void init_types(void)
{
ts = ChatMsg_type_new ();
if (!ts) {
printf ("Can't create chat message type!\r\n");
exit (1);
}
error = DDS_DynamicTypeSupport_register_type (ts, part, "ChatMsg");
if (error) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Topic type ('%s') registered.\r\n", "ChatMsg");
topic = DDS_DomainParticipant_create_topic (part, "Chat", "ChatMsg", NULL, NULL, 0);
if (!topic) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS ChatMsg Topic created.\r\n");
td = DDS_DomainParticipant_lookup_topicdescription (part, "Chat");
if (!td) {
printf ("Can't get topicdescription.\r\n");
exit (1);
}
}
static void test_aux (void)
{
DDS_DomainParticipant p;
DDS_Topic t;
DDS_TopicDescription td;
DDS_Subscriber sub, nsub;
DDS_DataReader dr;
DDS_StatusCondition sc, sc2;
DDS_StatusMask sm;
DDS_InstanceHandle_t h, h2;
DDS_Duration_t w;
DDS_LivelinessChangedStatus lcs;
DDS_RequestedDeadlineMissedStatus dms;
DDS_RequestedIncompatibleQosStatus iqs;
DDS_SampleLostStatus sls;
DDS_SampleRejectedStatus srs;
DDS_SubscriptionMatchedStatus sms;
DDS_InstanceHandleSeq handles;
DDS_ReturnCode_t r;
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, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
v_printf (" - Test reader auxiliary functions.\r\n");
dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr != NULL);
sc = DDS_DataReader_get_statuscondition (dr);
fail_unless (sc != NULL);
sc2 = DDS_Entity_get_statuscondition (dr);
fail_unless (sc2 == sc);
sm = DDS_DataReader_get_status_changes (dr);
fail_unless (sm == 0);
sm = DDS_Entity_get_status_changes (dr);
fail_unless (sm == 0);
h = DDS_Entity_get_instance_handle (dr);
fail_unless (h != 0);
h2 = DDS_DataReader_get_instance_handle (dr);
fail_unless (h == h2);
r = DDS_DataReader_get_liveliness_changed_status (dr, &lcs);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_requested_deadline_missed_status (dr, &dms);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_requested_incompatible_qos_status (dr, &iqs);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_sample_lost_status (dr, &sls);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_sample_rejected_status (dr, &srs);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DataReader_get_subscription_matched_status (dr, &sms);
fail_unless (r == DDS_RETCODE_OK);
td = DDS_DataReader_get_topicdescription (dr);
fail_unless ((DDS_Topic) td == t);
nsub = DDS_DataReader_get_subscriber (dr);
fail_unless (nsub == sub);
w.sec = 2;
w.nanosec = 0;
r = DDS_DataReader_wait_for_historical_data (dr, &w);
fail_unless (r == DDS_RETCODE_OK);
DDS_InstanceHandleSeq__init (&handles);
r = DDS_DataReader_get_matched_publications (dr, &handles);
fail_unless (r == DDS_RETCODE_OK);
DDS_InstanceHandleSeq__clear (&handles);
r = DDS_Subscriber_delete_datareader (sub, dr);
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_listener (void)
{
DDS_DomainParticipant p;
DDS_Topic t;
DDS_TopicDescription td;
DDS_Subscriber sub;
DDS_DataReader dr;
DDS_DataReaderListener *lp;
DDS_ReturnCode_t r;
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, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
v_printf (" - Test reader listener.\r\n");
dr = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr != NULL);
lp = DDS_DataReader_get_listener (dr);
fail_unless (lp != NULL &&
lp->on_sample_rejected == NULL &&
lp->on_liveliness_changed == NULL &&
lp->on_requested_deadline_missed == NULL &&
lp->on_requested_incompatible_qos == NULL &&
lp->on_data_available == NULL &&
lp->on_subscription_matched == NULL &&
lp->on_sample_lost == NULL);
v_printf (" - Test specific reader listener updates.\r\n");
r = DDS_DataReader_set_listener (dr, &r_listener,
DDS_SAMPLE_REJECTED_STATUS |
DDS_LIVELINESS_CHANGED_STATUS |
DDS_REQUESTED_DEADLINE_MISSED_STATUS |
DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS |
DDS_DATA_AVAILABLE_STATUS |
DDS_SUBSCRIPTION_MATCHED_STATUS |
DDS_SAMPLE_LOST_STATUS);
fail_unless (r == DDS_RETCODE_OK);
lp = DDS_DataReader_get_listener (dr);
fail_unless (lp != NULL &&
lp->on_sample_rejected == sample_rejected &&
lp->on_liveliness_changed == liveliness_changed &&
lp->on_requested_deadline_missed == requested_deadline_missed &&
lp->on_requested_incompatible_qos == requested_inc_qos &&
lp->on_data_available == data_available &&
lp->on_subscription_matched == subscription_matched &&
lp->on_sample_lost == sample_lost &&
lp->cookie == (void *) 0x44556677);
v_printf (" - Test default reader listener update.\r\n");
r = DDS_DataReader_set_listener (dr, NULL, DDS_REQUESTED_DEADLINE_MISSED_STATUS);
fail_unless (r == DDS_RETCODE_OK);
lp = DDS_DataReader_get_listener (dr);
fail_unless (lp != NULL &&
lp->on_sample_rejected == NULL &&
lp->on_liveliness_changed == NULL &&
lp->on_requested_deadline_missed == NULL &&
lp->on_requested_incompatible_qos == NULL &&
lp->on_data_available == NULL &&
lp->on_subscription_matched == NULL &&
lp->on_sample_lost == NULL);
r = DDS_Subscriber_delete_datareader (sub, dr);
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_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);
