void recreate_data_writer_and_topic(DataWriter_var& dw, const DataReader_var& dr)
{
DataWriterQos dw_qos;
dw->get_qos(dw_qos);
Topic_var topic = dw->get_topic();
TopicQos topic_qos;
topic->get_qos(topic_qos);
CORBA::String_var topic_name = topic->get_name(),
type_name = topic->get_type_name();
Publisher_var pub = dw->get_publisher();
DomainParticipant_var dp = pub->get_participant();
pub->delete_datawriter(dw);
dw = 0;
dp->delete_topic(topic);
topic = 0;
// Wait until the data reader is not associated with the writer.
wait_match (dr, 0);
topic = dp->create_topic(topic_name, type_name, topic_qos, 0, 0);
if (!topic) {
ACE_DEBUG((LM_ERROR, "ERROR: %P failed to re-create topic\n"));
return;
}
dw = pub->create_datawriter(topic, dw_qos, 0, 0);
if (!dw) {
ACE_DEBUG((LM_ERROR, "ERROR: %P failed to re-create data writer\n"));
}
}
Topic_var DDSBroker::getTopic(const std::string& topicName)
{
Topic_var topic;
std::map<std::string, Topic_var>::iterator iterTopicMap;
iterTopicMap = topic_map.find(topicName);
if (iterTopicMap != topic_map.end())
{
topic = iterTopicMap->second;
return topic;
}
{
boost::mutex::scoped_lock lock(topic_map_mutex);
iterTopicMap = topic_map.find(topicName);
if (iterTopicMap != topic_map.end())
topic = iterTopicMap->second;
else
{
//create the new topic
CORBA::String_var tn = topicName.c_str();
DDS::ReturnCode_t status;
TopicQos topic_qos;
status = participant->get_default_topic_qos(topic_qos);
if (status != DDS::RETCODE_OK)
{
ROS_ERROR("[DDS] Failed to get the default DDS topic qos (%s).", RETCODE_DESC(status));
return NULL;
}
topic_qos.durability_service.history_kind=KEEP_LAST_HISTORY_QOS;
topic = participant->create_topic(tn, type_name, topic_qos, NULL, STATUS_MASK_NONE);
if (!topic.in())
{
ROS_ERROR("[DDS] Failed to create topic %s with type %s.", dds2rosName(tn).c_str(), type_name.in());
return NULL;
}
//insert it into the map
topic_map.insert(std::pair<std::string, Topic_var>(topicName, topic));
}
}
return topic;
}
bool DDSBroker::createReader(std::string topicName, const ros::SubscribeQoSOptions& qos_ops)
{
DDS::ReturnCode_t status;
if (CORBA::is_nil(subscriber))
{
SubscriberQos sub_qos;
//create a default subscriber
status = participant->get_default_subscriber_qos(sub_qos);
if (status != DDS::RETCODE_OK)
{
ROS_ERROR("[DDS] Failed to get the default DDS subscriber qos (%s).", RETCODE_DESC(status));
return false;
}
sub_qos.partition.name.length(1);
sub_qos.partition.name[0] = PARTITION_NAME;
subscriber = participant->create_subscriber(sub_qos, NULL, STATUS_MASK_NONE);
if (!subscriber.in())
{
ROS_ERROR("[DDS] Failed to create DDS subscriber.");
return false;
}
}
std::string ddsTopicName = ros2ddsName(topicName);
Topic_var topic = getTopic(ddsTopicName);
if (!topic.in())
{
ROS_ERROR("[DDS] Failed to get DDS topic %s while creating a reader.", topicName.c_str());
return false;
}
DataReader_var reader;
std::map<std::string, DataReader_var>::iterator iterReaderMap;
iterReaderMap = reader_map.find(topicName);
if (iterReaderMap != reader_map.end())
{
reader = iterReaderMap->second;
return reader;
}
{
boost::mutex::scoped_lock lock(reader_map_mutex);
iterReaderMap = reader_map.find(ddsTopicName);
if (iterReaderMap != reader_map.end())
reader = iterReaderMap->second;
else
{
DataReaderQos dr_qos;
status = subscriber->get_default_datareader_qos(dr_qos);
if (status != DDS::RETCODE_OK)
{
ROS_ERROR("[DDS] Failed to get the default DDS data reader qos.");
return false;
}
if (qos_ops.using_best_effort_protocol)
dr_qos.reliability.kind = BEST_EFFORT_RELIABILITY_QOS;
else
dr_qos.reliability.kind = RELIABLE_RELIABILITY_QOS;
if (qos_ops.data_centric_update)
dr_qos.history.kind = KEEP_LAST_HISTORY_QOS;
else
dr_qos.history.kind = KEEP_ALL_HISTORY_QOS;
if (qos_ops.ordered_by_sending_timestamp)
dr_qos.destination_order.kind = BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS;
else
dr_qos.destination_order.kind = BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS;
if (qos_ops.time_filter_duration != ros::DURATION_MIN)
{
dr_qos.time_based_filter.minimum_separation.sec = qos_ops.time_filter_duration.sec;
dr_qos.time_based_filter.minimum_separation.nanosec = qos_ops.time_filter_duration.nsec;
}
// we have to set VOLATILE_DURABILITY_QOS because of the RxO policy compatibility
dr_qos.durability.kind = VOLATILE_DURABILITY_QOS;
reader = subscriber->create_datareader(topic.in(), dr_qos, NULL, STATUS_MASK_NONE);
if (!reader.in())
{
ROS_ERROR("[DDS] Failed to create reader on topic %s.", topicName.c_str());
return false;
}
reader_map.insert(std::pair<std::string, DataReader_var>(ddsTopicName, reader));
}
}
return reader;
}
bool DDSBroker::createWriter(std::string topicName, bool latch, const ros::AdvertiseQoSOptions& qos_ops)
{
DDS::ReturnCode_t status;
if (CORBA::is_nil(publisher))
{
PublisherQos pub_qos;
//create a default publisher
status = participant->get_default_publisher_qos(pub_qos);
if (status != DDS::RETCODE_OK)
{
ROS_ERROR("[DDS] Failed to get the default DDS publisher qos (%s).", RETCODE_DESC(status));
return false;
}
pub_qos.partition.name.length(1);
pub_qos.partition.name[0] = PARTITION_NAME;
publisher = participant->create_publisher(pub_qos, NULL, STATUS_MASK_NONE);
if (!publisher.in())
{
ROS_ERROR("Failed to create DDS publisher.");
return false;
}
}
std::string ddsTopicName = ros2ddsName(topicName);
Topic_var topic = getTopic(ddsTopicName);
