Initial contribution

src/examples/CMakeLists.txt

@@ -0,0 +1,149 @@
+#
+# Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License v. 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+# v. 1.0 which is available at
+# http://www.eclipse.org/org/documents/edl-v10.php.
+#
+# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+#
+set(CMAKE_INSTALL_EXAMPLESDIR "${CMAKE_INSTALL_DATADIR}/${CMAKE_PROJECT_NAME}/examples")
+
+add_subdirectory(helloworld)
+add_subdirectory(roundtrip)
+add_subdirectory(throughput)
+
+# Examples HTML documentation
+set(EXAMPLES_HTML_ARCHIVE "${CMAKE_PROJECT_NAME}ExamplesHTML.tar.gz")
+set(EXAMPLES_HTML_URI "http://jenkins.prismtech.com:8080/job/BuildChameleonLinux64bit/lastSuccessfulBuild/artifact/cham/builds/examples/${EXAMPLES_HTML_ARCHIVE}")
+
+if (BUILD_DOCS)
+  find_program(SPHINX_EXECUTABLE NAMES sphinx-build DOC "Sphinx documentation builder")
+  if (NOT SPHINX_EXECUTABLE)
+    message(STATUS "Unable to find sphinx-build executable, downloading examples docs...")
+    set(BUILD_DOCS off)
+  endif()
+endif()
+
+if (BUILD_DOCS)
+    message(STATUS "Examples html docs will be built using sphinx (${SPHINX_EXECUTABLE})")
+
+    # Process sphinx configuration file
+    set(sph_conf_author "ADLINK")
+    string(TIMESTAMP sph_conf_copyright "%Y, ADLINK")
+    set(sph_conf_version "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}")
+    set(sph_conf_release "${PROJECT_VERSION}")
+    configure_file(sphinx-conf.py.in conf.py @ONLY)
+
+    set(builder_output "examples_html_output")
+    set(builder_log "sphinx-examples-html.log")
+    add_custom_command(
+      OUTPUT ${builder_output}
+      COMMAND ${SPHINX_EXECUTABLE}
+        -b html
+        -d ${CMAKE_CURRENT_BINARY_DIR}/cache
+        -c ${CMAKE_CURRENT_BINARY_DIR}
+        ${CMAKE_CURRENT_SOURCE_DIR}
+        ${CMAKE_CURRENT_BINARY_DIR}
+        > ${builder_log}
+      COMMENT "Running Sphinx for examples html output"
+      VERBATIM
+    )
+
+    # OUTPUT is a fake target / symbolic name, not an actual file
+    set_property(SOURCE ${builder_output} PROPERTY SYMBOLIC 1)
+    add_custom_target(examples_docs ALL DEPENDS ${builder_output})
+
+    # Archive the output html files, will become a jenkins artifact for use in other jobs
+    # TODO this hardcoded list and archiving should be replaced by ExternalData refs
+    set(html_outputs
+        "_static"
+        "search.html"
+        "searchindex.js"
+        "genindex.html"
+        "examples.html"
+        "helloworld/readme.html"
+        "roundtrip/readme.html"
+        "throughput/readme.html"
+    )
+    add_custom_command(
+      OUTPUT ${builder_output}
+      COMMAND ${CMAKE_COMMAND}
+        -E tar "zcf"
+        "${EXAMPLES_HTML_ARCHIVE}"
+        ${html_outputs}
+      APPEND
+      VERBATIM
+    )
+
+    # Remove generated files when cleaning the build tree
+    set_property(
+        DIRECTORY
+        APPEND PROPERTY
+        ADDITIONAL_MAKE_CLEAN_FILES
+            "cache"
+            "${builder_log}"
+            "objects.inv"
+            ${html_outputs}
+            "_sources"
+            "${EXAMPLES_HTML_ARCHIVE}"
+    )
+else()
+    # Download example html docs
+
+    file(DOWNLOAD "${EXAMPLES_HTML_URI}" "${CMAKE_CURRENT_BINARY_DIR}/Downloaded${EXAMPLES_HTML_ARCHIVE}"
+        TIMEOUT 10
+        STATUS status
+    )
+    list(GET status 0 status_code)
+    list(GET status 1 status_string)
+    if (NOT status_code EQUAL 0)
+        message(FATAL_ERROR
+            "Failed to download ${EXAMPLES_HTML_URI} \
+            (Code: ${status_code}, ${status_string})"
+        )
+    endif()
+
+    add_custom_target(examples_docs ALL)
+    add_custom_command(TARGET examples_docs
+        COMMAND ${CMAKE_COMMAND} -E tar "zxf" "Downloaded${EXAMPLES_HTML_ARCHIVE}"
+        VERBATIM
+    )
+endif()
+
+if(CMAKE_SYSTEM_NAME MATCHES "Windows")
+  set(platform_exclude "examples/helloworld/Makefile")
+elseif(CMAKE_SYSTEM_NAME MATCHES "Linux")
+  set(platform_exclude "examples/helloworld/vs|examples/helloworld/HelloWorld\.sln")
+else()
+  set(platform_exclude "this_is_a_placeholder")
+endif()
+
+# Install example source-files
+install(
+  DIRECTORY "${PROJECT_SOURCE_DIR}/examples/"
+  DESTINATION "${CMAKE_INSTALL_EXAMPLESDIR}"
+  COMPONENT dev
+  PATTERN "CMakeLists.export" EXCLUDE
+  PATTERN "examples/CMakeLists.txt" EXCLUDE
+  REGEX ${platform_exclude} EXCLUDE
+  REGEX "\.rst|\.py" EXCLUDE
+)
+
+# Install example html docs files
+# TODO this should be replaced by install commands that use ExternalData refs (preferably in examples' CMakeLists.txt)
+install(
+  DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/"
+  DESTINATION "${CMAKE_INSTALL_EXAMPLESDIR}"
+  COMPONENT dev
+  FILES_MATCHING
+  PATTERN "CMakeFiles" EXCLUDE
+  PATTERN "cache" EXCLUDE
+  PATTERN "_sources" EXCLUDE
+  PATTERN "*.html"
+  PATTERN "*.js"
+  PATTERN "_static/*"
+)
+

src/examples/examples.rst

@@ -0,0 +1,46 @@
+..
+   Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
+
+   This program and the accompanying materials are made available under the
+   terms of the Eclipse Public License v. 2.0 which is available at
+   http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+   v. 1.0 which is available at
+   http://www.eclipse.org/org/documents/edl-v10.php.
+
+   SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+
+Examples
+========
+
+.. toctree::
+   :maxdepth: 1
+   :caption: Contents:
+
+   helloworld/readme
+   roundtrip/readme
+   throughput/readme
+
+Configuration
+*************
+
+Cyclone DDS has various configuration parameters and comes with a default built-in configuration.
+To run an example, or any application that uses Cyclone DDS for its data exchange, this default
+configuration is usually fine and no further action is required.
+
+Configuration parameters for CycloneDDS are expressed in XML and grouped together in a single XML file.
+To use a custom XML configuration in an application, the ``CYCLONEDDS_URI`` environment variable needs
+to be set prior to starting the application and pointed to the location of the configuration file to
+be used.
+
+| *Example*
+| **Windows:** ``set CYCLONEDDS_URI=file://%USERPROFILE%/CycloneDDS/my-config.xml``
+| **Linux:** ``export CYCLONEDDS_URI="file://$HOME/CycloneDDS/my-config.xml"``
+
+The CycloneDDS installation comes with a set of standard configuration files for common use cases.
+You update existing configuration files or create your own by using the CycloneDDS Configurator tool,
+which provides context-sensitive help on available configuration parameters and their applicability.
+
+You can start the CycloneDDS Configuration tool through the CycloneDDS Launcher, or from your command-prompt
+by entering the tools directory and running ``java -jar cycloneddsconf.jar``. The default location of the tools
+directory is ``/usr/share/CycloneDDS/tools`` on Linux or ``C:\Program Files\ADLINK\Vortex DDS\share\CycloneDDS\tools``
+on Windows.