}
int main_subscriber (int argc, const char **argv)
{
DDS_DataWriterQos wr_qos;
DDS_DataReaderQos rd_qos;
DDS_ReturnCode_t error;
sprintf (user_name, ".pid.%u", getpid ());
DDS_entity_name ("Technicolor Chatroom");
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
enable_security ();
#endif
part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0);
if (!part) {
printf ("Can't create participant!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Domain Participant created.\r\n");
ts = Vector3_type_new ();
if (!ts) {
printf ("Can't create vector3 message type!\r\n");
exit (1);
}
error = DDS_DynamicTypeSupport_register_type (ts, part, "simple_msgs::dds_::Vector3_");
if (error) {
printf ("Can't register vector3 message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Topic type ('%s') registered.\r\n", "simple_msgs::dds_::Vector3_");
topic = DDS_DomainParticipant_create_topic (part, "imu", "simple_msgs::dds_::Vector3_", NULL, NULL, 0);
if (!topic) {
printf ("Can't register vector3 message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Vector3 Topic created.\r\n");
td = DDS_DomainParticipant_lookup_topicdescription (part, "imu");
if (!td) {
printf ("Can't get topicdescription.\r\n");
exit (1);
}
pub = DDS_DomainParticipant_create_publisher (part, NULL, NULL, 0);
if (!pub) {
printf ("DDS_DomainParticipant_create_publisher () failed!\r\n");
exit (1);
}
DDS_Publisher_get_default_datawriter_qos (pub, &wr_qos);
#ifdef TRANSIENT_LOCAL
wr_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
wr_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
wr_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
wr_qos.history.depth = DDS_LENGTH_UNLIMITED;
wr_qos.resource_limits.max_samples_per_instance = HISTORY;
wr_qos.resource_limits.max_instances = HISTORY * 10;
wr_qos.resource_limits.max_samples = HISTORY * 4;
#else
wr_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
wr_qos.history.depth = HISTORY;
#endif
/* Create a Data Writer. */
dw = DDS_Publisher_create_datawriter (pub, topic, &wr_qos, NULL, 0);
if (!dw) {
printf ("Unable to create vector3 message writer.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Vector3 message writer created.\r\n");
sub = DDS_DomainParticipant_create_subscriber (part, NULL, NULL, 0);
if (!sub) {
printf ("DDS_DomainParticipant_create_subscriber () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Subscriber created.\r\n");
DDS_Subscriber_get_default_datareader_qos (sub, &rd_qos);
#ifdef TRANSIENT_LOCAL
rd_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
rd_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
rd_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
rd_qos.history.depth = DDS_LENGTH_UNLIMITED;
rd_qos.resource_limits.max_samples_per_instance = HISTORY;
rd_qos.resource_limits.max_instances = HISTORY * 10;
rd_qos.resource_limits.max_samples = HISTORY * 4;
#else
rd_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
rd_qos.history.depth = HISTORY;
#endif
dr = DDS_Subscriber_create_datareader (sub, td, &rd_qos,
#ifndef WAITSETS
&msg_listener, DDS_DATA_AVAILABLE_STATUS);
#else
NULL, 0);
#endif
if (!dr) {
printf ("DDS_DomainParticipant_create_datareader () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Vector message reader created.\r\n");
#ifdef WAITSETS
start_imu_reader (dr);
#endif
// publisher thread
//thread_create (rt2, dds_send_imu, dr);
// DDS Debug shell thread
do_dds_shell (dw);
#ifdef WAITSETS
stop_imu_reader (dr);
#endif
DDS_Publisher_delete_datawriter (pub, dw);
usleep (200000);
error = DDS_DomainParticipant_delete_contained_entities (part);
if (verbose)
printf ("DDS Entities deleted (error = %u).\r\n", error);
Vector3_type_free (ts);
if (verbose)
printf ("Vector3 Type deleted.\r\n");
error = DDS_DomainParticipantFactory_delete_participant (part);
if (verbose)
printf ("DDS Participant deleted (error = %u).\r\n", error);
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
cleanup_security ();
#endif
return (0);
}
int main (int argc, char *argv [])
{
int domain_id = 128;
DDS_ReturnCode_t error;
do_switches (argc, argv);
#ifdef DDS_DEBUG
DDS_Debug_start ();
#endif
DDS_set_generate_callback (calculate_member_id);
sem_init(&_sync, 0, 0);
part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0);
if (!part)
fatal ("DDS_DomainParticipantFactory_create_participant () failed!");
if (tsm_type == 0) {
error = register_HelloWorldData_type (part);
if (error) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("DDS_DomainParticipant_register_type ('HelloWorldData') failed (%s)!", DDS_error (error));
}
sm = DDS_INCONSISTENT_TOPIC_STATUS;
topic = DDS_DomainParticipant_create_topic (part, "HelloWorld", "HelloWorldData",
NULL, NULL, sm);
if (!topic) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("DDS_DomainParticipant_create_topic ('HelloWorld') failed!");
}
topic_desc = DDS_DomainParticipant_lookup_topicdescription (part, "HelloWorld");
if (!topic_desc) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("Unable to create topic description for 'HelloWorld'!");
}
} else {
_tsm_types[0].flags |= TSMFLAG_KEY;