if (!topic.in())
{
ROS_ERROR("[DDS] Failed to get DDS topic %s while creating a writer.", topicName.c_str());
return false;
}
DataWriter_var writer;
std::map<std::string, DataWriter_var>::iterator iterWriterMap;
iterWriterMap = writer_map.find(ddsTopicName);
if (iterWriterMap != writer_map.end())
{
writer = iterWriterMap->second;
return writer;
}
{
boost::mutex::scoped_lock lock(writer_map_mutex);
iterWriterMap = writer_map.find(ddsTopicName);
if (iterWriterMap != writer_map.end())
writer = iterWriterMap->second;
else
{
DataWriterQos dw_qos;
status = publisher->get_default_datawriter_qos(dw_qos);
if (status != DDS::RETCODE_OK)
{
ROS_ERROR("[DDS] Failed to get the default DDS data writer qos (%s).", RETCODE_DESC(status));
return false;
}
//set polices, convert ros policy to dds policy
//set by source timestamp to be compatible with all kinds of receivers's destination order
dw_qos.destination_order.kind = BY_SOURCE_TIMESTAMP_DESTINATIONORDER_QOS;
dw_qos.transport_priority.value = qos_ops.transport_priority;
if (qos_ops.using_best_effort_protocol)
dw_qos.reliability.kind = BEST_EFFORT_RELIABILITY_QOS;
else
dw_qos.reliability.kind = RELIABLE_RELIABILITY_QOS;
if (qos_ops.latency_budget != ros::DURATION_MIN)
{
dw_qos.latency_budget.duration.sec = qos_ops.latency_budget.sec;
dw_qos.latency_budget.duration.nanosec = qos_ops.latency_budget.nsec;
}
if (qos_ops.data_centric_update)
dw_qos.history.kind = KEEP_LAST_HISTORY_QOS;
else
dw_qos.history.kind = KEEP_ALL_HISTORY_QOS;
//keep compatibility with ros latch flag
if (latch)
{
dw_qos.durability.kind = TRANSIENT_LOCAL_DURABILITY_QOS;
}
else
dw_qos.durability.kind = VOLATILE_DURABILITY_QOS;
if (qos_ops.msg_valid_period!= ros::DURATION_MAX)
{
dw_qos.lifespan.duration.sec=qos_ops.msg_valid_period.sec;
dw_qos.lifespan.duration.nanosec=qos_ops.msg_valid_period.nsec;
}
writer = publisher->create_datawriter(topic.in(), dw_qos, NULL, STATUS_MASK_NONE);
if (!writer.in())
{
ROS_ERROR("[DDS] Failed to create writer on topic %s.", topicName.c_str());
return false;
}
writer_map.insert(std::pair<std::string, DataWriter_var>(ddsTopicName, writer));
}
}
return true;
}
int
main (
int ,
char *[])
{
/* Generic DDS entities */
DomainParticipant_var participant;
Topic_var chatMessageTopic;
Topic_var nameServiceTopic;
Subscriber_var chatSubscriber;
DataReader_ptr parentReader;
QueryCondition_var singleUser;
ReadCondition_var newUser;
StatusCondition_var leftUser;
WaitSet_var userLoadWS;
LivelinessChangedStatus livChangStatus;
/* QosPolicy holders */
TopicQos setting_topic_qos;
TopicQos reliable_topic_qos;
SubscriberQos sub_qos;
DataReaderQos message_qos;
/* DDS Identifiers */
DomainId_t domain = NULL;
ReturnCode_t status;
ConditionSeq guardList;
/* Type-specific DDS entities */
ChatMessageTypeSupport_var chatMessageTS;
NameServiceTypeSupport_var nameServiceTS;
NameServiceDataReader_var nameServer;
ChatMessageDataReader_var loadAdmin;
ChatMessageSeq msgList;
NameServiceSeq nsList;
SampleInfoSeq infoSeq;
SampleInfoSeq infoSeq2;
/* Others */
StringSeq args;
char * chatMessageTypeName = NULL;
char * nameServiceTypeName = NULL;
bool closed = false;
CORBA::Long prevCount = 0;
DWORD tid;
HANDLE tHandle = INVALID_HANDLE_VALUE;
/* Create a DomainParticipant (using the 'TheParticipantFactory' convenience macro). */
participant = TheParticipantFactory->create_participant (
domain,
PARTICIPANT_QOS_DEFAULT,
NULL,
STATUS_MASK_NONE);
checkHandle(participant.in(), "DDS::DomainParticipantFactory::create_participant");
/* Register the required datatype for ChatMessage. */
chatMessageTS = new ChatMessageTypeSupport();
checkHandle(chatMessageTS.in(), "new ChatMessageTypeSupport");
chatMessageTypeName = chatMessageTS->get_type_name();
status = chatMessageTS->register_type(participant.in(), chatMessageTypeName);
checkStatus(status, "Chat::ChatMessageTypeSupport::register_type");
/* Register the required datatype for NameService. */
nameServiceTS = new NameServiceTypeSupport();
checkHandle(nameServiceTS.in(), "new NameServiceTypeSupport");
nameServiceTypeName = nameServiceTS->get_type_name();
status = nameServiceTS->register_type(participant.in(), nameServiceTypeName);
checkStatus(status, "Chat::NameServiceTypeSupport::register_type");
/* Set the ReliabilityQosPolicy to RELIABLE. */
status = participant->get_default_topic_qos(reliable_topic_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_topic_qos");
reliable_topic_qos.reliability.kind = RELIABLE_RELIABILITY_QOS;
/* Make the tailored QoS the new default. */
status = participant->set_default_topic_qos(reliable_topic_qos);
checkStatus(status, "DDS::DomainParticipant::set_default_topic_qos");
/* Use the changed policy when defining the ChatMessage topic */
chatMessageTopic = participant->create_topic(
"Chat_ChatMessage",
chatMessageTypeName,
reliable_topic_qos,
NULL,
STATUS_MASK_NONE);
checkHandle(chatMessageTopic.in(), "DDS::DomainParticipant::create_topic (ChatMessage)");
/* Set the DurabilityQosPolicy to TRANSIENT. */
status = participant->get_default_topic_qos(setting_topic_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_topic_qos");
setting_topic_qos.durability.kind = TRANSIENT_DURABILITY_QOS;
/* Create the NameService Topic. */
nameServiceTopic = participant->create_topic(
"Chat_NameService",
nameServiceTypeName,
setting_topic_qos,
NULL,
STATUS_MASK_NONE);