src/examples/helloworld/CMakeLists.export

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.5)
+
+if (NOT TARGET CycloneDDS::ddsc)
+    # Find the CycloneDDS package. If it is not in a default location, try
+    # finding it relative to the example where it most likely resides.
+    find_package(CycloneDDS REQUIRED PATHS "${CMAKE_SOURCE_DIR}/../../")
+endif()
+
+# This is a convenience function, provided by the CycloneDDS package,
+# that will supply a library target related the the given idl file.
+# In short, it takes the idl file, generates the source files with
+# the proper data types and compiles them into a library.
+idlc_generate(HelloWorldData_lib "HelloWorldData.idl")
+
+# Both executables have only one related source file.
+add_executable(HelloworldPublisher publisher.c)
+add_executable(HelloworldSubscriber subscriber.c)
+
+# Both executables need to be linked to the idl data type library and
+# the ddsc API library.
+target_link_libraries(HelloworldPublisher HelloWorldData_lib CycloneDDS::ddsc)
+target_link_libraries(HelloworldSubscriber HelloWorldData_lib CycloneDDS::ddsc)

src/examples/helloworld/CMakeLists.txt

@@ -0,0 +1,58 @@
+#
+# Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License v. 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+# v. 1.0 which is available at
+# http://www.eclipse.org/org/documents/edl-v10.php.
+#
+# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+#
+cmake_minimum_required(VERSION 3.5)
+
+if (NOT TARGET CycloneDDS::ddsc)
+    # Find the CycloneDDS package. If it is not in a default location, try
+    # finding it relative to the example where it most likely resides.
+    find_package(CycloneDDS REQUIRED PATHS ../../)
+endif()
+
+# This is a convenience function, provided by the CycloneDDS package,
+# that will supply a library target related the the given idl file.
+# In short, it takes the idl file, generates the source files with
+# the proper data types and compiles them into a library.
+idlc_generate(HelloWorldData_lib "HelloWorldData.idl")
+
+# Both executables have only one related source file.
+add_executable(HelloworldPublisher publisher.c)
+add_executable(HelloworldSubscriber subscriber.c)
+
+# Both executables need to be linked to the idl data type library and
+# the ddsc API library.
+target_link_libraries(HelloworldPublisher HelloWorldData_lib CycloneDDS::ddsc)
+target_link_libraries(HelloworldSubscriber HelloWorldData_lib CycloneDDS::ddsc)
+
+#
+# The helloworld example is the only example to have a different CMakeLists.txt
+# for building in source and install environments. This is because it has to
+# do some specific installations to support the Getting Started Guide.
+# The CMakelists.export will be used for the install environments.
+#
+
+install(
+  TARGETS HelloworldSubscriber HelloworldPublisher
+  DESTINATION "${CMAKE_INSTALL_EXAMPLESDIR}/helloworld/bin"
+  COMPONENT dev)
+
+install(
+  FILES "CMakeLists.export"
+  DESTINATION "${CMAKE_INSTALL_EXAMPLESDIR}/helloworld"
+  COMPONENT dev
+  RENAME "CMakeLists.txt")
+
+get_target_property(GENERATED_FILES HelloWorldData_lib INTERFACE_SOURCES)
+install(
+  FILES ${GENERATED_FILES}
+  DESTINATION "${CMAKE_INSTALL_EXAMPLESDIR}/helloworld/generated"
+  COMPONENT dev)
+

src/examples/helloworld/HelloWorld.sln

@@ -0,0 +1,54 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 14
+VisualStudioVersion = 14.0.25123.0
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HelloWorldSubscriber", "vs\HelloWorldSubscriber.vcxproj", "{D8B2F285-EB03-4657-A0DC-603172553BEA}"
+	ProjectSection(ProjectDependencies) = postProject
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D} = {28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HelloWorldPublisher", "vs\HelloWorldPublisher.vcxproj", "{D8B2F285-EB03-4657-ACDC-603172553BEA}"
+	ProjectSection(ProjectDependencies) = postProject
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D} = {28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}
+	EndProjectSection
+EndProject
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HelloWorldType", "vs\HelloWorldType.vcxproj", "{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{D8B2F285-EB03-4657-A0DC-603172553BEA}.Debug|x64.ActiveCfg = Debug|x64
+		{D8B2F285-EB03-4657-A0DC-603172553BEA}.Debug|x64.Build.0 = Debug|x64
+		{D8B2F285-EB03-4657-A0DC-603172553BEA}.Debug|x86.ActiveCfg = Debug|Win32
+		{D8B2F285-EB03-4657-A0DC-603172553BEA}.Debug|x86.Build.0 = Debug|Win32
+		{D8B2F285-EB03-4657-A0DC-603172553BEA}.Release|x64.ActiveCfg = Release|x64
+		{D8B2F285-EB03-4657-A0DC-603172553BEA}.Release|x64.Build.0 = Release|x64
+		{D8B2F285-EB03-4657-A0DC-603172553BEA}.Release|x86.ActiveCfg = Release|Win32
+		{D8B2F285-EB03-4657-A0DC-603172553BEA}.Release|x86.Build.0 = Release|Win32
+		{D8B2F285-EB03-4657-ACDC-603172553BEA}.Debug|x64.ActiveCfg = Debug|x64
+		{D8B2F285-EB03-4657-ACDC-603172553BEA}.Debug|x64.Build.0 = Debug|x64
+		{D8B2F285-EB03-4657-ACDC-603172553BEA}.Debug|x86.ActiveCfg = Debug|Win32
+		{D8B2F285-EB03-4657-ACDC-603172553BEA}.Debug|x86.Build.0 = Debug|Win32
+		{D8B2F285-EB03-4657-ACDC-603172553BEA}.Release|x64.ActiveCfg = Release|x64
+		{D8B2F285-EB03-4657-ACDC-603172553BEA}.Release|x64.Build.0 = Release|x64
+		{D8B2F285-EB03-4657-ACDC-603172553BEA}.Release|x86.ActiveCfg = Release|Win32
+		{D8B2F285-EB03-4657-ACDC-603172553BEA}.Release|x86.Build.0 = Release|Win32
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}.Debug|x64.ActiveCfg = Debug|x64
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}.Debug|x64.Build.0 = Debug|x64
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}.Debug|x86.ActiveCfg = Debug|Win32
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}.Debug|x86.Build.0 = Debug|Win32
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}.Release|x64.ActiveCfg = Release|x64
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}.Release|x64.Build.0 = Release|x64
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}.Release|x86.ActiveCfg = Release|Win32
+		{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