error = register_TestType_type (part);
if (error) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("DDS_DomainParticipant_register_type ('HelloWorldData') failed (%s)!", DDS_error (error));
}
sm = DDS_INCONSISTENT_TOPIC_STATUS;
topic = DDS_DomainParticipant_create_topic (part, _tsm_types->name, _tsm_types->name,
NULL, NULL, sm);
if (!topic) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("DDS_DomainParticipant_create_topic ('%s') failed!", _tsm_types->name);
}
topic_desc = DDS_DomainParticipant_lookup_topicdescription (part, _tsm_types->name);
if (!topic_desc) {
DDS_DomainParticipantFactory_delete_participant (part);
fatal ("Unable to create topic description for '%s'!", _tsm_types->name);
}
}
if (test == 3) {
/* interop test */
make_state_reader ();
make_state_writer (key);
} else {
if (reader)
make_state_reader ();
if (writer)
make_state_writer (key);
}
if (reader)
remove_state_reader ();
if (writer)
remove_state_writer ();
if (test == 3) {
remove_state_reader ();
remove_state_writer ();
}
error = DDS_DomainParticipant_delete_topic (part, topic);
if (error)
fatal ("DDS_DomainParticipant_delete_topic () failed (%s)!", DDS_error (error));
free_HelloWorldData_type (part);
error = DDS_DomainParticipant_delete_contained_entities (part);
if (error)
fatal ("DDS_DomainParticipant_delete_contained_entities () failed (%s)!", DDS_error (error));
error = DDS_DomainParticipantFactory_delete_participant (part);
if (error)
fatal ("DDS_DomainParticipantFactory_delete_participant () failed (%s)!", DDS_error (error));
return (0);
}
int dds_chat_main(int argc, char *argv[])
#endif
{
DDS_DataWriterQos wr_qos;
DDS_DataReaderQos rd_qos;
DDS_ReturnCode_t error;
struct in_addr addr;
/* Configure the network */
/* Set up our host address */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_IPADDR);
netlib_sethostaddr("eth0", &addr);
/* Set up the default router address */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_DRIPADDR);
netlib_setdraddr("eth0", &addr);
/* Setup the subnet mask */
addr.s_addr = HTONL(CONFIG_EXAMPLES_UDP_NETMASK);
netlib_setnetmask("eth0", &addr);
/* Start the application */
printf("Network configured, starting DDS chat:\n");
sprintf (user_name, ".pid.%u", getpid ());
do_switches (argc, argv);
if (verbose > 1)
DDS_Log_stdio (1);
DDS_entity_name ("ROS 2.0 embedded");
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
enable_security ();
#endif
part = DDS_DomainParticipantFactory_create_participant (domain_id, NULL, NULL, 0);
if (!part) {
printf ("Can't create participant!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Domain Participant created.\r\n");
ts = ChatMsg_type_new ();
if (!ts) {
printf ("Can't create chat message type!\r\n");
exit (1);
}
error = DDS_DynamicTypeSupport_register_type (ts, part, "ChatMsg");
if (error) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Topic type ('%s') registered.\r\n", "ChatMsg");
topic = DDS_DomainParticipant_create_topic (part, "Chat", "ChatMsg", NULL, NULL, 0);
if (!topic) {
printf ("Can't register chat message type.\r\n");
exit (1);
}
if (verbose)
printf ("DDS ChatMsg Topic created.\r\n");
td = DDS_DomainParticipant_lookup_topicdescription (part, "Chat");
if (!td) {
printf ("Can't get topicdescription.\r\n");
exit (1);
}
pub = DDS_DomainParticipant_create_publisher (part, NULL, NULL, 0);
if (!pub) {
printf ("DDS_DomainParticipant_create_publisher () failed!\r\n");
exit (1);
}
DDS_Publisher_get_default_datawriter_qos (pub, &wr_qos);
#ifdef TRANSIENT_LOCAL
wr_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
wr_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
wr_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
wr_qos.history.depth = DDS_LENGTH_UNLIMITED;
wr_qos.resource_limits.max_samples_per_instance = HISTORY;
wr_qos.resource_limits.max_instances = HISTORY * 10;
wr_qos.resource_limits.max_samples = HISTORY * 4;
#else
wr_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
wr_qos.history.depth = HISTORY;
#endif
/* Create a Data Writer. */
dw = DDS_Publisher_create_datawriter (pub, topic, &wr_qos, NULL, 0);
if (!dw) {
printf ("Unable to create chat message writer.\r\n");
exit (1);
}
if (verbose)
printf ("DDS Chat message writer created.\r\n");
sub = DDS_DomainParticipant_create_subscriber (part, NULL, NULL, 0);
if (!sub) {
printf ("DDS_DomainParticipant_create_subscriber () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Subscriber created.\r\n");
DDS_Subscriber_get_default_datareader_qos (sub, &rd_qos);
#ifdef TRANSIENT_LOCAL
rd_qos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
#endif
#ifdef RELIABLE
rd_qos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
#endif
#ifdef KEEP_ALL
rd_qos.history.kind = DDS_KEEP_ALL_HISTORY_QOS;
rd_qos.history.depth = DDS_LENGTH_UNLIMITED;
rd_qos.resource_limits.max_samples_per_instance = HISTORY;
rd_qos.resource_limits.max_instances = HISTORY * 10;
rd_qos.resource_limits.max_samples = HISTORY * 4;
#else
rd_qos.history.kind = DDS_KEEP_LAST_HISTORY_QOS;
rd_qos.history.depth = HISTORY;
#endif
dr = DDS_Subscriber_create_datareader (sub, td, &rd_qos,