checkHandle(nameServiceTopic.in(), "DDS::DomainParticipant::create_topic");
/* Adapt the default SubscriberQos to read from the "ChatRoom" Partition. */
status = participant->get_default_subscriber_qos (sub_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_subscriber_qos");
sub_qos.partition.name.length(1);
sub_qos.partition.name[0UL] = "ChatRoom";
/* Create a Subscriber for the UserLoad application. */
chatSubscriber = participant->create_subscriber(sub_qos, NULL, STATUS_MASK_NONE);
checkHandle(chatSubscriber.in(), "DDS::DomainParticipant::create_subscriber");
/* Create a DataReader for the NameService Topic (using the appropriate QoS). */
parentReader = chatSubscriber->create_datareader(
nameServiceTopic.in(),
DATAREADER_QOS_USE_TOPIC_QOS,
NULL,
STATUS_MASK_NONE);
checkHandle(parentReader, "DDS::Subscriber::create_datareader (NameService)");
/* Narrow the abstract parent into its typed representative. */
nameServer = NameServiceDataReader::_narrow(parentReader);
checkHandle(nameServer.in(), "Chat::NameServiceDataReader::_narrow");
/* Adapt the DataReaderQos for the ChatMessageDataReader to keep track of all messages. */
status = chatSubscriber->get_default_datareader_qos(message_qos);
checkStatus(status, "DDS::Subscriber::get_default_datareader_qos");
status = chatSubscriber->copy_from_topic_qos(message_qos, reliable_topic_qos);
checkStatus(status, "DDS::Subscriber::copy_from_topic_qos");
message_qos.history.kind = KEEP_ALL_HISTORY_QOS;
/* Create a DataReader for the ChatMessage Topic (using the appropriate QoS). */
parentReader = chatSubscriber->create_datareader(
chatMessageTopic.in(),
message_qos,
NULL,
STATUS_MASK_NONE);
checkHandle(parentReader, "DDS::Subscriber::create_datareader (ChatMessage)");
/* Narrow the abstract parent into its typed representative. */
loadAdmin = ChatMessageDataReader::_narrow(parentReader);
checkHandle(loadAdmin.in(), "Chat::ChatMessageDataReader::_narrow");
/* Initialize the Query Arguments. */
args.length(1);
args[0UL] = "0";
/* Create a QueryCondition that will contain all messages with userID=ownID */
singleUser = loadAdmin->create_querycondition(
ANY_SAMPLE_STATE,
ANY_VIEW_STATE,
ANY_INSTANCE_STATE,
"userID=%0",
args);
checkHandle(singleUser.in(), "DDS::DataReader::create_querycondition");
/* Create a ReadCondition that will contain new users only */
newUser = nameServer->create_readcondition(
NOT_READ_SAMPLE_STATE,
NEW_VIEW_STATE,
ALIVE_INSTANCE_STATE);
checkHandle(newUser.in(), "DDS::DataReader::create_readcondition");
/* Obtain a StatusCondition that triggers only when a Writer changes Liveliness */
leftUser = loadAdmin->get_statuscondition();
checkHandle(leftUser.in(), "DDS::DataReader::get_statuscondition");
status = leftUser->set_enabled_statuses(LIVELINESS_CHANGED_STATUS);
checkStatus(status, "DDS::StatusCondition::set_enabled_statuses");
/* Create a bare guard which will be used to close the room */
escape = new GuardCondition();
/* Create a waitset and add the ReadConditions */
userLoadWS = new WaitSet();
status = userLoadWS->attach_condition(newUser.in());
checkStatus(status, "DDS::WaitSet::attach_condition (newUser)");
status = userLoadWS->attach_condition(leftUser.in());
checkStatus(status, "DDS::WaitSet::attach_condition (leftUser)");
status = userLoadWS->attach_condition(escape.in());
checkStatus(status, "DDS::WaitSet::attach_condition (escape)");
/* Initialize and pre-allocate the GuardList used to obtain the triggered Conditions. */
guardList.length(3);
/* Remove all known Users that are not currently active. */
status = nameServer->take(
nsList,
infoSeq,
LENGTH_UNLIMITED,
ANY_SAMPLE_STATE,
ANY_VIEW_STATE,
NOT_ALIVE_INSTANCE_STATE);
checkStatus(status, "Chat::NameServiceDataReader::take");
status = nameServer->return_loan(nsList, infoSeq);
checkStatus(status, "Chat::NameServiceDataReader::return_loan");
/* Start the sleeper thread. */
tHandle = CreateThread(NULL, 0, delayedEscape, NULL, 0, &tid);
while (!closed) {
/* Wait until at least one of the Conditions in the waitset triggers. */
status = userLoadWS->wait(guardList, DURATION_INFINITE);
checkStatus(status, "DDS::WaitSet::wait");
/* Walk over all guards to display information */
for (CORBA::ULong i = 0; i < guardList.length(); i++) {
if ( guardList[i].in() == newUser.in() ) {
/* The newUser ReadCondition contains data */
status = nameServer->read_w_condition(
nsList,
infoSeq,
LENGTH_UNLIMITED,
newUser.in() );
checkStatus(status, "Chat::NameServiceDataReader::read_w_condition");
for (CORBA::ULong j = 0; j < nsList.length(); j++) {
cout << "New user: "******"Chat::NameServiceDataReader::return_loan");
} else if ( guardList[i].in() == leftUser.in() ) {
/* Some liveliness has changed (either a DataWriter joined or a DataWriter left) */
status = loadAdmin->get_liveliness_changed_status(livChangStatus);
checkStatus(status, "DDS::DataReader::get_liveliness_changed_status");
if (livChangStatus.alive_count < prevCount) {
/* A user has left the ChatRoom, since a DataWriter lost its liveliness */
/* Take the effected users so tey will not appear in the list later on. */
status = nameServer->take(
nsList,
infoSeq,
LENGTH_UNLIMITED,
ANY_SAMPLE_STATE,
ANY_VIEW_STATE,
NOT_ALIVE_NO_WRITERS_INSTANCE_STATE);
checkStatus(status, "Chat::NameServiceDataReader::take");
for (CORBA::ULong j = 0; j < nsList.length(); j++) {
/* re-apply query arguments */
