示例#1
0
void read_msg (DDS_DataReaderListener *l, DDS_DataReader dr)
{
	ChatMsg_t		msg;
	DDS_InstanceStateKind	kind;
	int			valid;
	DDS_ReturnCode_t	ret;

	ARG_NOT_USED (l)

	memset (&msg, 0, sizeof (msg));
	ret = ChatMsg_read_or_take (dr, &msg, DDS_NOT_READ_SAMPLE_STATE, 
					      DDS_ANY_VIEW_STATE,
					      DDS_ANY_INSTANCE_STATE, 1,
					      &valid, &kind);
	if (ret == DDS_RETCODE_OK)
		do {
#ifndef DISPLAY_SELF
			if (!strcmp (msg.from, user_name) &&
			    !strcmp (msg.chatroom, chatroom))
				break;
#endif
			if (valid)
				printf ("%s: %s\r\n", msg.from, msg.message);
			else if (kind == DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE)
				printf ("%s is busy!\r\n", msg.from);
			else if (kind == DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE)
				printf ("%s has left!\r\n", msg.from);
		}
		while (0);

	ChatMsg_cleanup (&msg);
}
示例#2
0
void do_chat (DDS_DataWriter dw)
{
	ChatMsg_t		m;
	DDS_InstanceHandle_t	h;
	char			buf [256];

#if !defined (NUTTX_RTOS)
	tty_init ();
#endif
	DDS_Handle_attach (tty_stdin,
			   POLLIN | POLLPRI | POLLERR | POLLHUP | POLLNVAL,
			   tty_input,
			   NULL);

	printf ("Welcome to the ROS 2.0 DDS chatroom.\r\n");
	printf ("Anything you type will be sent to all chatroom attendees.\r\n");
	printf ("      (Please write messages of less than 255 characters).\r\n");	
	printf ("Type '!help' for chatroom options.\r\n");
	m.chatroom = chatroom;
	m.from = user_name;
	h = 0;
	while (!aborting) {
#if defined (NUTTX_RTOS)
		/* Take into account that fgets reads the "\n" character at the end
		of each line. Code should consider this aspect in every case */
		fgets(buf, 256, stdin);
#else
		tty_gets (sizeof (buf), buf, 0, 1);
#endif
		if (buf [0] == '!') {
#if defined (NUTTX_RTOS)						
			if (!strcmp (buf + 1, "quit\n") ||
			    (buf [1] == 'q' && buf [2] == '\n')) {
#else
			if (!strcmp (buf + 1, "quit") ||
			    (buf [1] == 'q' && buf [2] == '\0')) {				
#endif
				aborting = 1;
				break;
			}
#if defined (NUTTX_RTOS)						
			else if (!strcmp (buf + 1, "list\n"))
#else
			else if (!strcmp (buf + 1, "list"))
#endif			
				printf ("Attendees:\r\n\t%s\r\n", user_name);
#if defined (NUTTX_RTOS)						
			else if (!memcmp (buf + 1, "user\n", 4)) {
#else
			else if (!memcmp (buf + 1, "user", 4)) {
#endif			
				if (h) {
					ChatMsg_signal (dw, h, 1);
					h = 0;
				}
				strcpy (user_name, buf + 6);
				printf ("You are now: %s\r\n", user_name);
			}
#if defined (NUTTX_RTOS)						
			else if (!memcmp (buf + 1, "room\n", 4)) {
#else
			else if (!memcmp (buf + 1, "room", 4)) {
#endif						
				if (h) {
					ChatMsg_signal (dw, h, 1);
					h = 0;
				}
				strcpy (chatroom, buf + 6);
				printf ("Switched to chatroom: %s\r\n", chatroom);
			}
#if defined (NUTTX_RTOS)						
			else if (!strcmp (buf + 1, "info\n"))
#else
			else if (!strcmp (buf + 1, "info"))
#endif			
				printf ("Chatroom: %s, Username: %s\r\n", 
							chatroom, user_name);
#if defined (NUTTX_RTOS)						
			else if (!strcmp (buf + 1, "busy\n"))
#else
			else if (!strcmp (buf + 1, "busy"))
#endif			
				ChatMsg_signal (dw, h, 0);
#if defined (NUTTX_RTOS)						
			else if (!strcmp (buf + 1, "away\n")) {
#else
			else if (!strcmp (buf + 1, "away")) {
#endif			
				if (h) {
					ChatMsg_signal (dw, h, 1);
					h = 0;
				}
			}
#if defined (NUTTX_RTOS)			
			else if (!strcmp (buf + 1, "help\n") ||
				 (buf [1] == 'h' && buf [2] == '\n\0') ||
				 (buf [1] == '?' && buf [2] == '\n\0')) {

#else
			else if (!strcmp (buf + 1, "help") ||
				 (buf [1] == 'h' && buf [2] == '\0') ||
				 (buf [1] == '?' && buf [2] == '\0')) {
#endif
				printf ("Commands:\r\n");
				printf ("    !room <room_name>   -> set the chatroom name.\r\n");
				printf ("    !user <user_name>   -> set the user name.\r\n");
				printf ("    !list               -> list the attendees.\r\n");
				printf ("    !info               -> show chatroom and user.\r\n");
				printf ("    !busy               -> momentarily not involved.\r\n");
				printf ("    !away               -> gone away.\r\n");
				printf ("    !help or !h or !?   -> Show this info.\r\n");
				printf ("    !quit or !q         -> Quit the chatroom.\r\n");
				printf ("    !!<command>         -> DDS debug command.\r\n");
				/* printf ("    !$<command>         -> Shell command.\r\n"); */
			}			
			else if (buf [1] == '!')
				DDS_Debug_command (buf + 2);
			/* else if (buf [1] == '$')
				system (buf + 2); */
			else
				printf ("?%s\r\n", buf + 1);
			continue;
		}
		if (!h)
			h = ChatMsg_register (dw, &m);
		m.message = buf;
		ChatMsg_write (dw, &m, h);
	}
}

void read_msg (DDS_DataReaderListener *l, DDS_DataReader dr)
{
	ChatMsg_t		msg;
	DDS_InstanceStateKind	kind;
	int			valid;
	DDS_ReturnCode_t	ret;