src/examples/helloworld/HelloWorldData.idl

@@ -0,0 +1,9 @@
+module HelloWorldData
+{
+  struct Msg
+  {
+    long userID;
+    string message;
+  };
+  #pragma keylist Msg userID
+};

src/examples/helloworld/Makefile

@@ -0,0 +1,54 @@
+publisher_NAME := HelloworldPublisher
+publisher_SRCS := publisher.c generated/HelloWorldData.c
+publisher_OBJS := ${publisher_SRCS:.c=.o}
+
+subscriber_NAME := HelloworldSubscriber
+subscriber_SRCS := subscriber.c generated/HelloWorldData.c
+subscriber_OBJS := ${subscriber_SRCS:.c=.o}
+
+# Make sure that the location where dds.h is installed is known to the
+# compiler. If dds.h is not installed in a system default spot, then
+# it can be introduced by adding it to the CFLAGS, like:
+#CFLAGS += -I../../../../include
+
+# Make sure that the location where libddsc.so is installed is known
+# to the compiler. If the lib is not installed in a system default
+# location, then it can be introduced by adding it to the LDFLAGS:
+#LDFLAGS += -L../../../../lib
+
+CFLAGS += -Igenerated
+LDFLAGS += -lddsc
+
+.PHONY: all clean distclean
+
+all: $(publisher_NAME) $(subscriber_NAME)
+
+$(publisher_NAME): $(publisher_OBJS)
+	gcc $(CFLAGS)  $(publisher_OBJS) $(LDFLAGS) -o $(publisher_NAME)
+
+$(subscriber_NAME): $(subscriber_OBJS)
+	gcc $(CFLAGS) $(subscriber_OBJS) $(LDFLAGS) -o $(subscriber_NAME)
+
+clean:
+	@- $(RM) $(publisher_NAME)
+	@- $(RM) $(publisher_OBJS)
+	@- $(RM) $(subscriber_NAME)
+	@- $(RM) $(subscriber_OBJS)
+
+distclean: clean
+
+
+
+# Make sure that the idlc jar file is available and java can find its
+# location. In this example, it is assumed that the jar is located at
+# a specific relative directory. Change the classpath variable if
+# this is not the case on your system.
+classpath:= ../../idlc/idlc-jar-with-dependencies.jar
+ifneq ($(CLASSPATH),)
+        classpath:= $(CLASSPATH):$(classpath)
+endif
+export CLASSPATH:=$(classpath)
+
+datatype:
+	java org.eclipse.cyclonedds.compilers.Idlc HelloWorldData.idl
+

src/examples/helloworld/publisher.c

@@ -0,0 +1,59 @@
+#include "ddsc/dds.h"
+#include "HelloWorldData.h"
+#include <stdio.h>
+#include <stdlib.h>
+
+int main (int argc, char ** argv)
+{
+    dds_entity_t participant;
+    dds_entity_t topic;
+    dds_entity_t writer;
+    dds_return_t ret;
+    HelloWorldData_Msg msg;
+
+    /* Create a Participant. */
+    participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
+    DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    /* Create a Topic. */
+    topic = dds_create_topic (participant, &HelloWorldData_Msg_desc,
+                              "HelloWorldData_Msg", NULL, NULL);
+    DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    /* Create a Writer. */
+    writer = dds_create_writer (participant, topic, NULL, NULL);
+
+    printf("=== [Publisher]  Waiting for a reader to be discovered ...\n");
+
+    ret = dds_set_enabled_status(writer, DDS_PUBLICATION_MATCHED_STATUS);
+    DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    while(true)
+    {
+      uint32_t status;
+      ret = dds_get_status_changes (writer, &status);
+      DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+      if (status == DDS_PUBLICATION_MATCHED_STATUS) {
+        break;
+      }
+      /* Polling sleep. */
+      dds_sleepfor (DDS_MSECS (20));
+    }
+
+    /* Create a message to write. */
+    msg.userID = 1;
+    msg.message = "Hello World";
+
+    printf ("=== [Publisher]  Writing : ");
+    printf ("Message (%d, %s)\n", msg.userID, msg.message);
+
+    ret = dds_write (writer, &msg);
+    DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    /* Deleting the participant will delete all its children recursively as well. */
+    ret = dds_delete (participant);
+    DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    return EXIT_SUCCESS;
+}

src/examples/helloworld/readme.rst

@@ -0,0 +1,46 @@
+..
+   Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
+
+   This program and the accompanying materials are made available under the
+   terms of the Eclipse Public License v. 2.0 which is available at
+   http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+   v. 1.0 which is available at
+   http://www.eclipse.org/org/documents/edl-v10.php.
+
+   SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+
+HelloWorld
+==========
+
+Description
+***********
+
+The basic HelloWorld example is used to illustrate the necessary steps to setup DCPS entities.
+Note it is also used in the Getting Started Guide to explain the usage of CycloneDDS.
+
+Design
+******
+
+It consists of 2 units:
+
+- HelloworldPublisher: implements the publisher's main
+- HelloworldSubscriber: implements the subscriber's main
+
+Scenario
+********
+
+The publisher sends a single HelloWorld sample. The sample contains two fields:
+
+- a userID field (long type)
+- a message field (string type)
+
+When it receives the sample, the subscriber displays the userID and the message field.
+
+Running the example
+*******************
+
+It is recommended that you run the subscriber and publisher in separate terminals to avoid mixing the output.
+
+- Open 2 terminals.
+- In the first terminal start the subscriber by running HelloWorldSubscriber
+- In the second terminal start the publisher by running HelloWorldPublisher

src/examples/helloworld/subscriber.c

@@ -0,0 +1,75 @@
+#include "ddsc/dds.h"
+#include "HelloWorldData.h"
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+/* An array of one message (aka sample in dds terms) will be used. */
+#define MAX_SAMPLES 1
+
+int main (int argc, char ** argv)
+{
+    dds_entity_t participant;
+    dds_entity_t topic;
+    dds_entity_t reader;
+    HelloWorldData_Msg *msg;
+    void *samples[MAX_SAMPLES];
+    dds_sample_info_t infos[MAX_SAMPLES];
+    dds_return_t ret;
+    dds_qos_t *qos;
+
+    /* Create a Participant. */
+    participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
+    DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    /* Create a Topic. */
+    topic = dds_create_topic (participant, &HelloWorldData_Msg_desc,
+                              "HelloWorldData_Msg", NULL, NULL);
+    DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    /* Create a reliable Reader. */
+    qos = dds_qos_create ();
+    dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
+    reader = dds_create_reader (participant, topic, qos, NULL);
+    DDS_ERR_CHECK (reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    dds_qos_delete(qos);
+
+    printf ("\n=== [Subscriber] Waiting for a sample ...\n");
+
+    /* Initialize sample buffer, by pointing the void pointer within
+     * the buffer array to a valid sample memory location. */
+    samples[0] = HelloWorldData_Msg__alloc ();
+
+    /* Poll until data has been read. */
+    while (true)
+    {
+        /* Do the actual read.
+         * The return value contains the number of read samples. */
+        ret = dds_read (reader, samples, infos, MAX_SAMPLES, MAX_SAMPLES);
+        DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+        /* Check if we read some data and it is valid. */
+        if ((ret > 0) && (infos[0].valid_data))
+        {
+            /* Print Message. */
+            msg = (HelloWorldData_Msg*) samples[0];
+            printf ("=== [Subscriber] Received : ");
+            printf ("Message (%d, %s)\n", msg->userID, msg->message);
+            break;
+        }
+        else
+        {
+            /* Polling sleep. */
+            dds_sleepfor (DDS_MSECS (20));
+        }
+    }
+
+    /* Free the data location. */
+    HelloWorldData_Msg_free (samples[0], DDS_FREE_ALL);
+
+    /* Deleting the participant will delete all its children recursively as well. */
+    ret = dds_delete (participant);
+    DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    return EXIT_SUCCESS;
+}

