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_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_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);
}
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);
}