#ifndef WAITSETS
&msg_listener, DDS_DATA_AVAILABLE_STATUS);
#else
NULL, 0);
#endif
if (!dr) {
printf ("DDS_DomainParticipant_create_datareader () returned an error!\r\n");
exit (1);
}
if (verbose)
printf ("DDS Chat message reader created.\r\n");
#ifdef WAITSETS
start_chat_reader (dr);
#endif
do_chat (dw);
#ifdef WAITSETS
stop_chat_reader (dr);
#endif
DDS_Publisher_delete_datawriter (pub, dw);
usleep (200000);
error = DDS_DomainParticipant_delete_contained_entities (part);
if (verbose)
printf ("DDS Entities deleted (error = %u).\r\n", error);
ChatMsg_type_free (ts);
if (verbose)
printf ("Chat Type deleted.\r\n");
error = DDS_DomainParticipantFactory_delete_participant (part);
if (verbose)
printf ("DDS Participant deleted (error = %u).\r\n", error);
#ifdef DDS_SECURITY
if (cert_path || key_path || engine_id)
cleanup_security ();
#endif
return (0);
}
static void test_aux (void)
{
DDS_DomainParticipant np, p;
DDS_Subscriber sub;
DDS_Topic t;
DDS_TopicDescription td;
DDS_DataReader dr, dr0, dr1;
DDS_StatusCondition sc, sc2;
DDS_StatusMask sm;
DDS_InstanceHandle_t h, h2;
DDS_DataReaderQos drq;
DDS_ReturnCode_t r;
v_printf (" - Test auxiliary subscriber functions.\r\n");
p = DDS_DomainParticipantFactory_create_participant (1, DDS_PARTICIPANT_QOS_DEFAULT, NULL, 0);
fail_unless (p != NULL);
sub = DDS_DomainParticipant_create_subscriber (p, DDS_SUBSCRIBER_QOS_DEFAULT, NULL, 0);
fail_unless (sub != NULL);
sc = DDS_Subscriber_get_statuscondition (sub);
fail_unless (sc != NULL);
sc2 = DDS_Entity_get_statuscondition (sub);
fail_unless (sc2 != NULL);
sm = DDS_Subscriber_get_status_changes (sub);
fail_unless (sm == 0);
sm = DDS_Entity_get_status_changes (sub);
fail_unless (sm == 0);
/*dbg_printf ("(mask=%u)", sm);*/
h = DDS_Subscriber_get_instance_handle (sub);
fail_unless (h != 0);
h2 = DDS_Entity_get_instance_handle (sub);
fail_unless (h == h2);
np = DDS_Subscriber_get_participant (sub);
fail_unless (np == p);
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);
dr0 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr0 != NULL);
dr = DDS_Subscriber_lookup_datareader (sub, "HelloWorld");
fail_unless (dr == dr0);
dr1 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr1 != NULL);
delay ();
r = DDS_Subscriber_delete_contained_entities (sub);
fail_unless (r == DDS_RETCODE_OK);
v_printf (" - Test default child QoS of subscriber entities\r\n");
r = DDS_Subscriber_get_default_datareader_qos (sub, &drq);
fail_unless (r == DDS_RETCODE_OK);
drq.ownership.kind = DDS_EXCLUSIVE_OWNERSHIP_QOS;
r = DDS_Subscriber_set_default_datareader_qos (sub, &drq);
fail_unless (r == DDS_RETCODE_OK);
dr1 = DDS_Subscriber_create_datareader (sub, td, DDS_DATAREADER_QOS_DEFAULT, NULL, 0);
fail_unless (dr1 != NULL);
delay ();
v_printf (" - Test coherency (not implemented).\r\n");
r = DDS_Subscriber_begin_access (sub);
fail_unless (r == DDS_RETCODE_UNSUPPORTED);
r = DDS_Subscriber_end_access (sub);
fail_unless (r == DDS_RETCODE_UNSUPPORTED);
r = DDS_Subscriber_copy_from_topic_qos (sub, &drq, NULL);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_Subscriber_notify_datareaders (sub);
fail_unless (r == DDS_RETCODE_OK);
r = DDS_DomainParticipant_delete_subscriber (p, sub);
fail_unless (r == DDS_RETCODE_PRECONDITION_NOT_MET);
r = DDS_Subscriber_delete_datareader (sub, dr1);
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 start_reader (DDS_DomainParticipant part, Topic *tp)
{
Endpoint *wp;
DDS_DynamicTypeBuilder tb;
DDS_TypeObject tobj;
DDS_TopicDescription td;
DDS_DataReaderQos rqos;
static DDS_Subscriber sub = NULL;
wp = tp->writers;
if (!wp)
return;
printf ("* Monitor (%s/%s)\r\n", tp->topic_name, tp->type_name);
if (!tp->ts) {
tobj = DDS_TypeObject_create_from_key (part,
&wp->data.participant_key,
&wp->data.key);
if (!tobj) {
printf ("No type information available for %s!\r\n", tp->type_name);
return;
}
tb = DDS_DynamicTypeBuilderFactory_create_type_w_type_object (tobj);
if (!tb)
fatal ("Can't get Type from Type object for %s!", tp->type_name);
DDS_TypeObject_delete (tobj);
tp->dtype = DDS_DynamicTypeBuilder_build (tb);
if (!tp->dtype)
fatal ("Can't get build Type from Type builder for %s!", tp->type_name);
DDS_DynamicTypeBuilderFactory_delete_type (tb);
tp->ts = DDS_DynamicTypeSupport_create_type_support (tp->dtype);
if (!tp->ts)
fatal ("Can't get TypeSupport from Type for %s!", tp->type_name);
if (DDS_DynamicTypeSupport_register_type (tp->ts, part, tp->type_name))
fatal ("Can't register TypeSupport in domain for %s!", tp->topic_name);
}
if (!sub) {
sub = DDS_DomainParticipant_create_subscriber (part, NULL, NULL, 0);
if (!sub)
fatal ("Can't create subscriber!");
}
tp->topic = DDS_DomainParticipant_create_topic (part,
tp->topic_name,
tp->type_name,
NULL,
NULL,
0);
if (!tp->topic)
fatal ("Can't create topic!");
td = DDS_DomainParticipant_lookup_topicdescription (part, tp->topic_name);
if (!td)
fatal ("Can't create topic description!");
DDS_Subscriber_get_default_datareader_qos (sub, &rqos);
if (wp->data.durability.kind >= DDS_TRANSIENT_LOCAL_DURABILITY_QOS)