src/examples/helloworld/vs/HelloWorldPublisher.vcxproj

@@ -0,0 +1,142 @@
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+    <Keyword>Win32Proj</Keyword>
+    <ProjectName>HelloWorldPublisher</ProjectName>
+    <WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
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+    <PlatformToolset>v140</PlatformToolset>
+    <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
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+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v140</PlatformToolset>
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+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup>
+    <IntDir>$(Platform)\$(Configuration)\Publisher\</IntDir>
+  </PropertyGroup>
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+    <ClCompile>
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+      <WarningLevel>Level3</WarningLevel>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
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+    <Link>
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+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
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+      <AdditionalLibraryDirectories>$(CycloneDDS_lib_dir);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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+    <ClCompile>
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+    <ClCompile>
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+    <Link>
+      <AdditionalDependencies>ddsc.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalLibraryDirectories>$(CycloneDDS_lib_dir);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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+    <ClCompile Include="..\publisher.c" />
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+  <ItemGroup>
+    <ClInclude Include="..\generated\HelloWorldData.h" />
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+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
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+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
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src/examples/helloworld/vs/HelloWorldSubscriber.vcxproj

@@ -0,0 +1,142 @@
+<?xml version="1.0" encoding="utf-8"?>
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+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
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+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
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+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
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+    <ProjectGuid>{D8B2F285-EB03-4657-A0DC-603172553BEA}</ProjectGuid>
+    <Keyword>Win32Proj</Keyword>
+    <ProjectName>HelloWorldSubscriber</ProjectName>
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+    <PlatformToolset>v140</PlatformToolset>
+    <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
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+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+    <Import Project="directories.props" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup>
+    <IntDir>$(Platform)\$(Configuration)\Subscriber\</IntDir>
+  </PropertyGroup>
+  <PropertyGroup Condition="'$(Platform)'=='Win32'">
+    <LinkIncremental>true</LinkIncremental>
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+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <AdditionalIncludeDirectories>$(CycloneDDS_inc_dir);..\generated;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+      <WarningLevel>Level3</WarningLevel>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+    </ClCompile>
+    <Link>
+      <TargetMachine>MachineX86</TargetMachine>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+      <OptimizeReferences>true</OptimizeReferences>
+      <SubSystem>Console</SubSystem>
+      <AdditionalLibraryDirectories>$(CycloneDDS_lib_dir);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <AdditionalIncludeDirectories>$(CycloneDDS_inc_dir);..\generated;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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+    <Link>
+      <AdditionalDependencies>ddsc.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalLibraryDirectories>$(CycloneDDS_lib_dir);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <SubSystem>Console</SubSystem>
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+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
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+      <AdditionalDependencies>ddsc.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalLibraryDirectories>$(CycloneDDS_lib_dir);%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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+    <ClCompile Include="..\subscriber.c" />
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+    <ClInclude Include="..\generated\HelloWorldData.h" />
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+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
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+    <Filter Include="Source Files">
+      <UniqueIdentifier>{4FC737F1-C7A5-4376-A066-2A32D752A2FF}</UniqueIdentifier>
+      <Extensions>cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx</Extensions>
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+    <Filter Include="Header Files">
+      <UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
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+      <UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
+      <Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav</Extensions>
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+</Project>

src/examples/helloworld/vs/HelloWorldType.vcxproj

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="14.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{28A7A97B-3CEF-4FD7-8DC5-A7586D6DAE1D}</ProjectGuid>
+    <RootNamespace>HelloWorldType</RootNamespace>
+    <WindowsTargetPlatformVersion>8.1</WindowsTargetPlatformVersion>
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+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
+    <PlatformToolset>v140</PlatformToolset>
+    <CharacterSet>MultiByte</CharacterSet>
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+    <ConfigurationType>Application</ConfigurationType>
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+    <PlatformToolset>v140</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>true</UseDebugLibraries>
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+    <CharacterSet>MultiByte</CharacterSet>
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+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+    <ConfigurationType>Application</ConfigurationType>
+    <UseDebugLibraries>false</UseDebugLibraries>
+    <PlatformToolset>v140</PlatformToolset>
+    <WholeProgramOptimization>true</WholeProgramOptimization>
+    <CharacterSet>MultiByte</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings">
+  </ImportGroup>
+  <ImportGroup Label="Shared">
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+    <Import Project="directories.props" />
+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
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+  </ImportGroup>
+  <ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
+    <Import Project="directories.props" />
+  </ImportGroup>
+  <PropertyGroup Label="UserMacros" />
+  <PropertyGroup />
+  <ItemGroup>
+    <CustomBuild Include="..\HelloWorldData.idl">
+      <Command>java -classpath "$(CycloneDDS_idlc_dir)\idlc-jar-with-dependencies.jar" org.eclipse.cyclonedds.compilers.Idlc -d "$(SolutionDir)generated" "%(FullPath)"</Command>
+      <Message>Generating source files from IDL into "$(SolutionDir)generated"</Message>
+      <Outputs>HelloWorldData.h;HelloWorldData.c</Outputs>
+    </CustomBuild>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+  </ImportGroup>
+</Project>

src/examples/helloworld/vs/directories.props

@@ -0,0 +1,30 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ImportGroup Label="PropertySheets" />
+  <PropertyGroup Label="UserMacros">
+    <CycloneDDS_lib_dir>C:/Program Files/ADLINK/Cyclone DDS/lib</CycloneDDS_lib_dir>
+    <CycloneDDS_inc_dir>C:/Program Files/ADLINK/Cyclone DDS/include</CycloneDDS_inc_dir>
+    <CycloneDDS_idlc_dir>C:/Program Files/ADLINK/Cyclone DDS/share/CycloneDDS/idlc</CycloneDDS_idlc_dir>
+  </PropertyGroup>
+  <PropertyGroup />
+  <ItemGroup>
+    <BuildMacro Include="CycloneDDS_lib_dir">
+      <Value>$(CycloneDDS_lib_dir)</Value>
+    </BuildMacro>
+    <BuildMacro Include="CycloneDDS_inc_dir">
+      <Value>$(CycloneDDS_inc_dir)</Value>
+    </BuildMacro>
+    <BuildMacro Include="CycloneDDS_idlc_dir">
+      <Value>$(CycloneDDS_idlc_dir)</Value>
+    </BuildMacro>
+  </ItemGroup>
+  <PropertyGroup Label="Configuration">
+    <!-->
+          User macros are not expanded when starting the build applications in VS.
+          The path is extended with a possible Cyclone DLL location when they are not
+          installed in a system default location.
+    <-->
+    <LocalDebuggerEnvironment>PATH=../../../../../bin;%PATH%
+$(LocalDebuggerEnvironment)</LocalDebuggerEnvironment>
+  </PropertyGroup>
+</Project>