ostringstream numberString;
numberString << nsList[j].userID;
args[0UL] = numberString.str().c_str();
status = singleUser->set_query_parameters(args);
checkStatus(status, "DDS::QueryCondition::set_query_parameters");
/* Read this users history */
status = loadAdmin->take_w_condition(
msgList,
infoSeq2,
LENGTH_UNLIMITED,
singleUser.in() );
checkStatus(status, "Chat::ChatMessageDataReader::take_w_condition");
/* Display the user and his history */
cout << "Departed user " << nsList[j].name << " has sent " <<
msgList.length() << " messages." << endl;
status = loadAdmin->return_loan(msgList, infoSeq2);
checkStatus(status, "Chat::ChatMessageDataReader::return_loan");
}
status = nameServer->return_loan(nsList, infoSeq);
checkStatus(status, "Chat::NameServiceDataReader::return_loan");
}
prevCount = livChangStatus.alive_count;
} else if ( guardList[i].in() == escape.in() ) {
cout << "UserLoad has terminated." << endl;
closed = true;
}
else
{
assert(0);
};
} /* for */
} /* while (!closed) */
/* Remove all Conditions from the WaitSet. */
status = userLoadWS->detach_condition( escape.in() );
checkStatus(status, "DDS::WaitSet::detach_condition (escape)");
status = userLoadWS->detach_condition( leftUser.in() );
checkStatus(status, "DDS::WaitSet::detach_condition (leftUser)");
status = userLoadWS->detach_condition( newUser.in() );
checkStatus(status, "DDS::WaitSet::detach_condition (newUser)");
/* Remove the type-names. */
CORBA::string_free(chatMessageTypeName);
CORBA::string_free(nameServiceTypeName);
/* Free all resources */
status = participant->delete_contained_entities();
checkStatus(status, "DDS::DomainParticipant::delete_contained_entities");
status = TheParticipantFactory->delete_participant( participant.in() );
checkStatus(status, "DDS::DomainParticipantFactory::delete_participant");
CloseHandle(tHandle);
return 0;
}
int
OSPL_MAIN (
int argc,
char *argv[])
{
/* Generic DDS entities */
DomainParticipantFactory_var dpf;
DomainParticipant_var parentDP;
ExtDomainParticipant_var participant;
Topic_var chatMessageTopic;
Topic_var nameServiceTopic;
TopicDescription_var namedMessageTopic;
Subscriber_var chatSubscriber;
DataReader_var parentReader;
/* Type-specific DDS entities */
ChatMessageTypeSupport_var chatMessageTS;
NameServiceTypeSupport_var nameServiceTS;
NamedMessageTypeSupport_var namedMessageTS;
NamedMessageDataReader_var chatAdmin;
NamedMessageSeq_var msgSeq = new NamedMessageSeq();
SampleInfoSeq_var infoSeq = new SampleInfoSeq();
/* QosPolicy holders */
TopicQos reliable_topic_qos;
TopicQos setting_topic_qos;
SubscriberQos sub_qos;
DDS::StringSeq parameterList;
/* DDS Identifiers */
DomainId_t domain = DOMAIN_ID_DEFAULT;
ReturnCode_t status;
/* Others */
bool terminated = false;
const char * partitionName = "ChatRoom";
char * chatMessageTypeName = NULL;
char * nameServiceTypeName = NULL;
char * namedMessageTypeName = NULL;
#ifdef USE_NANOSLEEP
struct timespec sleeptime;
struct timespec remtime;
#endif
/* Options: MessageBoard [ownID] */
/* Messages having owner ownID will be ignored */
parameterList.length(1);
if (argc > 1) {
parameterList[0] = DDS::string_dup(argv[1]);
}
else
{
parameterList[0] = "0";
}
/* Create a DomainParticipantFactory and a DomainParticipant (using Default QoS settings. */
dpf = DomainParticipantFactory::get_instance();
checkHandle(dpf.in(), "DDS::DomainParticipantFactory::get_instance");
parentDP = dpf->create_participant (
domain,
PARTICIPANT_QOS_DEFAULT,
NULL,
STATUS_MASK_NONE);
checkHandle(parentDP.in(), "DDS::DomainParticipantFactory::create_participant");
/* Narrow the normal participant to its extended representative */
participant = ExtDomainParticipantImpl::_narrow(parentDP.in());
checkHandle(participant.in(), "DDS::ExtDomainParticipant::_narrow");
/* Register the required datatype for ChatMessage. */
chatMessageTS = new ChatMessageTypeSupport();
checkHandle(chatMessageTS.in(), "new ChatMessageTypeSupport");
chatMessageTypeName = chatMessageTS->get_type_name();
status = chatMessageTS->register_type(
participant.in(),
chatMessageTypeName);
checkStatus(status, "Chat::ChatMessageTypeSupport::register_type");
/* Register the required datatype for NameService. */
nameServiceTS = new NameServiceTypeSupport();
checkHandle(nameServiceTS.in(), "new NameServiceTypeSupport");
nameServiceTypeName = nameServiceTS->get_type_name();
status = nameServiceTS->register_type(
participant.in(),
nameServiceTypeName);
checkStatus(status, "Chat::NameServiceTypeSupport::register_type");
/* Register the required datatype for NamedMessage. */
namedMessageTS = new NamedMessageTypeSupport();
checkHandle(namedMessageTS.in(), "new NamedMessageTypeSupport");
namedMessageTypeName = namedMessageTS->get_type_name();
status = namedMessageTS->register_type(
participant.in(),
namedMessageTypeName);
checkStatus(status, "Chat::NamedMessageTypeSupport::register_type");
/* Set the ReliabilityQosPolicy to RELIABLE. */
status = participant->get_default_topic_qos(reliable_topic_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_topic_qos");
reliable_topic_qos.reliability.kind = DDS::RELIABLE_RELIABILITY_QOS;
/* Make the tailored QoS the new default. */
status = participant->set_default_topic_qos(reliable_topic_qos);
checkStatus(status, "DDS::DomainParticipant::set_default_topic_qos");
/* Use the changed policy when defining the ChatMessage topic */