rqos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
rqos.reliability = wp->data.reliability;
listener.cookie = tp;
tp->sub = sub;
tp->reader = DDS_Subscriber_create_datareader (sub, td, &rqos,
&listener,
DDS_DATA_AVAILABLE_STATUS);
tp->active = 1;
}
int main(int argc, char* argv[])
{
int startTime = mstime();
DDS_PoolConstraints reqs;
DDS_DomainParticipant domainParticipant;
DDS_Publisher publisher;
DDS_Subscriber subscriber;
DDS_ReturnCode_t retCode;
char *configTopicName[nofConfigTopics];
DDS_Topic configTopic[nofConfigTopics];
DDS_Topic stateTopic[nofStateTopics];
DDS_Topic statisticTopic[nofStatisticTopics];
DDS_DataWriterQos dataWriterQos;
DDS_DataWriter configDataWriter[nofConfigTopics];
DDS_DataWriter stateDataWriter[nofStateTopics];
DDS_DataWriter statisticDataWriter[nofStatisticTopics];
DDS_DataReaderQos dataReaderQos;
DDS_DataReader configDataReader[nofConfigTopics];
acceptance_high_end_Config config;
acceptance_high_end_State state;
acceptance_high_end_Statistic statistic;
DDS_InstanceHandle_t configInstance[nofConfigTopics][nofConfigInstances];
DDS_InstanceHandle_t stateInstance[nofStateTopics][nofStateInstances];
DDS_InstanceHandle_t statisticInstance[nofStatisticTopics][nofStatisticInstances];
int i = 0;
int j = 0;
int firstConfigTopic = (argc > 1) ? atoi(argv[1]) : 0;
int firstStateTopic = (argc > 2) ? atoi(argv[2]) : 0;
int firstStatisticTopic = (argc > 3) ? atoi(argv[3]) : 0;
int stagedLoading = (argc > 4) ? atoi(argv[4]) : 0;
printf("[0] Config topics start at %d...\r\n", firstConfigTopic);
printf("[0] State topics start at %d...\r\n", firstStateTopic);
printf("[0] Statistic topics start at %d...\r\n", firstStatisticTopic);
printf("[0] Staged loading %s.\r\n", stagedLoading ? "on" : "off");
if (stagedLoading) {
char file_name[24];
sprintf(file_name, "/tmp/acceptStageLoad%d", firstConfigTopic);
struct stat buf;
if (stat(file_name, &buf)) {
printf ("[%d] Waiting for %s\r\n", mstime() - startTime, file_name);
do {
sleep(1);
}
while (stat(file_name, &buf));
printf ("[%d] Got %s!\r\n", mstime() - startTime, file_name);
}
}
DDS_program_name (&argc, argv);
DDS_entity_name ("Technicolor Limits Component");
DDS_get_default_pool_constraints(&reqs, ~0, 100);
#ifdef MINIMAL_POOLS
configure_minimal_pool_constraints (&reqs);
#else
configure_optimal_pool_constraints (&reqs);
#endif
DDS_set_pool_constraints(&reqs);
#ifdef DDS_DEBUG
DDS_Debug_start ();
#endif
/* Create domain participant... */
domainParticipant = DDS_DomainParticipantFactory_create_participant(0, NULL, NULL, 0);
if (!domainParticipant) {
fprintf(stderr, "Error creating domain participant.\r\n");
return -1;
}
printf("[%d] Created domain participant.\r\n", mstime() - startTime);
sleep(1);
/* Create publisher... */
publisher = DDS_DomainParticipant_create_publisher(domainParticipant, NULL, NULL, 0);
if (!publisher) {
fprintf(stderr, "Error creating publisher.\r\n");
return -1;
}
printf("[%d] Created publisher.\r\n", mstime() - startTime);
sleep(1);
/* Create subscriber... */
subscriber = DDS_DomainParticipant_create_subscriber(domainParticipant, NULL, NULL, 0);
if (!subscriber) {
fprintf(stderr, "Error creating subscriber.\r\n");
return -1;
}
printf("[%d] Created subscriber.\r\n", mstime() - startTime);
sleep(1);
/* Register types... */
retCode = acceptance_high_end_ConfigTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered config type.\r\n", mstime() - startTime);
retCode = acceptance_high_end_StateTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered state type.\r\n", mstime() - startTime);
retCode = acceptance_high_end_StatisticTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered statistic type.\r\n", mstime() - startTime);
sleep(1);
/* Create topics... */
for (i = 0; i < nofConfigTopics; i++) {
char topicName[32];
sprintf(topicName, "ConfigTopic%d", firstConfigTopic + i);
configTopicName[i] = strdup (topicName);
configTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_ConfigTypeSupport_get_type_name(), NULL, NULL, 0);
if (!configTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d config topics.\r\n", mstime() - startTime, nofConfigTopics);
for (i = 0; i < nofStateTopics; i++) {
char topicName[32];
sprintf(topicName, "StateTopic%d", firstStateTopic + i);
stateTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_StateTypeSupport_get_type_name(), NULL, NULL, 0);
if (!stateTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d state topics.\r\n", mstime() - startTime, nofStateTopics);
for (i = 0; i < nofStatisticTopics; i++) {
char topicName[32];
sprintf(topicName, "StatisticTopic%d", firstStatisticTopic + i);
statisticTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_StatisticTypeSupport_get_type_name(), NULL, NULL, 0);
if (!statisticTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d statistic topics.\r\n", mstime() - startTime, nofStatisticTopics);
sleep(1);
/* Create data writers... */
DDS_Publisher_get_default_datawriter_qos(publisher, &dataWriterQos);
dataWriterQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataWriterQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofConfigTopics; i++) {
