int OSPL_MAIN (int argc, const char *argv[]) { DDS_Publisher message_Publisher; DDS_DataWriter message_DataWriter; ListenerData_Msg* message_Sample; const DDS_char listener [] = "Hello World"; os_time delay_2s = { 2, 0 }; DDS_unsigned_long listenerLength = sizeof(listener) - 1; printf("\n Starting ListenerPublisher..."); // Create DDS DomainParticipant printf("\n create Participant..."); createParticipant("Listener example"); // Register the Topic's type in the DDS Domain. g_MessageTypeSupport = ListenerData_MsgTypeSupport__alloc(); checkHandle(g_MessageTypeSupport, "ListenerData_MsgTypeSupport__alloc"); registerMessageType(g_MessageTypeSupport); // Create the Topic's in the DDS Domain. g_MessageTypeName = ListenerData_MsgTypeSupport_get_type_name(g_MessageTypeSupport); g_MessageTopic = createTopic("ListenerData_Msg", g_MessageTypeName); DDS_free(g_MessageTypeName); DDS_free(g_MessageTypeSupport); // Create the Publisher's in the DDS Domain. message_Publisher = createPublisher(); // Request a Writer from the the Publisher. message_DataWriter = createDataWriter(message_Publisher, g_MessageTopic); message_Sample = ListenerData_Msg__alloc(); message_Sample->userID = 1; message_Sample->message = DDS_string_alloc(listenerLength); strncpy(message_Sample->message, listener, listenerLength); printf("\n=== [ListenerPublisher] writing a message containing :"); printf("\n userID : %d", message_Sample->userID); printf("\n Message : \"%s\"", message_Sample->message); g_status = ListenerData_MsgDataWriter_write(message_DataWriter, message_Sample, DDS_HANDLE_NIL); checkStatus(g_status, "ListenerData_MsgDataWriter_write"); os_nanoSleep(delay_2s); // Cleanup DDS deleteDataWriter(message_Publisher, message_DataWriter); deletePublisher(message_Publisher); deleteTopic(g_MessageTopic); deleteParticipant(); // Cleanup C allocations DDS_free(message_Sample); printf("\n=== [ListenerPublisher] Exiting.\n\n"); return 0; }
main(int argc, const char *argv[]) { int x, i; DDS_InstanceHandle_t userHandle; DDS_Publisher message_Publisher; DDS_DataWriter message_DataWriter; ListenerData_Msg* message_Sample; DDS_char* listener = "Hello World"; int listenerLength; printf("\n Starting ListenerPublisher..."); // Create DDS DomainParticipant printf("\n create Participant..."); createParticipant("Listener example"); // Register the Topic's type in the DDS Domain. g_MessageTypeSupport = ListenerData_MsgTypeSupport__alloc(); checkHandle(g_MessageTypeSupport, "ListenerData_MsgTypeSupport__alloc"); registerMessageType(g_MessageTypeSupport); // Create the Topic's in the DDS Domain. g_MessageTypeName = (char*) ListenerData_MsgTypeSupport_get_type_name(g_MessageTypeSupport); g_MessageTopic = createTopic("ListenerData_Msg", g_MessageTypeName); DDS_free(g_MessageTypeName); DDS_free(g_MessageTypeSupport); // Create the Publisher's in the DDS Domain. message_Publisher = createPublisher(); // Request a Writer from the the Publisher. message_DataWriter = createDataWriter(message_Publisher, g_MessageTopic); message_Sample = ListenerData_Msg__alloc(); userHandle = ListenerData_MsgDataWriter_register_instance(message_DataWriter, message_Sample); message_Sample->userID = 1; listenerLength = strlen(listener); message_Sample->message = DDS_string_alloc(listenerLength); strcpy(message_Sample->message, listener); printf("\n=== [ListenerPublisher] writing a message containing :"); printf("\n userID : %d", message_Sample->userID); printf("\n Message : \"%s\"", message_Sample->message); g_status = ListenerData_MsgDataWriter_write(message_DataWriter, message_Sample, 0); checkStatus(g_status, "ListenerData_MsgDataWriter_write"); ListenerData_MsgDataWriter_unregister_instance (message_DataWriter, message_Sample, userHandle); // Cleanup DDS deleteDataWriter(message_Publisher, message_DataWriter); deletePublisher(message_Publisher); deleteTopic(g_MessageTopic); deleteParticipant(); // Cleanup C allocations // Recursively free the instances sequence using the OpenSplice API. DDS_free(message_Sample); printf("\n=== [ListenerPublisher] Exiting.\n\n"); return 0; }
