示例#1
0
static void try_constraints (DDS_PoolConstraints *c,
		      unsigned            max,
		      unsigned            grow,
		      DDS_PoolConstraints *e_c,
		      DDS_ReturnCode_t    e_ret)
{
	DDS_ReturnCode_t	r;

	r = DDS_get_default_pool_constraints (c, max, grow);
	fail_unless (r == e_ret);
	if (!c)
		return;

	/* constraints_dump (c); */
	fail_unless (constraints_eq (c, e_c));
	try_constraints_set (c, DDS_RETCODE_OK);
}
示例#2
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];
	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;
}
示例#3
0
static void test_constr (void)
{
	DDS_ReturnCode_t	r;
	DDS_PoolConstraints	c;
	DDS_PoolConstraints	e1 = {
		1, 2, 2, 2, 2, 12, 12, 8, 8,
		16, 16, 1, 1, 10, 10,
		10, 10, 10, 10,
		8, 8, 24, 24, 24, 24,
		32768, 32768, 4, 64, 64, 32, 32, 
		32, 32, 2, 2, 2, 2, 2, 2, 
		2, 2, 2, 2, 64, 64, 4096, 4096, 
		32, 32, 16, 16, 8, 8, 256, 256, 
		32, 32, 1024, 16, 8, 2, 2, 2, 2, 
		2, 2, 2, 2, 2, 2, 8, 8, 
		2, 2, 4, 4, 8, 8, 4, 4,
		4, 4, 4, 4, 4, 4, 4, 4,
		0
	};
	DDS_PoolConstraints	e2 = { 
		1, 2, 3, 2, 3, 12, 18, 8, 12,
		16, 24, 1, 1, 10, 15,
		10, 15, 10, 15,
		8, 12, 24, 36, 24, 36,
		32768, 49152, 4, 64, 96, 32, 48, 
		32, 48, 2, 3, 2, 3, 2, 3, 
		2, 3, 2, 3, 64, 96, 4096, 6144, 
		32, 48, 16, 24, 8, 12, 256, 384, 
		32, 48, 1024, 16, 8, 2, 3, 2, 3, 
		2, 3, 2, 3, 2, 3, 8, 12, 
		2, 3, 4, 6, 8, 12, 4, 6,
		4, 6, 4, 6, 4, 6, 4, 6,
		200
	};
	DDS_PoolConstraints	e3 = {
		1, 2, 5, 2, 5, 12, 30, 8, 20,
		16, 40, 1, 2, 10, 25,
		10, 25, 10, 25,
		8, 20, 24, 60, 24, 60,
		32768, 81920, 4, 64, 160, 32, 80, 
		32, 80, 2, 5, 2, 5, 2, 5, 
		2, 5, 2, 5, 64, 160, 4096, 10240, 
		32, 80, 16, 40, 8, 20, 256, 640, 
		32, 80, 1024, 16, 8, 2, 5, 2, 5, 
		2, 5, 2, 5, 2, 5, 8, 20, 
		2, 5, 4, 10, 8, 20, 4, 10,
		4, 10, 4, 10, 4, 10, 4, 10,
		0
	};
	DDS_PoolConstraints	e4 = {
		1, 2, ~0, 2, ~0, 12, ~0, 8, ~0,
		16, ~0, 1, ~0, 10, ~0,
		10, ~0, 10, ~0,
		8, ~0, 24, ~0, 24, ~0,
		32768, ~0, 4, 64, ~0, 32, ~0, 
		32, ~0, 2, ~0, 2, ~0, 2, ~0, 
		2, ~0, 2, ~0, 64, ~0, 4096, ~0, 
		32, ~0, 16, ~0, 8, ~0, 256, ~0, 
		32, ~0, 1024, 16, 8, 2, ~0, 2, ~0, 
		2, ~0, 2, ~0, 2, ~0, 8, ~0, 
		2, ~0, 4, ~0, 8, ~0, 4, ~0,
		4, ~0, 4, ~0, 4, ~0, 4, ~0,
		20
	};

	v_printf (" - Test various constraint settings.\r\n");	
	try_constraints (&c, 0, 0, &e1, DDS_RETCODE_OK);
	try_constraints (&c, 50, 200, &e2, DDS_RETCODE_OK);
	try_constraints (&c, 150, 0, &e3, DDS_RETCODE_OK);
	try_constraints (&c, ~0, 20, &e4, DDS_RETCODE_OK);
	r = DDS_get_default_pool_constraints (&c, 0, 0);
	fail_unless (r == DDS_RETCODE_OK);
	try_constraints_set (&c, DDS_RETCODE_OK);
}
示例#4
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;
}