configDataWriter[i] = DDS_Publisher_create_datawriter(publisher, configTopic[i], &dataWriterQos, NULL, 0);
if (!configDataWriter[i]) {
fprintf(stderr, "Error creating data writer.\r\n");
return -1;
}
}
printf("[%d] Created %d config data writers.\r\n", mstime() - startTime, nofConfigTopics);
DDS_Publisher_get_default_datawriter_qos(publisher, &dataWriterQos);
dataWriterQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataWriterQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofStateTopics; i++) {
stateDataWriter[i] = DDS_Publisher_create_datawriter(publisher, stateTopic[i], &dataWriterQos, NULL, 0);
if (!stateDataWriter[i]) {
fprintf(stderr, "Error creating data writer.\r\n");
return -1;
}
}
printf("[%d] Created %d state data writers.\r\n", mstime() - startTime, nofStateTopics);
DDS_Publisher_get_default_datawriter_qos(publisher, &dataWriterQos);
for (i = 0; i < nofStatisticTopics; i++) {
statisticDataWriter[i] = DDS_Publisher_create_datawriter(publisher, statisticTopic[i], &dataWriterQos, NULL, 0);
if (!statisticDataWriter[i]) {
fprintf(stderr, "Error creating data writer.\r\n");
return -1;
}
}
printf("[%d] Created %d statistic data writers.\r\n", mstime() - startTime, nofStatisticTopics);
sleep(1);
/* Create data readers... */
DDS_Subscriber_get_default_datareader_qos(subscriber, &dataReaderQos);
dataReaderQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataReaderQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofConfigTopics; i++) {
configDataReader[i] = DDS_Subscriber_create_datareader(subscriber, DDS_DomainParticipant_lookup_topicdescription(domainParticipant, configTopicName[i]), &dataReaderQos, NULL, 0);
if (!configDataReader[i]) {
fprintf(stderr, "Error creating data reader.\r\n");
return -1;
}
}
printf("[%d] Created %d config data readers.\r\n", mstime() - startTime, nofConfigTopics);
sleep(1);
/* Register instances... */
for (i = 0; i < nofConfigTopics; i++) {
for (j = 0; j < nofConfigInstances; j++) {
config.key = j;
configInstance[i][j] = DDS_DataWriter_register_instance(configDataWriter[i], &config);
if (!configInstance[i][j]) {
fprintf(stderr, "Error registering instance.\r\n");
break;
}
}
}
printf("[%d] Registered %d config instances.\r\n", mstime() - startTime, nofConfigTopics * nofConfigInstances);
for (i = 0; i < nofStateTopics; i++) {
for (j = 0; j < nofStateInstances; j++) {
state.key = j;
stateInstance[i][j] = DDS_DataWriter_register_instance(stateDataWriter[i], &state);
if (!stateInstance[i][j]) {
fprintf(stderr, "Error registering instance.\r\n");
break;
}
}
}
printf("[%d] Registered %d state instances.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);
for (i = 0; i < nofStatisticTopics; i++) {
for (j = 0; j < nofStatisticInstances; j++) {
statistic.key = j;
statisticInstance[i][j] = DDS_DataWriter_register_instance(statisticDataWriter[i], &statistic);
if (!statisticInstance[i][j]) {
fprintf(stderr, "Error registering instance.\r\n");
break;
}
}
}
printf("[%d] Registered %d statistic instances.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);
sleep(1);
/* Publish samples... */
for (i = 0; i < nofConfigTopics; i++) {
for (j = 0; j < nofConfigInstances; j++) {
config.key = j;
retCode = DDS_DataWriter_write(configDataWriter[i], &config, configInstance[i][j]);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error publishing sample (%s).\r\n", DDS_error(retCode));
break;
}
}
}
printf("[%d] Published %d config samples.\r\n", mstime() - startTime, nofConfigTopics * nofConfigInstances);
for (i = 0; i < nofStateTopics; i++) {
for (j = 0; j < nofStateInstances; j++) {
state.key = j;
retCode = DDS_DataWriter_write(stateDataWriter[i], &state, stateInstance[i][j]);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error publishing sample (%s).\r\n", DDS_error(retCode));
break;
}
}
}
printf("[%d] Published %d state samples.\r\n", mstime() - startTime, nofStateTopics * nofStateInstances);
for (i = 0; i < nofStatisticTopics; i++) {
for (j = 0; j < nofStatisticInstances; j++) {
statistic.key = j;
retCode = DDS_DataWriter_write(statisticDataWriter[i], &statistic, statisticInstance[i][j]);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error publishing sample (%s).\r\n", DDS_error(retCode));
break;
}
}
}
printf("[%d] Published %d statistic samples.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);
sleep(1);
if (stagedLoading) {
char file_name[24];
sprintf(file_name, "/tmp/acceptStageLoad%d", firstConfigTopic + nofConfigTopics);
FILE *f = fopen(file_name, "w");
fclose(f);
}
// dbg_printf ("Zzzzzzz ... \r\n");
sleep(TEST_TIME);
// dbg_printf ("... o?\r\n");
/* Delete contained entities... */
// printf (" -- deleting contained entities.\r\n");
retCode = DDS_DomainParticipant_delete_contained_entities(domainParticipant);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error deleting contained entities.\r\n");
return -1;
}
for (i = 0; i < nofConfigTopics; i++)
free (configTopicName[i]);
// printf (" -- contained entities deleted!\r\n");
// sleep(TEST_TIME);
/* Delete domain participants... */
