
dds::sub::Query ignoreUserIDQuery(e.chatMessageReader, queryString.str());
std::cout
<< "MessageBoard has opened: send a ChatMessage with userID = -1 to close it....\n"
<< std::endl;
bool terminated = false;
while(!terminated)
{
/**
* Take messages. Using take instead of read removes the messages from
* the system, preventing resources from being saturated due to a build
* up of messages
*/
dds::sub::LoanedSamples<Chat::ChatMessage> messages
= e.chatMessageReader.select().content(ignoreUserIDQuery)
.state(aliveDataState).take();
/** Output the username and content for each message */
for (dds::sub::LoanedSamples<Chat::ChatMessage>::const_iterator message
= messages.begin(); message < messages.end(); ++message)
{
if(message->info().valid())
{
/** Terminate if termination message is received */
if(message->data().userID() == TERMINATION_MESSAGE)
{
std::cout << "Termination message received: exiting..." << std::endl;
terminated = true;
}
else
{
/** Create a Query to get the user with the userID from the message */
std::stringstream queryString;
queryString << "userID=" << message->data().userID();
dds::sub::Query userIDQuery(e.nameServiceReader, queryString.str());
/** Get the user */
dds::sub::LoanedSamples<Chat::NameService> users
= e.nameServiceReader.select().content(userIDQuery)
.state(aliveDataState).read();
/** Output the username and content */
for (dds::sub::LoanedSamples<Chat::NameService>::const_iterator user
= users.begin(); user < users.end(); ++user)
{
if(user->info().valid())
{
std::cout << user->data().name() << ": "
<< message->data().content() << std::endl;
}
}
}
}
}
/** Sleep to avoid utilising too much CPU */
exampleSleepMilliseconds(100);
}
}
catch (const dds::core::Exception& e)
{
std::cerr << "ERROR: Exception: " << e.what() << std::endl;
result = 1;
}
return result;
}
