int DDS_TEST::test(ACE_TString host, u_short port)
{
if (host.empty() || port == 0) {
std::cerr << "ERROR: -h <host> and -p <port> options are required\n";
return 1;
}
// 0. initialization
ACE_INET_Addr remote_addr(port, host.c_str());
TransportInst_rch inst = TheTransportRegistry->create_inst("my_rtps",
"rtps_udp");
RtpsUdpInst* rtps_inst = dynamic_cast<RtpsUdpInst*>(inst.in());
if (!rtps_inst) {
std::cerr << "ERROR: Failed to cast to RtpsUdpInst\n";
return 1;
}
rtps_inst->datalink_release_delay_ = 0;
rtps_inst->heartbeat_period_ = ACE_Time_Value(0, 100*1000 /*microseconds*/);
TransportConfig_rch cfg = TheTransportRegistry->create_config("cfg");
cfg->instances_.push_back(inst);
TheTransportRegistry->global_config(cfg);
RepoIdBuilder local;
local.federationId(0x01234567); // guidPrefix1
local.participantId(0x89abcdef); // guidPrefix2
local.entityKey(0x012345);
local.entityKind(ENTITYKIND_USER_WRITER_WITH_KEY);
OpenDDS::RTPS::GUID_t local_guid(local);
const OpenDDS::RTPS::GuidPrefix_t& local_prefix = local_guid.guidPrefix;
RepoIdBuilder remote; // these values must match what's in subscriber.cpp
remote.federationId(0x01234567); // guidPrefix1
remote.participantId(0xefcdab89); // guidPrefix2
remote.entityKey(0x452310);
remote.entityKind(ENTITYKIND_USER_READER_WITH_KEY);
LocatorSeq locators;
locators.length(1);
locators[0].kind = (remote_addr.get_type() == AF_INET6)
? LOCATOR_KIND_UDPv6 : LOCATOR_KIND_UDPv4;
locators[0].port = port;
address_to_bytes(locators[0].address, remote_addr);
size_t size_locator = 0, padding_locator = 0;
gen_find_size(locators, size_locator, padding_locator);
ACE_Message_Block mb_locator(size_locator + padding_locator + 1);
Serializer ser_loc(&mb_locator, ACE_CDR_BYTE_ORDER, Serializer::ALIGN_CDR);
ser_loc << locators;
ser_loc << ACE_OutputCDR::from_boolean(false); // requires inline QoS
SimpleDataWriter sdw(local_guid);
sdw.enable_transport(true /*reliable*/, false /*durable*/);
AssociationData subscription;
subscription.remote_id_ = remote;
subscription.remote_reliable_ = false;
subscription.remote_data_.length(1);
subscription.remote_data_[0].transport_type = "rtps_udp";
subscription.remote_data_[0].data.replace(
static_cast<CORBA::ULong>(mb_locator.length()), &mb_locator);
if (!sdw.init(subscription)) {
std::cerr << "publisher TransportClient::associate() failed\n";
return 1;
}
// 1. send by directly writing an RTPS Message to the socket
const Header hdr = { {'R', 'T', 'P', 'S'}, PROTOCOLVERSION, VENDORID_OPENDDS,
{local_prefix[0], local_prefix[1], local_prefix[2], local_prefix[3],
local_prefix[4], local_prefix[5], local_prefix[6], local_prefix[7],
local_prefix[8], local_prefix[9], local_prefix[10], local_prefix[11]} };
const ACE_Time_Value now = ACE_OS::gettimeofday();
log_time(now);
const double conv = 4294.967296; // NTP fractional (2^-32) sec per microsec
const InfoTimestampSubmessage it = { {INFO_TS, 1, 8},
{static_cast<ACE_CDR::Long>(now.sec()),
static_cast<ACE_CDR::ULong>(now.usec() * conv)} };
DataSubmessage ds = { {DATA, 7, 20 + 24 + 12 + sizeof(text)}, 0, 16,
ENTITYID_UNKNOWN, local_guid.entityId, {0, 1}, ParameterList() };
TestMsg data;
data.key = 0x09230923;
data.value = text;
ds.inlineQos.length(1);
OpenDDS::RTPS::KeyHash_t hash;
marshal_key_hash(data, hash);
ds.inlineQos[0].key_hash(hash);
const ACE_CDR::ULong encap = 0x00000100; // {CDR_LE, options} in BE format
size_t size = 0, padding = 0;
gen_find_size(hdr, size, padding);
gen_find_size(it, size, padding);
gen_find_size(ds, size, padding);