chatMessageTopic = participant->create_topic(
"Chat_ChatMessage",
chatMessageTypeName,
reliable_topic_qos,
NULL,
STATUS_MASK_NONE);
checkHandle(chatMessageTopic.in(), "DDS::DomainParticipant::create_topic (ChatMessage)");
/* Set the DurabilityQosPolicy to TRANSIENT. */
status = participant->get_default_topic_qos(setting_topic_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_topic_qos");
setting_topic_qos.durability.kind = DDS::TRANSIENT_DURABILITY_QOS;
/* Create the NameService Topic. */
nameServiceTopic = participant->create_topic(
"Chat_NameService",
nameServiceTypeName,
setting_topic_qos,
NULL,
STATUS_MASK_NONE);
checkHandle(nameServiceTopic.in(), "DDS::DomainParticipant::create_topic");
/* Create a multitopic that substitutes the userID with its corresponding userName. */
namedMessageTopic = participant->create_simulated_multitopic(
"Chat_NamedMessage",
namedMessageTypeName,
"SELECT userID, name AS userName, index, content "
"FROM Chat_NameService NATURAL JOIN Chat_ChatMessage WHERE userID <> %0",
parameterList);
checkHandle(namedMessageTopic.in(), "DDS::ExtDomainParticipant::create_simulated_multitopic");
/* Adapt the default SubscriberQos to read from the "ChatRoom" Partition. */
status = participant->get_default_subscriber_qos (sub_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_subscriber_qos");
sub_qos.partition.name.length(1);
sub_qos.partition.name[0] = partitionName;
/* Create a Subscriber for the MessageBoard application. */
chatSubscriber = participant->create_subscriber(sub_qos, NULL, STATUS_MASK_NONE);
checkHandle(chatSubscriber.in(), "DDS::DomainParticipant::create_subscriber");
/* Create a DataReader for the NamedMessage Topic (using the appropriate QoS). */
parentReader = chatSubscriber->create_datareader(
namedMessageTopic.in(),
DATAREADER_QOS_USE_TOPIC_QOS,
NULL,
STATUS_MASK_NONE);
checkHandle(parentReader.in(), "DDS::Subscriber::create_datareader");
/* Narrow the abstract parent into its typed representative. */
chatAdmin = Chat::NamedMessageDataReader::_narrow(parentReader.in());
checkHandle(chatAdmin.in(), "Chat::NamedMessageDataReader::_narrow");
/* Print a message that the MessageBoard has opened. */
cout << "MessageBoard has opened: send a ChatMessage with userID = -1 to close it...." << endl << endl;
while (!terminated) {
/* Note: using read does not remove the samples from
unregistered instances from the DataReader. This means
that the DataRase would use more and more resources.
That's why we use take here instead. */
status = chatAdmin->take(
msgSeq,
infoSeq,
LENGTH_UNLIMITED,
ANY_SAMPLE_STATE,
ANY_VIEW_STATE,
ALIVE_INSTANCE_STATE );
checkStatus(status, "Chat::NamedMessageDataReader::take");
for (DDS::ULong i = 0; i < msgSeq->length(); i++) {
NamedMessage *msg = &(msgSeq[i]);
if (msg->userID == TERMINATION_MESSAGE) {
cout << "Termination message received: exiting..." << endl;
terminated = true;
} else {
cout << msg->userName << ": " << msg->content << endl;
}
fflush(stdout);
}
status = chatAdmin->return_loan(msgSeq, infoSeq);
checkStatus(status, "Chat::ChatMessageDataReader::return_loan");
/* Sleep for some amount of time, as not to consume too much CPU cycles. */
#ifdef USE_NANOSLEEP
sleeptime.tv_sec = 0;
sleeptime.tv_nsec = 100000000;
nanosleep(&sleeptime, &remtime);
#elif defined _WIN32
Sleep(100);
#else
usleep(100000);
#endif
}
/* Remove the DataReader */
status = chatSubscriber->delete_datareader(chatAdmin.in());
checkStatus(status, "DDS::Subscriber::delete_datareader");
/* Remove the Subscriber. */
status = participant->delete_subscriber(chatSubscriber.in());
checkStatus(status, "DDS::DomainParticipant::delete_subscriber");
/* Remove the Topics. */
status = participant->delete_simulated_multitopic(namedMessageTopic.in());
checkStatus(status, "DDS::ExtDomainParticipant::delete_simulated_multitopic");
status = participant->delete_topic(nameServiceTopic.in());
checkStatus(status, "DDS::DomainParticipant::delete_topic (nameServiceTopic)");
status = participant->delete_topic(chatMessageTopic.in());
checkStatus(status, "DDS::DomainParticipant::delete_topic (chatMessageTopic)");
/* De-allocate the type-names. */
DDS::string_free(namedMessageTypeName);
DDS::string_free(nameServiceTypeName);
DDS::string_free(chatMessageTypeName);
/* Remove the DomainParticipant. */
status = dpf->delete_participant(participant.in());
checkStatus(status, "DDS::DomainParticipantFactory::delete_participant");
return 0;
}
bool run_test(DomainParticipant_var& dp_sub,
DomainParticipant_var& dp_pub)
{
OpenDDS::DCPS::RepoId sub_repo_id, pub_repo_id;
{
OpenDDS::DCPS::DomainParticipantImpl* dp_impl =
dynamic_cast<OpenDDS::DCPS::DomainParticipantImpl*>(dp_sub.in());
sub_repo_id = dp_impl->get_id ();
OpenDDS::DCPS::GuidConverter converter(sub_repo_id);
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT("%P ")
ACE_TEXT("Sub Domain Participant GUID=%C\n"),
std::string(converter).c_str()));
}
{
OpenDDS::DCPS::DomainParticipantImpl* dp_impl =
dynamic_cast<OpenDDS::DCPS::DomainParticipantImpl*>(dp_pub.in());
pub_repo_id = dp_impl->get_id ();
OpenDDS::DCPS::GuidConverter converter(pub_repo_id);
ACE_DEBUG ((LM_DEBUG,
ACE_TEXT("%P ")
ACE_TEXT("Pub Domain Participant GUID=%C\n"),
std::string(converter).c_str()));
}
// If we are running with an rtps_udp transport, it can't be shared between
// participants.