	ARG_NOT_USED (l)

	memset (&msg, 0, sizeof (msg));
	ret = ChatMsg_read_or_take (dr, &msg, DDS_NOT_READ_SAMPLE_STATE, 
					      DDS_ANY_VIEW_STATE,
					      DDS_ANY_INSTANCE_STATE, 1,
					      &valid, &kind);
	if (ret == DDS_RETCODE_OK)
		do {
#ifndef DISPLAY_SELF
			if (!strcmp (msg.from, user_name) &&
			    !strcmp (msg.chatroom, chatroom))
				break;
#endif
			if (valid)
				printf ("%s: %s\r\n", msg.from, msg.message);
			else if (kind == DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE)
				printf ("%s is busy!\r\n", msg.from);
			else if (kind == DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE)
				printf ("%s has left!\r\n", msg.from);
		}
		while (0);

	ChatMsg_cleanup (&msg);
}

#ifdef WAITSETS

static void *chat_reader (void *args)
{
	DDS_DynamicDataReader	dr;
	DDS_WaitSet		ws;
	DDS_SampleStateMask	ss = DDS_NOT_READ_SAMPLE_STATE;
	DDS_ViewStateMask	vs = DDS_ANY_VIEW_STATE;
	DDS_InstanceStateMask	is = DDS_ANY_INSTANCE_STATE;
	DDS_ReadCondition	rc;
	DDS_ConditionSeq	conds = DDS_SEQ_INITIALIZER (DDS_Condition);
	DDS_Duration_t		to;
	DDS_ReturnCode_t	ret;

	dr = args;

	ws = DDS_WaitSet__alloc ();
	if (!ws)
		fatal ("Unable to allocate a WaitSet!");

	if (verbose)
		printf ("DDS Waitset allocated.\r\n");

	rc = DDS_DataReader_create_readcondition (dr, ss, vs, is);
	if (!rc)
		fatal ("DDS_DataReader_create_readcondition () returned an error!");

	if (verbose)
		printf ("DDS Readcondition created.\r\n");

	ret = DDS_WaitSet_attach_condition (ws, rc);
	if (ret)
		fatal ("Unable to attach condition to a WaitSet!");

	while (!aborting) {
		to.sec = 0;
		to.nanosec = 200000000;	/* Timeout after 200ms. */
		ret = DDS_WaitSet_wait (ws, &conds, &to);
		if (ret == DDS_RETCODE_TIMEOUT)
			continue;

		read_msg (NULL, dr);
	}
	ret = DDS_WaitSet_detach_condition (ws, rc);
	if (ret)
		fatal ("Unable to detach condition from WaitSet (%s)!", DDS_error (ret));

	DDS_WaitSet__free (ws);

	return (NULL);
}

static void start_chat_reader (DDS_DynamicDataReader dr)
{
	thread_create (rt, chat_reader, dr);
}

static void stop_chat_reader (DDS_DynamicDataReader dr)
{
	ARG_NOT_USED (dr)

	thread_wait (rt, NULL);
}

#else

static DDS_DataReaderListener msg_listener = {
	NULL,		/* Sample rejected. */
	NULL,		/* Liveliness changed. */
	NULL,		/* Requested Deadline missed. */
	NULL,		/* Requested incompatible QoS. */
	read_msg,	/* Data available. */
	NULL,		/* Subscription matched. */
	NULL,		/* Sample lost. */
	NULL		/* Cookie */
};

#endif
#ifdef DDS_SECURITY

#define fail_unless     assert

static void enable_security (void)
{
	DDS_Credentials		credentials;
	DDS_ReturnCode_t	error;
#ifdef MSECPLUG_WITH_SECXML
	/*int dhandle, thandle;*/
#endif
	error = DDS_SP_set_policy ();
	if (error)
		fatal ("DDS_SP_set_policy() returned error (%s)!", DDS_error (error));

#ifdef MSECPLUG_WITH_SECXML
	if (DDS_SP_parse_xml ("security.xml"))
		fatal ("SP: no DDS security rules in 'security.xml'!\r\n");
#else
	DDS_SP_add_domain();
	if (!realm_name)
		DDS_SP_add_participant ();
	else 
		DDS_SP_set_participant_access (DDS_SP_add_participant (), strcat(realm_name, "*"), 2, 0);
#endif
	if (!cert_path || !key_path)
		fatal ("Error: you must provide a valid certificate path and a valid private key path\r\n");

	if (engine_id) {
		DDS_SP_init_engine (engine_id, init_engine_fs);
		credentials.credentialKind = DDS_ENGINE_BASED;
		credentials.info.engine.engine_id = engine_id;
		credentials.info.engine.cert_id = cert_path;
		credentials.info.engine.priv_key_id = key_path;
	}
	else {
		credentials.credentialKind = DDS_FILE_BASED;
		credentials.info.filenames.private_key_file = key_path;
		credentials.info.filenames.certificate_chain_file = cert_path;
	}

	error = DDS_Security_set_credentials ("Technicolor Chatroom", &credentials);
}