find_size_ulong(size, padding);
gen_find_size(data, size, padding);
ACE_Message_Block msg(size + padding);
Serializer ser(&msg, host_is_bigendian, Serializer::ALIGN_CDR);
bool ok = (ser << hdr) && (ser << it) && (ser << ds)
&& (ser << encap) && (ser << data);
if (!ok) {
std::cerr << "ERROR: failed to serialize RTPS message\n";
return 1;
}
ACE_INET_Addr local_addr;
ACE_SOCK_Dgram sock(local_addr);
ssize_t res = sock.send(msg.rd_ptr(), msg.length(), remote_addr);
if (res < 0) {
std::cerr << "ERROR: error in send()\n";
return 1;
} else {
std::ostringstream oss;
oss << "Sent " << res << " bytes.\n";
ACE_DEBUG((LM_INFO, oss.str().c_str()));
}
// 2a. send control messages through the OpenDDS transport
// Send an instance registration
{
TestMsg control_sample;
control_sample.key = 0x04030201;
DataSampleHeader dsh;
dsh.message_id_ = INSTANCE_REGISTRATION;
dsh.sequence_ = SequenceNumber::SEQUENCENUMBER_UNKNOWN();
dsh.publication_id_ = local_guid;
dsh.key_fields_only_ = true;
// Calculate the data buffer length
size = 0;
padding = 0;
OpenDDS::DCPS::KeyOnly<const TestMsg> ko_instance_data(control_sample);
find_size_ulong(size, padding); // encap
gen_find_size(ko_instance_data, size, padding);
dsh.message_length_ = static_cast<ACE_UINT32>(size + padding);
ACE_Message_Block* ir_mb = new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA,
new ACE_Message_Block(dsh.message_length_));
*ir_mb << dsh;
OpenDDS::DCPS::Serializer serializer(ir_mb->cont(),
host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (serializer << encap) && (serializer << ko_instance_data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for instance registration\n";
return 1;
}
::DDS_TEST::force_inline_qos(false); // No inline QoS
sdw.send_control(dsh, ir_mb);
// Send a dispose instance
{
dsh.message_id_ = DISPOSE_INSTANCE;
ACE_Message_Block* di_mb = new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA,
new ACE_Message_Block(dsh.message_length_));
*di_mb << dsh;
OpenDDS::DCPS::Serializer serializer(di_mb->cont(),
host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (serializer << encap) && (serializer << ko_instance_data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for dispose instance\n";
return 1;
}
::DDS_TEST::force_inline_qos(true); // Inline QoS
sdw.inline_qos_mode_ = SimpleDataWriter::PARTIAL_MOD_QOS;
sdw.send_control(dsh, di_mb);
}
// Send an unregister instance
{
dsh.message_id_ = UNREGISTER_INSTANCE;
ACE_Message_Block* ui_mb = new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA,
new ACE_Message_Block(dsh.message_length_));
*ui_mb << dsh;
OpenDDS::DCPS::Serializer serializer(ui_mb->cont(),
host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (serializer << encap) && (serializer << ko_instance_data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for unregister instance\n";
return 1;
}
::DDS_TEST::force_inline_qos(true); // Inline QoS
sdw.inline_qos_mode_ = SimpleDataWriter::FULL_MOD_QOS;
sdw.send_control(dsh, ui_mb);
}
// Send a dispose & unregister instance
{
dsh.message_id_ = DISPOSE_UNREGISTER_INSTANCE;
ACE_Message_Block* ui_mb = new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA,
new ACE_Message_Block(dsh.message_length_));
*ui_mb << dsh;
OpenDDS::DCPS::Serializer serializer(ui_mb->cont(),
host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (serializer << encap) && (serializer << ko_instance_data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for dispose unregister instance\n";
return 1;
}
::DDS_TEST::force_inline_qos(true); // Inline QoS