TransportConfig_rch cfg = TheTransportRegistry->get_config("dp1");
if (!cfg.is_nil()) {
TheTransportRegistry->bind_config(cfg, dp_sub);
}
cfg = TheTransportRegistry->get_config("dp2");
if (!cfg.is_nil()) {
TheTransportRegistry->bind_config(cfg, dp_pub);
}
Subscriber_var bit_sub = dp_sub->get_builtin_subscriber();
if (!read_participant_bit(bit_sub, dp_sub, pub_repo_id, TestConfig::PARTICIPANT_USER_DATA())) {
return false;
}
// Each domain participant's handle to the other
InstanceHandle_t dp_sub_ih, dp_pub_ih;
InstanceHandle_t pub_ih, sub_ih, ig_ih;
if (!(check_discovered_participants(dp_sub, dp_pub_ih) &&
check_discovered_participants(dp_pub, dp_sub_ih)))
{
return false;
}
DataWriter_var dw = create_data_writer(dp_pub);
if (!dw) {
ACE_DEBUG((LM_ERROR, "ERROR: %P could not create Data Writer (participant 2)\n"));
return false;
}
if (!read_publication_bit(bit_sub, dp_sub, pub_repo_id, pub_ih, TestConfig::DATA_WRITER_USER_DATA(), TestConfig::TOPIC_DATA(), 1, 1)) {
return false;
}
DataReader_var dr = create_data_reader(dp_sub);
if (!dr) {
ACE_DEBUG((LM_ERROR, "ERROR: %P could not create Data Reader (participant 1)\n"));
return false;
}
if (!read_subscription_bit(dp_pub->get_builtin_subscriber(), dp_pub, sub_repo_id, sub_ih, TestConfig::DATA_READER_USER_DATA(), TestConfig::TOPIC_DATA())) {
return false;
}
// Wait for the reader to associate with the writer.
WriterSync::wait_match(dw);
// Remove the writer and its topic, then re-create them. The writer's
// participant should still have discovery info about the reader so that
// the association between the new writer and old reader can be established.
recreate_data_writer_and_topic(dw, dr);
// Wait for the reader to associate with the writer.
WriterSync::wait_match(dw);
// The new writer is associated with the reader, but the reader may still
// also be associated with the old writer.
wait_match(dr, 1);
// Get the new instance handle as pub_ih
if (!read_publication_bit(bit_sub, dp_sub, pub_repo_id, pub_ih, TestConfig::DATA_WRITER_USER_DATA(), TestConfig::TOPIC_DATA(), 1, 2)) {
return false;
}
TestMsgDataWriter_var tmdw = TestMsgDataWriter::_narrow(dw);
const TestMsg msg = {42};
tmdw->write(msg, HANDLE_NIL);
ReadCondition_var rc = dr->create_readcondition(ANY_SAMPLE_STATE,
ANY_VIEW_STATE,
ALIVE_INSTANCE_STATE);
WaitSet_var waiter = new WaitSet;
waiter->attach_condition(rc);
ConditionSeq activeConditions;
const Duration_t timeout = { 90, 0 };
ReturnCode_t result = waiter->wait(activeConditions, timeout);
waiter->detach_condition(rc);
if (result != RETCODE_OK) {
ACE_DEBUG((LM_ERROR,
"ERROR: %P TestMsg reader could not wait for condition: %d\n", result));
return false;
}
TestMsgDataReader_var tmdr = TestMsgDataReader::_narrow(dr);
TestMsgSeq data;
SampleInfoSeq infos;
ReturnCode_t ret = tmdr->read_w_condition(data, infos, LENGTH_UNLIMITED, rc);
if (ret != RETCODE_OK) {
ACE_DEBUG((LM_ERROR, "ERROR: %P could not read TestMsg: %d\n", ret));
return false;
}
bool ok = false;
for (CORBA::ULong i = 0; i < data.length(); ++i) {
if (infos[i].valid_data) {
ok = true;
ACE_DEBUG((LM_DEBUG, "%P Read data sample: %d\n", data[i].value));
}
}
if (!ok) {
ACE_DEBUG((LM_ERROR, "ERROR: %P no valid data from TestMsg data reader\n"));
}
// Change dp qos
{
DomainParticipantQos dp_qos;
dp_pub->get_qos(dp_qos);
set_qos(dp_qos.user_data.value, TestConfig::PARTICIPANT_USER_DATA2());
dp_pub->set_qos(dp_qos);
}
// Change dw qos
{
DataWriterQos dw_qos;
dw->get_qos(dw_qos);
set_qos(dw_qos.user_data.value, TestConfig::DATA_WRITER_USER_DATA2());
dw->set_qos(dw_qos);
}
// Change dr qos
{
DataReaderQos dr_qos;
dr->get_qos(dr_qos);
set_qos(dr_qos.user_data.value, TestConfig::DATA_READER_USER_DATA2());
dr->set_qos(dr_qos);
}
// Wait for propagation
ACE_OS::sleep(3);
if (!read_participant_bit(bit_sub, dp_sub, pub_repo_id, TestConfig::PARTICIPANT_USER_DATA2())) {
return false;
}
if (!read_publication_bit(bit_sub, dp_sub, pub_repo_id, ig_ih, TestConfig::DATA_WRITER_USER_DATA2(), TestConfig::TOPIC_DATA(), 1, 1)) {
return false;
}
if (!read_subscription_bit(dp_pub->get_builtin_subscriber(), dp_pub, sub_repo_id, ig_ih, TestConfig::DATA_READER_USER_DATA2(), TestConfig::TOPIC_DATA())) {
return false;
}
// Set dw topic qos
Topic_var topic = dw->get_topic();
TopicQos topic_qos;
topic->get_qos(topic_qos);
set_qos(topic_qos.topic_data.value, TestConfig::TOPIC_DATA2());
topic->set_qos(topic_qos);
// Set dr topic qos
TopicDescription_var topic_desc = dr->get_topicdescription();
topic = Topic::_narrow(topic_desc);
topic->get_qos(topic_qos);
set_qos(topic_qos.topic_data.value, TestConfig::TOPIC_DATA2());
topic->set_qos(topic_qos);
// Wait for propagation
ACE_OS::sleep(3);
if (!read_publication_bit(bit_sub, dp_sub, pub_repo_id, ig_ih, TestConfig::DATA_WRITER_USER_DATA2(), TestConfig::TOPIC_DATA2(), 1, 1)) {
return false;
}
if (!read_subscription_bit(dp_pub->get_builtin_subscriber(), dp_pub, sub_repo_id, ig_ih, TestConfig::DATA_READER_USER_DATA2(), TestConfig::TOPIC_DATA2())) {
return false;
}
// Test ignore
dp_sub->ignore_publication(pub_ih);
if (!read_publication_bit(bit_sub, dp_sub, pub_repo_id, pub_ih, TestConfig::DATA_WRITER_USER_DATA2(), TestConfig::TOPIC_DATA2(), 0, 0)) {
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("ERROR: %P Could not ignore publication\n")), false);
}
dp_pub->ignore_subscription(sub_ih);
if (!read_subscription_bit(dp_pub->get_builtin_subscriber(), dp_pub, sub_repo_id, sub_ih, TestConfig::DATA_READER_USER_DATA2(), TestConfig::TOPIC_DATA2(), true)) {
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("ERROR: %P Could not ignore subscription\n")), false);
}
dp_sub->ignore_participant(dp_pub_ih);
InstanceHandleSeq handles;
dp_sub->get_discovered_participants(handles);
// Check that the handle is no longer in the sequence.