src/examples/roundtrip/CMakeLists.txt

@@ -0,0 +1,33 @@
+#
+# Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License v. 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+# v. 1.0 which is available at
+# http://www.eclipse.org/org/documents/edl-v10.php.
+#
+# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+#
+cmake_minimum_required(VERSION 3.5)
+
+if (NOT TARGET CycloneDDS::ddsc)
+    # Find the CycloneDDS package. If it is not in a default location, try
+    # finding it relative to the example where it most likely resides.
+    find_package(CycloneDDS REQUIRED PATHS "${CMAKE_SOURCE_DIR}/../../")
+endif()
+
+# This is a convenience function, provided by the CycloneDDS package,
+# that will supply a library target related the the given idl file.
+# In short, it takes the idl file, generates the source files with
+# the proper data types and compiles them into a library.
+idlc_generate(RoundTrip_lib RoundTrip.idl)
+
+# Both executables have only one related source file.
+add_executable(RoundtripPing ping.c)
+add_executable(RoundtripPong pong.c)
+
+# Both executables need to be linked to the idl data type library and
+# the ddsc API library.
+target_link_libraries(RoundtripPing RoundTrip_lib CycloneDDS::ddsc)
+target_link_libraries(RoundtripPong RoundTrip_lib CycloneDDS::ddsc)

src/examples/roundtrip/RoundTrip.idl

@@ -0,0 +1,8 @@
+module RoundTripModule
+{
+  struct DataType
+  {
+    sequence<octet> payload;
+  };
+  #pragma keylist DataType
+};