sdw.inline_qos_mode_ = SimpleDataWriter::FULL_MOD_QOS;
sdw.send_control(dsh, ui_mb);
}
}
// 2b. send sample data through the OpenDDS transport
TransportSendElementAllocator alloc(2, sizeof(TransportSendElementAllocator));
DataSampleElement elements[] = {
DataSampleElement(local_guid, &sdw, 0, &alloc, 0), // Data Sample
DataSampleElement(local_guid, &sdw, 0, &alloc, 0), // Data Sample (key=99 means end)
};
SendStateDataSampleList list;
list.head_ = elements;
list.size_ = sizeof(elements) / sizeof(elements[0]);
list.tail_ = &elements[list.size() - 1];
for (int i = 0; i < list.size() - 1; ++i) {
DDS_TEST::set_next_send_sample(elements[i], &elements[i + 1]);
}
// Send a regular data sample
int index = 0;
DataSampleHeader& dsh = elements[index].header_;
dsh.message_id_ = SAMPLE_DATA;
dsh.publication_id_ = local_guid;
dsh.sequence_ = 3; // test GAP generation
const ACE_Time_Value tv = ACE_OS::gettimeofday();
log_time(tv);
DDS::Time_t st = time_value_to_time(tv);
dsh.source_timestamp_sec_ = st.sec;
dsh.source_timestamp_nanosec_ = st.nanosec;
// Calculate the data buffer length
size = 0;
padding = 0;
find_size_ulong(size, padding); // encap
gen_find_size(data, size, padding);
dsh.message_length_ = static_cast<ACE_UINT32>(size + padding);
elements[index].sample_ =
new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA, new ACE_Message_Block(dsh.message_length_));
*elements[index].sample_ << dsh;
Serializer ser2(elements[index].sample_->cont(), host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (ser2 << encap) && (ser2 << data);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for elements[" << index << "]\n";
return 1;
}
// Send a data sample with a key of 99 to terminate the subscriber
index++;
DataSampleHeader& dsh2 = elements[index].header_;
dsh2.sequence_ = dsh.sequence_+1;
dsh2.message_id_ = SAMPLE_DATA;
dsh.publication_id_ = local_guid;
dsh2.key_fields_only_ = false;
const ACE_Time_Value tv2 = ACE_OS::gettimeofday();
log_time(tv2);
DDS::Time_t st2 = time_value_to_time(tv2);
dsh2.source_timestamp_sec_ = st2.sec;
dsh2.source_timestamp_nanosec_ = st2.nanosec;
data.key = 99;
data.value = "";
// Calculate the data buffer length
size = 0;
padding = 0;
find_size_ulong(size, padding); // encap
gen_find_size(data, size, padding);
dsh2.message_length_ = static_cast<ACE_UINT32>(size + padding);
elements[index].sample_ =
new ACE_Message_Block(DataSampleHeader::max_marshaled_size(),
ACE_Message_Block::MB_DATA, new ACE_Message_Block(dsh2.message_length_));
*elements[index].sample_ << dsh2;
Serializer ser3(elements[index].sample_->cont(), host_is_bigendian,
Serializer::ALIGN_CDR);
ok = (ser3 << encap) && (ser3 << data.key) && (ser3 << data.value);
if (!ok) {
std::cerr << "ERROR: failed to serialize data for elements[" << index << "]\n";
return 1;
}
sdw.callbacks_expected_ = list.size();
::DDS_TEST::force_inline_qos(true); // Inline QoS
sdw.send(list);
while (sdw.callbacks_expected_) {
ACE_OS::sleep(1);
}
// Allow enough time for a HEARTBEAT message to be generated
ACE_OS::sleep(rtps_inst->heartbeat_period_ * 2.0);
// 3. cleanup
sdw.disassociate(subscription.remote_id_);
TheServiceParticipant->shutdown();
ACE_Thread_Manager::instance()->wait();
return 0;
}
bool
OpenDDS::DCPS::DataDurabilityCache::insert(
DDS::DomainId_t domain_id,
char const * topic_name,
char const * type_name,
SendStateDataSampleList & the_data,
DDS::DurabilityServiceQosPolicy const & qos)
{
if (the_data.size() == 0)
return true; // Nothing to cache.