for (CORBA::ULong i = 0; i < handles.length (); ++i) {
if (handles[i] == dp_pub_ih) {
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("ERROR: %P Could not ignore participant\n")), false);
}
}
return ok;
}
int
OSPL_MAIN (
int argc,
char *argv[])
{
/* Generic DDS entities */
DomainParticipantFactory_var dpf;
DomainParticipant_var participant;
Topic_var chatMessageTopic;
Subscriber_var chatSubscriber;
DataReader_ptr parentReader;
/* Type-specific DDS entities */
ChatMessageTypeSupport_var chatMessageTS;
ChatMessageDataReader_var chatAdmin;
ChatMessageSeq_var msgSeq = new ChatMessageSeq();
SampleInfoSeq_var infoSeq = new SampleInfoSeq();
/* QosPolicy holders */
TopicQos reliable_topic_qos;
SubscriberQos sub_qos;
DDS::StringSeq parameterList;
/* DDS Identifiers */
DomainId_t domain = 0;
ReturnCode_t status;
/* Others */
bool terminated = false;
const char * partitionName = "ChatRoom1";
char * chatMessageTypeName = NULL;
/* Options: MessageBoard [ownID] */
/* Messages having owner ownID will be ignored */
parameterList.length(1);
if (argc > 1) {
parameterList[0] = string_dup(argv[1]);
}
else
{
parameterList[0] = "0";
}
/* Create a DomainParticipantFactory and a DomainParticipant (using Default QoS settings. */
dpf = DomainParticipantFactory::get_instance();
checkHandle(dpf.in(), "DDS::DomainParticipantFactory::get_instance");
participant = dpf->create_participant (
domain,
PARTICIPANT_QOS_DEFAULT,
NULL,
STATUS_MASK_NONE);
checkHandle(participant, "DDS::DomainParticipantFactory::create_participant");
/* Register the required datatype for ChatMessage. */
chatMessageTS = new ChatMessageTypeSupport();
checkHandle(chatMessageTS.in(), "new ChatMessageTypeSupport");
chatMessageTypeName = chatMessageTS->get_type_name();
status = chatMessageTS->register_type(
participant.in(),
chatMessageTypeName);
checkStatus(status, "NetworkPartitionsData::ChatMessageTypeSupport::register_type");
/* Set the ReliabilityQosPolicy to RELIABLE. */
status = participant->get_default_topic_qos(reliable_topic_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_topic_qos");
reliable_topic_qos.reliability.kind = DDS::RELIABLE_RELIABILITY_QOS;
/* Make the tailored QoS the new default. */
status = participant->set_default_topic_qos(reliable_topic_qos);
checkStatus(status, "DDS::DomainParticipant::set_default_topic_qos");
/* Use the changed policy when defining the ChatMessage topic */
chatMessageTopic = participant->create_topic(
"Chat_ChatMessage",
chatMessageTypeName,
reliable_topic_qos,
NULL,
STATUS_MASK_NONE);
checkHandle(chatMessageTopic.in(), "DDS::DomainParticipant::create_topic (ChatMessage)");
/* Adapt the default SubscriberQos to read from the "ChatRoom1" Partition. */
status = participant->get_default_subscriber_qos (sub_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_subscriber_qos");
sub_qos.partition.name.length(1);
sub_qos.partition.name[0] = partitionName;
/* Create a Subscriber for the MessageBoard application. */
chatSubscriber = participant->create_subscriber(sub_qos, NULL, STATUS_MASK_NONE);
checkHandle(chatSubscriber.in(), "DDS::DomainParticipant::create_subscriber");
/* Create a DataReader for the NamedMessage Topic (using the appropriate QoS). */
parentReader = chatSubscriber->create_datareader(
chatMessageTopic.in(),
DATAREADER_QOS_USE_TOPIC_QOS,
NULL,
STATUS_MASK_NONE);
checkHandle(parentReader, "DDS::Subscriber::create_datareader");
/* Narrow the abstract parent into its typed representative. */
chatAdmin = ChatMessageDataReader::_narrow(parentReader);
checkHandle(chatAdmin.in(), "NetworkPartitionsData::ChatMessageDataReader::_narrow");
/* Print a message that the MessageBoard has opened. */
cout << "MessageBoard has opened: send a ChatMessage with userID = -1 to close it...." << endl << endl;
while (!terminated) {
/* Note: using read does not remove the samples from
unregistered instances from the DataReader. This means
that the DataRase would use more and more resources.