src/examples/roundtrip/ping.c

@@ -0,0 +1,484 @@
+#include "ddsc/dds.h"
+#include "RoundTrip.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <signal.h>
+#include <inttypes.h>
+
+#define TIME_STATS_SIZE_INCREMENT 50000
+#define MAX_SAMPLES 100
+#define US_IN_ONE_SEC 1000000LL
+
+/* Forward declaration */
+
+static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond);
+static void finalize_dds(dds_entity_t participant, dds_entity_t reader, dds_entity_t readCond);
+
+typedef struct ExampleTimeStats
+{
+  dds_time_t * values;
+  unsigned long valuesSize;
+  unsigned long valuesMax;
+  double average;
+  dds_time_t min;
+  dds_time_t max;
+  unsigned long count;
+} ExampleTimeStats;
+
+static void exampleInitTimeStats (ExampleTimeStats *stats)
+{
+  stats->values = (dds_time_t*) malloc (TIME_STATS_SIZE_INCREMENT * sizeof (dds_time_t));
+  stats->valuesSize = 0;
+  stats->valuesMax = TIME_STATS_SIZE_INCREMENT;
+  stats->average = 0;
+  stats->min = 0;
+  stats->max = 0;
+  stats->count = 0;
+}
+
+static void exampleResetTimeStats (ExampleTimeStats *stats)
+{
+  memset (stats->values, 0, stats->valuesMax * sizeof (dds_time_t));
+  stats->valuesSize = 0;
+  stats->average = 0;
+  stats->min = 0;
+  stats->max = 0;
+  stats->count = 0;
+}
+
+static void exampleDeleteTimeStats (ExampleTimeStats *stats)
+{
+  free (stats->values);
+}
+
+static ExampleTimeStats *exampleAddTimingToTimeStats
+  (ExampleTimeStats *stats, dds_time_t timing)
+{
+  if (stats->valuesSize > stats->valuesMax)
+  {
+    dds_time_t * temp = (dds_time_t*) realloc (stats->values, (stats->valuesMax + TIME_STATS_SIZE_INCREMENT) * sizeof (dds_time_t));
+    stats->values = temp;
+    stats->valuesMax += TIME_STATS_SIZE_INCREMENT;
+  }
+  if (stats->values != NULL && stats->valuesSize < stats->valuesMax)
+  {
+    stats->values[stats->valuesSize++] = timing;
+  }
+  stats->average = (stats->count * stats->average + timing) / (stats->count + 1);
+  stats->min = (stats->count == 0 || timing < stats->min) ? timing : stats->min;
+  stats->max = (stats->count == 0 || timing > stats->max) ? timing : stats->max;
+  stats->count++;
+
+  return stats;
+}
+
+static int exampleCompareul (const void* a, const void* b)
+{
+  dds_time_t ul_a = *((dds_time_t*)a);
+  dds_time_t ul_b = *((dds_time_t*)b);
+
+  if (ul_a < ul_b) return -1;
+  if (ul_a > ul_b) return 1;
+  return 0;
+}
+
+static double exampleGetMedianFromTimeStats (ExampleTimeStats *stats)
+{
+  double median = 0.0;
+
+  qsort (stats->values, stats->valuesSize, sizeof (dds_time_t), exampleCompareul);
+
+  if (stats->valuesSize % 2 == 0)
+  {
+    median = (double)(stats->values[stats->valuesSize / 2 - 1] + stats->values[stats->valuesSize / 2]) / 2;
+  }
+  else
+  {
+    median = (double)stats->values[stats->valuesSize / 2];
+  }
+
+  return median;
+}
+
+static dds_entity_t waitSet;
+
+#ifdef _WIN32
+#include <Windows.h>
+static bool CtrlHandler (DWORD fdwCtrlType)
+{
+  dds_waitset_set_trigger (waitSet, true);
+  return true; //Don't let other handlers handle this key
+}
+#else
+static void CtrlHandler (int fdwCtrlType)
+{
+  dds_waitset_set_trigger (waitSet, true);
+}
+#endif
+
+int main (int argc, char *argv[])
+{
+  dds_entity_t writer;
+  dds_entity_t reader;
+  dds_entity_t participant;
+  dds_entity_t readCond;
+
+  ExampleTimeStats roundTrip;
+  ExampleTimeStats writeAccess;
+  ExampleTimeStats readAccess;
+  ExampleTimeStats roundTripOverall;
+  ExampleTimeStats writeAccessOverall;
+  ExampleTimeStats readAccessOverall;
+
+  unsigned long payloadSize = 0;
+  unsigned long long numSamples = 0;
+  bool invalidargs = false;
+  dds_time_t timeOut = 0;
+  dds_time_t startTime;
+  dds_time_t time;
+  dds_time_t preWriteTime;
+  dds_time_t postWriteTime;
+  dds_time_t preTakeTime;
+  dds_time_t postTakeTime;
+  dds_time_t difference = 0;
+  dds_time_t elapsed = 0;
+
+  RoundTripModule_DataType pub_data;
+  RoundTripModule_DataType sub_data[MAX_SAMPLES];
+  void *samples[MAX_SAMPLES];
+  dds_sample_info_t info[MAX_SAMPLES];
+
+  dds_attach_t wsresults[1];
+  size_t wsresultsize = 1U;
+  dds_time_t waitTimeout = DDS_SECS (1);
+  unsigned long i;
+  int status;
+  bool warmUp = true;
+
+  /* Register handler for Ctrl-C */
+#ifdef _WIN32
+  SetConsoleCtrlHandler ((PHANDLER_ROUTINE)CtrlHandler, TRUE);
+#else
+  struct sigaction sat, oldAction;
+  sat.sa_handler = CtrlHandler;
+  sigemptyset (&sat.sa_mask);
+  sat.sa_flags = 0;
+  sigaction (SIGINT, &sat, &oldAction);
+#endif
+
+  exampleInitTimeStats (&roundTrip);
+  exampleInitTimeStats (&writeAccess);
+  exampleInitTimeStats (&readAccess);
+  exampleInitTimeStats (&roundTripOverall);
+  exampleInitTimeStats (&writeAccessOverall);
+  exampleInitTimeStats (&readAccessOverall);
+
+  memset (&sub_data, 0, sizeof (sub_data));
+  memset (&pub_data, 0, sizeof (pub_data));
+
+  for (i = 0; i < MAX_SAMPLES; i++)
+  {
+    samples[i] = &sub_data[i];
+  }
+
+  participant = prepare_dds(&writer, &reader, &readCond);
+
+  setvbuf(stdout, NULL, _IONBF, 0);
+
+  if (argc == 2 && strcmp (argv[1], "quit") == 0)
+  {
+    printf ("Sending termination request.\n");
+    /* pong uses a waitset which is triggered by instance disposal, and
+      quits when it fires. */
+    dds_sleepfor (DDS_SECS (1));
+    pub_data.payload._length = 0;
+    pub_data.payload._buffer = NULL;
+    pub_data.payload._release = true;
+    pub_data.payload._maximum = 0;
+    status = dds_writedispose (writer, &pub_data);
+    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    dds_sleepfor (DDS_SECS (1));
+    goto done;
+  }
+
+  if (argc == 1)
+  {
+    invalidargs = true;
+  }
+  if (argc >= 2)
+  {
+    payloadSize = atol (argv[1]);
+
+    if (payloadSize > 65536)
+    {
+      invalidargs = true;
+    }
+  }
+  if (argc >= 3)
+  {
+    numSamples = atol (argv[2]);
+  }
+  if (argc >= 4)
+  {
+    timeOut = atol (argv[3]);
+  }
+  if (invalidargs || (argc == 2 && (strcmp (argv[1], "-h") == 0 || strcmp (argv[1], "--help") == 0)))
+  {
+    printf ("Usage (parameters must be supplied in order):\n"
+            "./ping [payloadSize (bytes, 0 - 65536)] [numSamples (0 = infinite)] [timeOut (seconds, 0 = infinite)]\n"
+            "./ping quit - ping sends a quit signal to pong.\n"
+            "Defaults:\n"
+            "./ping 0 0 0\n");
+    return EXIT_FAILURE;
+  }
+  printf ("# payloadSize: %lu | numSamples: %llu | timeOut: %" PRIi64 "\n\n", payloadSize, numSamples, timeOut);
+
+  pub_data.payload._length = payloadSize;
+  pub_data.payload._buffer = payloadSize ? dds_alloc (payloadSize) : NULL;
+  pub_data.payload._release = true;
+  pub_data.payload._maximum = 0;
+  for (i = 0; i < payloadSize; i++)
+  {
+    pub_data.payload._buffer[i] = 'a';
+  }
+
+  startTime = dds_time ();
+  printf ("# Waiting for startup jitter to stabilise\n");
+  while (!dds_triggered (waitSet) && difference < DDS_SECS(5))
+  {
+    status = dds_write (writer, &pub_data);
+    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
+    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    if (status > 0) /* data */
+    {
+      status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
+      DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    }
+
+    time = dds_time ();
+    difference = time - startTime;
+  }
+  if (!dds_triggered (waitSet))
+  {
+    warmUp = false;
+    printf("# Warm up complete.\n\n");
+