// Apply DURABILITY_SERVICE QoS HISTORY and RESOURCE_LIMITS related
// settings prior to data insertion into the cache.
CORBA::Long const depth =
get_instance_sample_list_depth(
qos.history_kind,
qos.history_depth,
qos.max_samples_per_instance);
// Iterator to first DataSampleElement to be copied.
SendStateDataSampleList::iterator element(the_data.begin());
if (depth < 0)
return false; // Should never occur.
else if (depth == 0)
return true; // Nothing else to do. Discard all data.
else if (the_data.size() > depth) {
// N.B. Dropping data samples does not take into account
// those samples which are not actually persisted (i.e.
// samples with the coherent_sample_ flag set). The spec
// does not provide any guidance in this case, therefore
// we opt for the simplest solution and assume that there
// are no change sets when calculating the number of
// samples to drop.
// Drop "old" samples. Only keep the "depth" most recent
// samples, i.e. those found at the tail end of the
// SendStateDataSampleList.
ssize_t const advance_amount = the_data.size() - depth;
std::advance(element, advance_amount);
}
// -----------
// Copy samples to the domain/topic/type-specific cache.
key_type const key(domain_id,
topic_name,
type_name,
this->allocator_.get());
SendStateDataSampleList::iterator the_end(the_data.end());
sample_list_type * sample_list = 0;
typedef DurabilityQueue<sample_data_type> data_queue_type;
data_queue_type ** slot = 0;
data_queue_type * samples = 0; // sample_list_type::value_type
using OpenDDS::FileSystemStorage::Directory;
using OpenDDS::FileSystemStorage::File;
Directory::Ptr dir;
std::vector<std::string> path;
{
ACE_Allocator * const allocator = this->allocator_.get();
ACE_GUARD_RETURN(ACE_SYNCH_MUTEX, guard, this->lock_, false);
if (this->kind_ == DDS::PERSISTENT_DURABILITY_QOS) {
try {
dir = Directory::create(this->data_dir_.c_str());
std::ostringstream oss;
oss << domain_id;
path.push_back(oss.str());
path.push_back(topic_name);
path.push_back(type_name);
dir = dir->get_dir(path);
// dir is now the "type" directory, which is shared by all datawriters
// of the domain/topic/type. We actually need a new directory per
// datawriter and this assumes that insert() is called once per
// datawriter, as is currently the case.
dir = dir->create_next_dir();
path.push_back(dir->name()); // for use by the Cleanup_Handler
} catch (const std::exception& ex) {
if (DCPS_debug_level > 0) {
ACE_ERROR((LM_ERROR,
ACE_TEXT("(%P|%t) DataDurabilityCache::insert ")
ACE_TEXT("couldn't create directory for PERSISTENT ")
ACE_TEXT("data: %C\n"), ex.what()));
}
dir = 0;
}
}
if (this->samples_->find(key, sample_list, allocator) != 0) {
// Create a new list (actually an ACE_Array_Base<>) with the
// appropriate allocator passed to its constructor.
