60 lines
1.7 KiB
C
60 lines
1.7 KiB
C
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#include "ddsc/dds.h"
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#include "HelloWorldData.h"
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#include <stdio.h>
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#include <stdlib.h>
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int main (int argc, char ** argv)
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{
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dds_entity_t participant;
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dds_entity_t topic;
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dds_entity_t writer;
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dds_return_t ret;
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HelloWorldData_Msg msg;
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/* Create a Participant. */
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participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
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DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Create a Topic. */
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topic = dds_create_topic (participant, &HelloWorldData_Msg_desc,
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"HelloWorldData_Msg", NULL, NULL);
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DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Create a Writer. */
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writer = dds_create_writer (participant, topic, NULL, NULL);
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printf("=== [Publisher] Waiting for a reader to be discovered ...\n");
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ret = dds_set_enabled_status(writer, DDS_PUBLICATION_MATCHED_STATUS);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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while(true)
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{
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uint32_t status;
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ret = dds_get_status_changes (writer, &status);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (status == DDS_PUBLICATION_MATCHED_STATUS) {
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break;
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}
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/* Polling sleep. */
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dds_sleepfor (DDS_MSECS (20));
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}
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/* Create a message to write. */
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msg.userID = 1;
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msg.message = "Hello World";
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printf ("=== [Publisher] Writing : ");
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printf ("Message (%d, %s)\n", msg.userID, msg.message);
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ret = dds_write (writer, &msg);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Deleting the participant will delete all its children recursively as well. */
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ret = dds_delete (participant);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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return EXIT_SUCCESS;
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}
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