+    printf("# Round trip measurements (in us)\n");
+    printf("#             Round trip time [us]         Write-access time [us]       Read-access time [us]\n");
+    printf("# Seconds     Count   median      min      Count   median      min      Count   median      min\n");
+
+  }
+
+  startTime = dds_time ();
+  for (i = 0; !dds_triggered (waitSet) && (!numSamples || i < numSamples); i++)
+  {
+    /* Write a sample that pong can send back */
+    preWriteTime = dds_time ();
+    status = dds_write (writer, &pub_data);
+    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    postWriteTime = dds_time ();
+
+    /* Wait for response from pong */
+    status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
+    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    if (status != 0)
+    {
+      /* Take sample and check that it is valid */
+      preTakeTime = dds_time ();
+      status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
+      DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+      postTakeTime = dds_time ();
+
+      if (!dds_triggered (waitSet))
+      {
+        if (status != 1)
+        {
+          fprintf (stdout, "%s%d%s", "ERROR: Ping received ", status,
+                  " samples but was expecting 1. Are multiple pong applications running?\n");
+
+          goto done;
+        }
+        else if (!info[0].valid_data)
+        {
+          printf ("ERROR: Ping received an invalid sample. Has pong terminated already?\n");
+          goto done;
+        }
+      }
+
+      /* Update stats */
+      difference = (postWriteTime - preWriteTime)/DDS_NSECS_IN_USEC;
+      writeAccess = *exampleAddTimingToTimeStats (&writeAccess, difference);
+      writeAccessOverall = *exampleAddTimingToTimeStats (&writeAccessOverall, difference);
+
+      difference = (postTakeTime - preTakeTime)/DDS_NSECS_IN_USEC;
+      readAccess = *exampleAddTimingToTimeStats (&readAccess, difference);
+      readAccessOverall = *exampleAddTimingToTimeStats (&readAccessOverall, difference);
+
+      difference = (postTakeTime - preWriteTime)/DDS_NSECS_IN_USEC;
+      roundTrip = *exampleAddTimingToTimeStats (&roundTrip, difference);
+      roundTripOverall = *exampleAddTimingToTimeStats (&roundTripOverall, difference);
+
+      /* Print stats each second */
+      difference = (postTakeTime - startTime)/DDS_NSECS_IN_USEC;
+      if (difference > US_IN_ONE_SEC || (i && i == numSamples))
+      {
+        printf
+        (
+          "%9" PRIi64 " %9lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 "\n",
+          elapsed + 1,
+          roundTrip.count,
+          exampleGetMedianFromTimeStats (&roundTrip),
+          roundTrip.min,
+          writeAccess.count,
+          exampleGetMedianFromTimeStats (&writeAccess),
+          writeAccess.min,
+          readAccess.count,
+          exampleGetMedianFromTimeStats (&readAccess),
+          readAccess.min
+        );
+
+        exampleResetTimeStats (&roundTrip);
+        exampleResetTimeStats (&writeAccess);
+        exampleResetTimeStats (&readAccess);
+        startTime = dds_time ();
+        elapsed++;
+      }
+    }
+    else
+    {
+      elapsed += waitTimeout / DDS_NSECS_IN_SEC;
+    }
+    if (timeOut && elapsed == timeOut)
+    {
+      dds_waitset_set_trigger (waitSet, true);
+    }
+  }
+
+  if (!warmUp)
+  {
+    printf
+    (
+      "\n%9s %9lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 "\n",
+      "# Overall",
+      roundTripOverall.count,
+      exampleGetMedianFromTimeStats (&roundTripOverall),
+      roundTripOverall.min,
+      writeAccessOverall.count,
+      exampleGetMedianFromTimeStats (&writeAccessOverall),
+      writeAccessOverall.min,
+      readAccessOverall.count,
+      exampleGetMedianFromTimeStats (&readAccessOverall),
+      readAccessOverall.min
+    );
+  }
+
+done:
+
+#ifdef _WIN32
+  SetConsoleCtrlHandler (0, FALSE);
+#else
+  sigaction (SIGINT, &oldAction, 0);
+#endif
+
+  finalize_dds(participant, reader, readCond);
+
+  /* Clean up */
+  exampleDeleteTimeStats (&roundTrip);
+  exampleDeleteTimeStats (&writeAccess);
+  exampleDeleteTimeStats (&readAccess);
+  exampleDeleteTimeStats (&roundTripOverall);
+  exampleDeleteTimeStats (&writeAccessOverall);
+  exampleDeleteTimeStats (&readAccessOverall);
+
+  for (i = 0; i < MAX_SAMPLES; i++)
+  {
+    RoundTripModule_DataType_free (&sub_data[i], DDS_FREE_CONTENTS);
+  }
+  RoundTripModule_DataType_free (&pub_data, DDS_FREE_CONTENTS);
+
+  return EXIT_SUCCESS;
+}
+
+static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond)
+{
+  dds_return_t status;
+  dds_entity_t topic;
+  dds_entity_t publisher;
+  dds_entity_t subscriber;
+
+  const char *pubPartitions[] = { "ping" };
+  const char *subPartitions[] = { "pong" };
+  dds_qos_t *pubQos;
+  dds_qos_t *dwQos;
+  dds_qos_t *drQos;
+  dds_qos_t *subQos;
+
+  dds_entity_t participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
+  DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  /* A DDS_Topic is created for our sample type on the domain participant. */
+  topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL);
+  DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  /* A DDS_Publisher is created on the domain participant. */
+  pubQos = dds_qos_create ();
+  dds_qset_partition (pubQos, 1, pubPartitions);
+
+  publisher = dds_create_publisher (participant, pubQos, NULL);
+  DDS_ERR_CHECK (publisher, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (pubQos);
+
+  /* A DDS_DataWriter is created on the Publisher & Topic with a modified Qos. */
+  dwQos = dds_qos_create ();
+  dds_qset_reliability (dwQos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
+  dds_qset_writer_data_lifecycle (dwQos, false);
+  *writer = dds_create_writer (publisher, topic, dwQos, NULL);
+  DDS_ERR_CHECK (*writer, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (dwQos);
+
+  /* A DDS_Subscriber is created on the domain participant. */
+  subQos = dds_qos_create ();
+
+  dds_qset_partition (subQos, 1, subPartitions);
+
+  subscriber = dds_create_subscriber (participant, subQos, NULL);
+  DDS_ERR_CHECK (subscriber, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (subQos);
+  /* A DDS_DataReader is created on the Subscriber & Topic with a modified QoS. */
+  drQos = dds_qos_create ();
+  dds_qset_reliability (drQos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
+  *reader = dds_create_reader (subscriber, topic, drQos, NULL);
+  DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (drQos);
+
+  waitSet = dds_create_waitset (participant);
+  *readCond = dds_create_readcondition (*reader, DDS_ANY_STATE);
+
+  status = dds_waitset_attach (waitSet, *readCond, *reader);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_waitset_attach (waitSet, waitSet, waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  return participant;
+}
+
+static void finalize_dds(dds_entity_t participant, dds_entity_t reader, dds_entity_t readCond)
+{
+  dds_return_t status;
+
+  /* Disable callbacks */
+  dds_set_enabled_status (reader, 0);
+
+  status = dds_waitset_detach (waitSet, readCond);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_waitset_detach (waitSet, waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (readCond);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (participant);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+}