ACE_NEW_MALLOC_RETURN(
sample_list,
static_cast<sample_list_type *>(
allocator->malloc(sizeof(sample_list_type))),
sample_list_type(1, static_cast<data_queue_type *>(0), allocator),
false);
if (this->samples_->bind(key, sample_list, allocator) != 0)
return false;
}
data_queue_type ** const begin = &((*sample_list)[0]);
data_queue_type ** const end =
begin + sample_list->size();
// Find an empty slot in the array. This is a linear search but
// that should be fine for the common case, i.e. a small number of
// DataWriters that push data into the cache.
slot = std::find(begin,
end,
static_cast<data_queue_type *>(0));
if (slot == end) {
// No available slots. Grow the array accordingly.
size_t const old_len = sample_list->size();
sample_list->size(old_len + 1);
data_queue_type ** new_begin = &((*sample_list)[0]);
slot = new_begin + old_len;
}
ACE_NEW_MALLOC_RETURN(
samples,
static_cast<data_queue_type *>(
allocator->malloc(sizeof(data_queue_type))),
data_queue_type(allocator),
false);
// Insert the samples in to the sample list.
*slot = samples;
if (!dir.is_nil()) {
samples->fs_path_ = path;
}
for (SendStateDataSampleList::iterator i(element); i != the_end; ++i) {
DataSampleElement& elem = *i;
// N.B. Do not persist samples with coherent changes.
// To verify, we check the DataSampleHeader for the
// coherent_change_ flag. The DataSampleHeader will
// always be the first message block in the chain.
//
// It should be noted that persisting coherent changes
// is a non-trivial task, and should be handled when
// finalizing persistence profile conformance.
if (DataSampleHeader::test_flag(COHERENT_CHANGE_FLAG, elem.get_sample())) {
continue; // skip coherent sample
}
sample_data_type sample(elem, allocator);
if (samples->enqueue_tail(sample) != 0)
return false;
if (!dir.is_nil()) {
try {
File::Ptr f = dir->create_next_file();
std::ofstream os;
if (!f->write(os)) return false;
DDS::Time_t timestamp;
const char * data;
size_t len;
sample.get_sample(data, len, timestamp);
os << timestamp.sec << ' ' << timestamp.nanosec << ' ';
os.write(data, len);
} catch (const std::exception& ex) {
if (DCPS_debug_level > 0) {
ACE_ERROR((LM_ERROR,
ACE_TEXT("(%P|%t) DataDurabilityCache::insert ")
ACE_TEXT("couldn't write sample for PERSISTENT ")
ACE_TEXT("data: %C\n"), ex.what()));
}
}
}
}
}
// -----------
// Schedule cleanup timer.
//FUTURE: The cleanup delay needs to be persisted (if QoS is persistent)
ACE_Time_Value const cleanup_delay(
duration_to_time_value(qos.service_cleanup_delay));
if (cleanup_delay > ACE_Time_Value::zero) {
if (OpenDDS::DCPS::DCPS_debug_level >= 4) {
ACE_DEBUG((LM_DEBUG,
ACE_TEXT("OpenDDS (%P|%t) Scheduling durable data ")
ACE_TEXT("cleanup for\n")
ACE_TEXT("OpenDDS (%P|%t) (domain_id, topic, type) ")
ACE_TEXT("== (%d, %C, %C)\n"),
domain_id,
topic_name,
type_name));
}
Cleanup_Handler * const cleanup =
new Cleanup_Handler(*sample_list,
slot - &(*sample_list)[0],
this->allocator_.get(),
path,
this->data_dir_);
ACE_Event_Handler_var safe_cleanup(cleanup); // Transfer ownership
long const tid =
this->reactor_->schedule_timer(cleanup,
0, // ACT
cleanup_delay);
if (tid == -1) {
ACE_GUARD_RETURN(ACE_SYNCH_MUTEX, guard, this->lock_, false);
ACE_DES_FREE(samples,
this->allocator_->free,
DurabilityQueue<sample_data_type>);
*slot = 0;
return false;
} else {
{
ACE_GUARD_RETURN(ACE_SYNCH_MUTEX, guard, this->lock_, false);
this->cleanup_timer_ids_.push_back(tid);
}
cleanup->timer_id(tid,
&this->cleanup_timer_ids_);
}
}
return true;
}