int OSPL_MAIN (int argc, char *argv[]) { DDS_sequence_ListenerData_Msg* message_seq = DDS_sequence_ListenerData_Msg__alloc(); DDS_SampleInfoSeq* message_infoSeq = DDS_SampleInfoSeq__alloc(); DDS_Subscriber message_Subscriber; DDS_DataReader message_DataReader; DDS_WaitSet waitSet; DDS_ConditionSeq* guardList = NULL; struct DDS_DataReaderListener *message_Listener; DDS_Duration_t timeout = { 0, 200000000 }; struct Listener_data* Listener_data; DDS_GuardCondition guardCondition = DDS_GuardCondition__alloc(); int count = 0; DDS_StatusMask mask; // Create DDS DomainParticipant createParticipant("Listener example"); // Register the Topic's type in the DDS Domain. g_MessageTypeSupport = ListenerData_MsgTypeSupport__alloc(); checkHandle(g_MessageTypeSupport, "ListenerData_MsgTypeSupport__alloc"); registerMessageType(g_MessageTypeSupport); // Create the Topic's in the DDS Domain. g_MessageTypeName = ListenerData_MsgTypeSupport_get_type_name(g_MessageTypeSupport); g_MessageTopic = createTopic("ListenerData_Msg", g_MessageTypeName); DDS_free(g_MessageTypeName); DDS_free(g_MessageTypeSupport); // Create the Subscriber's in the DDS Domain. message_Subscriber = createSubscriber(); // Request a Reader from the the Subscriber. message_DataReader = createDataReader(message_Subscriber, g_MessageTopic); /* Allocate the DataReaderListener interface. */ message_Listener = DDS_DataReaderListener__alloc(); checkHandle(message_Listener, "DDS_DataReaderListener__alloc"); Listener_data = malloc(sizeof(struct Listener_data)); checkHandle(Listener_data, "malloc"); Listener_data->guardCondition = &guardCondition; Listener_data->message_DataReader = &message_DataReader; Listener_data->isClosed = &isClosed; message_Listener->listener_data = Listener_data; message_Listener->on_data_available = on_data_available; message_Listener->on_requested_deadline_missed = on_requested_deadline_missed; mask = DDS_DATA_AVAILABLE_STATUS | DDS_REQUESTED_DEADLINE_MISSED_STATUS; g_status = DDS_DataReader_set_listener(message_DataReader, message_Listener, mask); checkStatus(g_status, "DDS_DataReader_set_listener"); // WaitSet is used to avoid spinning in the loop below. waitSet = DDS_WaitSet__alloc(); checkHandle(waitSet, "DDS_WaitSet__alloc"); g_status = DDS_WaitSet_attach_condition(waitSet, guardCondition); checkStatus(g_status, "DDS_WaitSet_attach_condition (readCondition)"); // Initialize and pre-allocate the GuardList used to obtain the triggered Conditions. guardList = DDS_ConditionSeq__alloc(); checkHandle(guardList, "DDS_ConditionSeq__alloc"); guardList->_maximum = 1; guardList->_length = 0; guardList->_buffer = DDS_ConditionSeq_allocbuf(1); checkHandle(guardList->_buffer, "DDS_ConditionSeq_allocbuf"); printf("\n=== [ListenerDataSubscriber] Ready..."); isClosed = FALSE; do { g_status = DDS_WaitSet_wait(waitSet, guardList, &timeout); if(g_status != DDS_RETCODE_TIMEOUT) { checkStatus(g_status, "DDS_WaitSet_wait"); } else { printf("\n=== [ListenerDataSubscriber] (timeout)"); } g_status = DDS_GuardCondition_set_trigger_value(guardCondition, FALSE); checkStatus(g_status, "DDS_GuardCondition_set_trigger_value"); ++ count; } while( isClosed == FALSE && count < 1500 ); printf("\n\n=== [ListenerDataSubscriber] isClosed"); // Cleanup DDS from the created Entities. deleteDataReader(message_Subscriber, message_DataReader); deleteSubscriber(message_Subscriber); deleteTopic(g_MessageTopic); deleteParticipant(); // Cleanup C allocations // Recursively free the instances sequence using the OpenSplice API. DDS_free(message_seq); DDS_free(message_infoSeq); free(Listener_data); // Print out an empty line, just to avoid the shell writing on the same line as our last output. printf("\n"); return 0; }