retCode = DDS_DomainParticipantFactory_delete_participant(domainParticipant);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error deleting domain participant.\r\n");
return -1;
}
printf ("[%d] comp completed successfully.\r\n", mstime() - startTime);
return 0;
}
int main(int argc, char* argv[])
{
int startTime = mstime();
DDS_PoolConstraints reqs;
DDS_DomainParticipant domainParticipant;
DDS_Publisher publisher;
DDS_Subscriber subscriber;
DDS_ReturnCode_t retCode;
char *configTopicName[nofConfigTopics];
char *stateTopicName[nofStateTopics];
char *statisticTopicName[nofStatisticTopics];
DDS_Topic configTopic[nofConfigTopics];
DDS_Topic stateTopic[nofStateTopics];
DDS_Topic statisticTopic[nofStatisticTopics];
DDS_DataWriterQos dataWriterQos;
DDS_DataWriter configDataWriter[nofConfigTopics];
DDS_DataReaderQos dataReaderQos;
DDS_DataReader configDataReader[nofConfigTopics];
DDS_DataReader stateDataReader[nofStateTopics];
DDS_DataReader statisticDataReader[nofStatisticTopics];
#if 0
acceptance_high_end_Config config;
acceptance_high_end_State state;
acceptance_high_end_Statistic statistic;
DDS_InstanceHandle_t configInstance[nofConfigTopics][nofConfigInstances];
DDS_InstanceHandle_t stateInstance[nofStateTopics][nofStateInstances];
DDS_InstanceHandle_t statisticInstance[nofStatisticTopics][nofStatisticInstances];
#endif
int i = 0;
/*int j = 0;*/
int firstConfigTopic = (argc > 1) ? atoi(argv[1]) : 0;
int firstStateTopic = (argc > 2) ? atoi(argv[2]) : 0;
int firstStatisticTopic = (argc > 3) ? atoi(argv[3]) : 0;
int stagedLoading = (argc > 4) ? atoi(argv[4]) : 0;
printf("[0] Config topics start at %d...\r\n", firstConfigTopic);
printf("[0] State topics start at %d...\r\n", firstStateTopic);
printf("[0] Statistic topics start at %d...\r\n", firstStatisticTopic);
printf("[0] Staged loading %s.\r\n", stagedLoading ? "on" : "off");
DDS_program_name (&argc, argv);
DDS_entity_name ("Technicolor Limits Manager");
DDS_get_default_pool_constraints(&reqs, ~0, 100);
#ifdef MINIMAL_POOLS
configure_minimal_pool_constraints (&reqs);
#else
configure_optimal_pool_constraints (&reqs);
#endif
DDS_set_pool_constraints (&reqs);
#ifdef DDS_DEBUG
DDS_Debug_start ();
#endif
#ifdef TRACE_DATA
rtps_dtrace_set (DRTRC_TRACE_ALL);
#endif
/* Create domain participant... */
domainParticipant = DDS_DomainParticipantFactory_create_participant(0, NULL, NULL, 0);
if (!domainParticipant) {
fprintf(stderr, "Error creating domain participant.\r\n");
return -1;
}
printf("[%d] Created domain participant.\r\n", mstime() - startTime);
// sleep(1);
/* Create publisher... */
publisher = DDS_DomainParticipant_create_publisher(domainParticipant, NULL, NULL, 0);
if (!publisher) {
fprintf(stderr, "Error creating publisher.\r\n");
return -1;
}
printf("[%d] Created publisher.\r\n", mstime() - startTime);
// sleep(1);
/* Create subscriber... */
subscriber = DDS_DomainParticipant_create_subscriber(domainParticipant, NULL, NULL, 0);
if (!subscriber) {
fprintf(stderr, "Error creating subscriber.\r\n");
return -1;
}
printf("[%d] Created subscriber.\r\n", mstime() - startTime);
// sleep(1);
/* Register types... */
retCode = acceptance_high_end_ConfigTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered config type.\r\n", mstime() - startTime);
retCode = acceptance_high_end_StateTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered state type.\r\n", mstime() - startTime);
retCode = acceptance_high_end_StatisticTypeSupport_register_type(domainParticipant, NULL);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error registering type (%s).\r\n", DDS_error(retCode));
return -1;
}
printf("[%d] Registered statistic type.\r\n", mstime() - startTime);
// sleep(1);
/* Create topics... */
for (i = 0; i < nofConfigTopics; i++) {
char topicName[32];
sprintf(topicName, "ConfigTopic%d", firstConfigTopic + i);
configTopicName[i] = topicName;
configTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_ConfigTypeSupport_get_type_name(), NULL, NULL, 0);
if (!configTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d config topics.\r\n", mstime() - startTime, nofConfigTopics);
for (i = 0; i < nofStateTopics; i++) {
char topicName[32];
sprintf(topicName, "StateTopic%d", firstStateTopic + i);
stateTopicName[i] = topicName;
stateTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_StateTypeSupport_get_type_name(), NULL, NULL, 0);
if (!stateTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d state topics.\r\n", mstime() - startTime, nofStateTopics);
for (i = 0; i < nofStatisticTopics; i++) {
char topicName[32];
sprintf(topicName, "StatisticTopic%d", firstStatisticTopic + i);
statisticTopicName[i] = topicName;
statisticTopic[i] = DDS_DomainParticipant_create_topic(domainParticipant, topicName, acceptance_high_end_StatisticTypeSupport_get_type_name(), NULL, NULL, 0);
if (!statisticTopic[i]) {
fprintf(stderr, "Error creating topic.\r\n");
return -1;
}
}
printf("[%d] Created %d statistic topics.\r\n", mstime() - startTime, nofStatisticTopics);
// sleep(1);
/* Create data writers... */
DDS_Publisher_get_default_datawriter_qos(publisher, &dataWriterQos);
dataWriterQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataWriterQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofConfigTopics; i++) {
configDataWriter[i] = DDS_Publisher_create_datawriter(publisher, configTopic[i], &dataWriterQos, NULL, 0);
if (!configDataWriter[i]) {
fprintf(stderr, "Error creating data writer.\r\n");
return -1;
}
}
printf("[%d] Created %d config data writers.\r\n", mstime() - startTime, nofConfigTopics);
// sleep(1);
/* Create data readers... */
DDS_Subscriber_get_default_datareader_qos(subscriber, &dataReaderQos);
dataReaderQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataReaderQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofConfigTopics; i++) {
configDataReader[i] = DDS_Subscriber_create_datareader(subscriber, DDS_DomainParticipant_lookup_topicdescription(domainParticipant, configTopicName[i]), &dataReaderQos, &configDataReaderListener, DDS_DATA_AVAILABLE_STATUS);
if (!configDataReader[i]) {
fprintf(stderr, "Error creating data reader.\r\n");
return -1;
}
}
printf("[%d] Created %d config data readers.\r\n", mstime() - startTime, nofConfigTopics);
DDS_Subscriber_get_default_datareader_qos(subscriber, &dataReaderQos);
dataReaderQos.reliability.kind = DDS_RELIABLE_RELIABILITY_QOS;
dataReaderQos.durability.kind = DDS_TRANSIENT_LOCAL_DURABILITY_QOS;
for (i = 0; i < nofStateTopics; i++) {
stateDataReader[i] = DDS_Subscriber_create_datareader(subscriber, DDS_DomainParticipant_lookup_topicdescription(domainParticipant, stateTopicName[i]), &dataReaderQos, &stateDataReaderListener, DDS_DATA_AVAILABLE_STATUS);
if (!stateDataReader[i]) {
fprintf(stderr, "Error creating data reader.\r\n");
return -1;
}
}
printf("[%d] Created %d state data readers.\r\n", mstime() - startTime, nofStateTopics);
DDS_Subscriber_get_default_datareader_qos(subscriber, &dataReaderQos);
for (i = 0; i < nofStatisticTopics; i++) {
statisticDataReader[i] = DDS_Subscriber_create_datareader(subscriber, DDS_DomainParticipant_lookup_topicdescription(domainParticipant, statisticTopicName[i]), &dataReaderQos, &statisticDataReaderListener, DDS_DATA_AVAILABLE_STATUS);
if (!statisticDataReader[i]) {
fprintf(stderr, "Error creating data reader.\r\n");
return -1;
}
}
printf("[%d] Created %d statistic data readers.\r\n", mstime() - startTime, nofStatisticTopics);
// sleep(1);
/* Lookup instances... */
/*for (i = 0; i < nofConfigTopics; i++) {
for (j = 0; j < nofConfigInstances; j++) {
config.key = j;
configInstance[i][j] = acceptance_high_end_ConfigDataReader_lookup_instance(configDataReader[i], &config);
if (!configInstance[i][j]) {
fprintf(stderr, "Error looking up instance.\r\n");
break;
}
}
}
printf("[%d] Looked up %d config instances.\r\n", mstime() - startTime, nofConfigTopics * nofConfigInstances);
for (i = 0; i < nofStateTopics; i++) {
for (j = 0; j < nofStateInstances; j++) {
state.key = j;
stateInstance[i][j] = acceptance_high_end_StateDataReader_lookup_instance(stateDataReader[i], &state);
if (!stateInstance[i][j]) {
fprintf(stderr, "Error looking up instance.\r\n");
break;
}
}
}
printf("[%d] Looked up %d state instances.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);
for (i = 0; i < nofStatisticTopics; i++) {
for (j = 0; j < nofStatisticInstances; j++) {
statistic.key = j;
statisticInstance[i][j] = acceptance_high_end_StatisticDataReader_lookup_instance(statisticDataReader[i], &statistic);
if (!statisticInstance[i][j]) {
fprintf(stderr, "Error looking up instance.\r\n");
break;
}
}
}
printf("[%d] Looked up %d statistic instances.\r\n", mstime() - startTime, nofStatisticTopics * nofStatisticInstances);*/
// sleep(1);
if (stagedLoading) {
char file_name[24];
sprintf(file_name, "/tmp/acceptStageLoad0");
FILE *f = fopen(file_name, "w");
fclose(f);
}
int waitTime = mstime();
int _nofConfigSamples = 0;
int _nofStateSamples = 0;
int _nofStatisticSamples = 0;
while ((mstime() - waitTime) < (TEST_TIME * 1000)) {
if ((nofConfigSamples > _nofConfigSamples) || (nofStateSamples > _nofStateSamples) || (nofStatisticSamples > _nofStatisticSamples)) {
printf("[%d] Received %d config samples.\r\n", mstime() - startTime, nofConfigSamples);
printf("[%d] Received %d state samples.\r\n", mstime() - startTime, nofStateSamples);
printf("[%d] Received %d statistic samples.\r\n", mstime() - startTime, nofStatisticSamples);
_nofConfigSamples = nofConfigSamples;
_nofStateSamples = nofStateSamples;
_nofStatisticSamples = nofStatisticSamples;
}
sleep(1);
}
/* Delete contained entities... */
// printf (" -- Deleting contained entities.\r\n");
retCode = DDS_DomainParticipant_delete_contained_entities(domainParticipant);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error deleting contained entities.\r\n");
return -1;
}
// printf ("contained entities deleted!\r\n");
/* Delete domain participants... */
retCode = DDS_DomainParticipantFactory_delete_participant(domainParticipant);
if (retCode != DDS_RETCODE_OK) {
fprintf(stderr, "Error deleting domain participant.\r\n");
return -1;
}
printf ("[%d] mgmt completed successfully.\r\n", mstime() - startTime);
return 0;
}