That's why we use take here instead. */
status = chatAdmin->take(
msgSeq,
infoSeq,
LENGTH_UNLIMITED,
ANY_SAMPLE_STATE,
ANY_VIEW_STATE,
ALIVE_INSTANCE_STATE );
checkStatus(status, "NetworkPartitionsData::ChatMessageDataReader::take");
for (ULong i = 0; i < msgSeq->length(); i++) {
ChatMessage *msg = &(msgSeq[i]);
if (msg->userID == TERMINATION_MESSAGE) {
cout << "Termination message received: exiting..." << endl;
terminated = true;
} else {
cout << msg->userID << ": " << msg->content << endl;
}
}
status = chatAdmin->return_loan(msgSeq, infoSeq);
checkStatus(status, "NetworkPartitionsData::ChatMessageDataReader::return_loan");
/* Sleep for some amount of time, so as not to consume too many CPU cycles. */
sleep(1);
}
/* Remove the DataReader */
status = chatSubscriber->delete_datareader(chatAdmin.in());
checkStatus(status, "DDS::Subscriber::delete_datareader");
/* Remove the Subscriber. */
status = participant->delete_subscriber(chatSubscriber.in());
checkStatus(status, "DDS::DomainParticipant::delete_subscriber");
/* Remove the Topic. */
status = participant->delete_topic(chatMessageTopic.in());
checkStatus(status, "DDS::DomainParticipant::delete_topic (chatMessageTopic)");
/* De-allocate the type-names. */
string_free(chatMessageTypeName);
/* Remove the DomainParticipant. */
status = dpf->delete_participant(participant.in());
checkStatus(status, "DDS::DomainParticipantFactory::delete_participant");
return 0;
}
int
OSPL_MAIN (
int argc,
char *argv[])
{
/* Generic DDS entities */
DomainParticipantFactory_var dpf;
DomainParticipant_var participant;
Topic_var chatMessageTopic;
Publisher_var chatPublisher;
DataWriter_ptr parentWriter;
/* QosPolicy holders */
TopicQos reliable_topic_qos;
PublisherQos pub_qos;
DataWriterQos dw_qos;
/* DDS Identifiers */
DomainId_t domain = 0;
InstanceHandle_t userHandle;
ReturnCode_t status;
/* Type-specific DDS entities */
ChatMessageTypeSupport_var chatMessageTS;
ChatMessageDataWriter_var talker;
/* Sample definitions */
ChatMessage *msg; /* Example on Heap */
/* Others */
int ownID = 1;
int i;
const char *partitionName = "ChatRoom1";
char *chatMessageTypeName = NULL;
char buf[MAX_MSG_LEN];
#ifdef INTEGRITY
#ifdef CHATTER_QUIT
ownID = -1;
#else
ownID = 1;
#endif
#else
/* Options: Chatter [ownID] */
if (argc > 1) {
ownID = atoi(argv[1]);
}
#endif
/* Create a DomainParticipantFactory and a DomainParticipant (using Default QoS settings. */
dpf = DomainParticipantFactory::get_instance ();
checkHandle(dpf.in(), "DDS::DomainParticipantFactory::get_instance");
participant = dpf->create_participant(domain, PARTICIPANT_QOS_DEFAULT, NULL, STATUS_MASK_NONE);
checkHandle(participant.in(), "DDS::DomainParticipantFactory::create_participant");
/* Register the required datatype for ChatMessage. */
chatMessageTS = new ChatMessageTypeSupport();
checkHandle(chatMessageTS.in(), "new ChatMessageTypeSupport");
chatMessageTypeName = chatMessageTS->get_type_name();
status = chatMessageTS->register_type(
participant.in(),
chatMessageTypeName);
checkStatus(status, "NetworkPartitionsData::ChatMessageTypeSupport::register_type");
/* Set the ReliabilityQosPolicy to RELIABLE. */
status = participant->get_default_topic_qos(reliable_topic_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_topic_qos");
reliable_topic_qos.reliability.kind = RELIABLE_RELIABILITY_QOS;
/* Make the tailored QoS the new default. */
status = participant->set_default_topic_qos(reliable_topic_qos);
checkStatus(status, "DDS::DomainParticipant::set_default_topic_qos");
/* Use the changed policy when defining the ChatMessage topic */
chatMessageTopic = participant->create_topic(
"Chat_ChatMessage",
chatMessageTypeName,
reliable_topic_qos,
NULL,
STATUS_MASK_NONE);
checkHandle(chatMessageTopic.in(), "DDS::DomainParticipant::create_topic (ChatMessage)");
/* Adapt the default PublisherQos to write into the "ChatRoom1" Partition. */
status = participant->get_default_publisher_qos (pub_qos);
checkStatus(status, "DDS::DomainParticipant::get_default_publisher_qos");
pub_qos.partition.name.length(1);
pub_qos.partition.name[0] = partitionName;
/* Create a Publisher for the chatter application. */
chatPublisher = participant->create_publisher(pub_qos, NULL, STATUS_MASK_NONE);
checkHandle(chatPublisher.in(), "DDS::DomainParticipant::create_publisher");
/* Create a DataWriter for the ChatMessage Topic (using the appropriate QoS). */
parentWriter = chatPublisher->create_datawriter(
chatMessageTopic.in(),
DATAWRITER_QOS_USE_TOPIC_QOS,
NULL,
STATUS_MASK_NONE);
checkHandle(parentWriter, "DDS::Publisher::create_datawriter (chatMessage)");
/* Narrow the abstract parent into its typed representative. */
talker = ChatMessageDataWriter::_narrow(parentWriter);
checkHandle(talker.in(), "NetworkPartitionsData::ChatMessageDataWriter::_narrow");
/* Initialize the chat messages on Heap. */
msg = new ChatMessage();
checkHandle(msg, "new ChatMessage");
msg->userID = ownID;
msg->index = 0;
if (ownID == TERMINATION_MESSAGE) {
snprintf(buf, MAX_MSG_LEN, "Termination message.");
} else {
snprintf(buf, MAX_MSG_LEN, "Hi there, I will send you %d more messages.", NUM_MSG);
}
msg->content = string_dup(buf);
cout << "Writing message: \"" << msg->content << "\"" << endl;
/* Register a chat message for this user (pre-allocating resources for it!!) */
userHandle = talker->register_instance(*msg);
/* Write a message using the pre-generated instance handle. */
status = talker->write(*msg, userHandle);
checkStatus(status, "NetworkPartitionsData::ChatMessageDataWriter::write");
sleep (1); /* do not run so fast! */
/* Write any number of messages, re-using the existing string-buffer: no leak!!. */
for (i = 1; i <= NUM_MSG && ownID != TERMINATION_MESSAGE; i++) {
msg->index = i;
snprintf(buf, MAX_MSG_LEN, "Message no. %d", i);
msg->content = string_dup(buf);
cout << "Writing message: \"" << msg->content << "\"" << endl;
status = talker->write(*msg, userHandle);
checkStatus(status, "NetworkPartitionsData::ChatMessageDataWriter::write");
sleep (1); /* do not run so fast! */
}
/* Leave the room by disposing and unregistering the message instance. */
status = talker->dispose(*msg, userHandle);
checkStatus(status, "NetworkPartitionsData::ChatMessageDataWriter::dispose");
status = talker->unregister_instance(*msg, userHandle);
checkStatus(status, "NetworkPartitionsData::ChatMessageDataWriter::unregister_instance");
/* Release the data-samples. */
delete msg; // msg allocated on heap: explicit de-allocation required!!
/* Remove the DataWriters */
status = chatPublisher->delete_datawriter( talker.in() );
checkStatus(status, "DDS::Publisher::delete_datawriter (talker)");
/* Remove the Publisher. */
status = participant->delete_publisher( chatPublisher.in() );
checkStatus(status, "DDS::DomainParticipant::delete_publisher");
status = participant->delete_topic( chatMessageTopic.in() );
checkStatus(status, "DDS::DomainParticipant::delete_topic (chatMessageTopic)");
/* Remove the type-names. */
string_free(chatMessageTypeName);
/* Remove the DomainParticipant. */
status = dpf->delete_participant( participant.in() );
checkStatus(status, "DDS::DomainParticipantFactory::delete_participant");
cout << "Completed Chatter example" << endl;
return 0;
}