src/examples/roundtrip/pong.c

@@ -0,0 +1,192 @@
+#include "ddsc/dds.h"
+#include "RoundTrip.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <signal.h>
+#include <stdlib.h>
+
+static dds_entity_t waitSet;
+#define MAX_SAMPLES 10
+
+/* Forward declarations */
+static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond);
+static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundTripModule_DataType data[MAX_SAMPLES]);
+
+#ifdef _WIN32
+#include <Windows.h>
+static bool CtrlHandler (DWORD fdwCtrlType)
+{
+  dds_waitset_set_trigger (waitSet, true);
+  return true; //Don't let other handlers handle this key
+}
+#else
+static void CtrlHandler (int fdwCtrlType)
+{
+  dds_waitset_set_trigger (waitSet, true);
+}
+#endif
+
+int main (int argc, char *argv[])
+{
+  dds_duration_t waitTimeout = DDS_INFINITY;
+  unsigned int i;
+  int status, samplecount, j;
+  dds_attach_t wsresults[1];
+  size_t wsresultsize = 1U;
+  dds_entity_t participant;
+  dds_entity_t reader;
+  dds_entity_t writer;
+  dds_entity_t readCond;
+
+  RoundTripModule_DataType data[MAX_SAMPLES];
+  void * samples[MAX_SAMPLES];
+  dds_sample_info_t info[MAX_SAMPLES];
+
+  /* Register handler for Ctrl-C */
+
+#ifdef _WIN32
+  SetConsoleCtrlHandler ((PHANDLER_ROUTINE)CtrlHandler, TRUE);
+#else
+  struct sigaction sat, oldAction;
+  sat.sa_handler = CtrlHandler;
+  sigemptyset (&sat.sa_mask);
+  sat.sa_flags = 0;
+  sigaction (SIGINT, &sat, &oldAction);
+#endif
+
+  participant = prepare_dds(&writer, &reader, &readCond);
+
+  /* Initialize sample data */
+  memset (data, 0, sizeof (data));
+  for (i = 0; i < MAX_SAMPLES; i++)
+  {
+    samples[i] = &data[i];
+  }
+
+  while (!dds_triggered (waitSet))
+  {
+    /* Wait for a sample from ping */
+
+    status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
+    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+    /* Take samples */
+    samplecount = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
+    DDS_ERR_CHECK (samplecount, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    for (j = 0; !dds_triggered (waitSet) && j < samplecount; j++)
+    {
+      /* If writer has been disposed terminate pong */
+
+      if (info[j].instance_state == DDS_IST_NOT_ALIVE_DISPOSED)
+      {
+        printf ("Received termination request. Terminating.\n");
+        dds_waitset_set_trigger (waitSet, true);
+        break;
+      }
+      else if (info[j].valid_data)
+      {
+        /* If sample is valid, send it back to ping */
+        RoundTripModule_DataType * valid_sample = &data[j];
+        status = dds_write (writer, valid_sample);
+        DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+      }
+    }
+  }
+
+#ifdef _WIN32
+  SetConsoleCtrlHandler (0, FALSE);
+#else
+  sigaction (SIGINT, &oldAction, 0);
+#endif
+
+  /* Clean up */
+  finalize_dds(participant, readCond, data);
+
+  return EXIT_SUCCESS;
+}
+
+static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundTripModule_DataType data[MAX_SAMPLES])
+{
+  dds_return_t status = dds_waitset_detach (waitSet, readCond);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_waitset_detach (waitSet, waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (readCond);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (participant);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  for (unsigned int i = 0; i < MAX_SAMPLES; i++)
+  {
+    RoundTripModule_DataType_free (&data[i], DDS_FREE_CONTENTS);
+  }
+}
+
+static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond)
+{
+  const char *pubPartitions[] = { "pong" };
+  const char *subPartitions[] = { "ping" };
+  dds_qos_t *qos;
+  dds_entity_t subscriber;
+  dds_entity_t publisher;
+  dds_entity_t topic;
+  dds_return_t status;
+
+  dds_entity_t participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
+  DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  /* A DDS Topic is created for our sample type on the domain participant. */
+
+  topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL);
+  DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  /* A DDS Publisher is created on the domain participant. */
+
+  qos = dds_qos_create ();
+  dds_qset_partition (qos, 1, pubPartitions);
+
+  publisher = dds_create_publisher (participant, qos, NULL);
+  DDS_ERR_CHECK (publisher, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (qos);
+
+  /* A DDS DataWriter is created on the Publisher & Topic with a modififed Qos. */
+
+  qos = dds_qos_create ();
+  dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
+  dds_qset_writer_data_lifecycle (qos, false);
+  *writer = dds_create_writer (publisher, topic, qos, NULL);
+  DDS_ERR_CHECK (*writer, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (qos);
+
+  /* A DDS Subscriber is created on the domain participant. */
+
+  qos = dds_qos_create ();
+  dds_qset_partition (qos, 1, subPartitions);
+
+  subscriber = dds_create_subscriber (participant, qos, NULL);
+  DDS_ERR_CHECK (subscriber, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (qos);
+
+  /* A DDS DataReader is created on the Subscriber & Topic with a modified QoS. */
+
+  qos = dds_qos_create ();
+  dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
+  *reader = dds_create_reader (subscriber, topic, qos, NULL);
+  DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (qos);
+
+  waitSet = dds_create_waitset (participant);
+  *readCond = dds_create_readcondition (*reader, DDS_ANY_STATE);
+  status = dds_waitset_attach (waitSet, *readCond, *reader);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_waitset_attach (waitSet, waitSet, waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  printf ("Waiting for samples from ping to send back...\n");
+  fflush (stdout);
+
+  return participant;
+}

src/examples/roundtrip/readme.rst

@@ -0,0 +1,83 @@
+..
+   Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
+
+   This program and the accompanying materials are made available under the
+   terms of the Eclipse Public License v. 2.0 which is available at
+   http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+   v. 1.0 which is available at
+   http://www.eclipse.org/org/documents/edl-v10.php.
+
+   SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+
+Roundtrip
+==========
+
+Description
+***********
+
+The Roundtrip example allows the measurement of roundtrip duration when sending and receiving back a single message.
+
+Design
+******
+
+It consists of 2 units:
+
+- Pong: waits for messages from ping and sends the same message back.
+- Ping: Sends a message to pong and waits for its return.
+
+Scenario
+********
+
+A message is sent by the **ping** executable on the "PING" partition, which the **pong** executable is waiting for.
+The **pong** executable sends the same message back on the "PONG" partition, which the **ping** executable is waiting for.
+This sequence is repeated a configurable number of times.
+
+The **ping** executable measures:
+
+- writeAccess time: time the write() method took.
+- readAccess time: time the take() method took.
+- roundTrip time: time between the call to the write() method and the return of the take() method.
+- **ping** also calculates min/max/average statistics on these values over a configurable number of samples and/or time out period.
+
+Configurable:
+
+- payloadSize: the size of the payload in bytes.
+- numSamples: the number of samples to send.
+- timeOut: the number of seconds ping should run for.
+
+
+Running the example
+*******************
+
+It is recommended that you run ping and pong in separate terminals to avoid mixing the output.
+
+- Open 2 terminals.
+- In the first terminal start Pong by running pong.
+
+  pong usage:
+    ``./pong``
+
+- In the second terminal start Ping by running ping.
+
+  ping usage (parameters must be supplied in order):
+    ``./ping [payloadSize (bytes, 0 - 655536)] [numSamples (0 = infinite)] [timeOut (seconds, 0 = infinite)]``
+
+    ``./ping quit - ping sends a quit signal to pong.``
+  defaults:
+    ``./ping 0 0 0``
+
+- To achieve optimal performance it is recommended to set the CPU affinity so that ping and pong run on separate CPU cores,
+  and use real-time scheduling. In a Linux environment this can be achieved as follows:
+
+  pong usage:
+    ``taskset -c 0 chrt -f 80 ./pong``
+  ping usage:
+    ``taskset -c 1 chrt -f 80 ./ping [payloadSize (bytes, 0 - 655536)] [numSamples (0 = infinite)] [timeOut (seconds, 0 = infinite)]``
+
+  On Windows the CPU affinity and scheduling class can be set as follows:
+
+  pong usage:
+    ``START /affinity 1 /high cmd /k "pong.exe"``
+  ping usage:
+    ``START /affinity 2 /high cmd /k "ping.exe" [payloadSize (bytes, 0 - 655536)] [numSamples (0 = infinite)] [timeOut (seconds, 0 = infinite)]``
+

src/examples/sphinx-conf.py.in

@@ -0,0 +1,86 @@
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = ['sphinx.ext.autodoc',
+    'sphinx.ext.intersphinx',
+    'sphinx.ext.coverage',
+    'sphinx.ext.imgmath',
+    'sphinx.ext.ifconfig',
+    'breathe']
+
+# Add any paths that contain templates here, relative to this directory.
+#templates_path = ['@CMAKE_CURRENT_SOuRCE_DIR@/_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'examples'
+
+# General information about the project.
+project = u'@CMAKE_PROJECT_NAME@'
+copyright = u'@sph_conf_copyright@'
+author = u'@sph_conf_author@'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y.Z version.
+version = u'@sph_conf_version@'
+# The full version, including alpha/beta/rc tags.
+release = u'@sph_conf_release@'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This patterns also effect to html_static_path and html_extra_path
+exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+
+# -- Options for HTML output ----------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'alabaster'
+
+html_show_sourcelink = False
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+html_theme_options = { 'show_powered_by': False }
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['@PROJECT_SOURCE_DIR@/docs/_static']
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# This is required for the alabaster theme
+# refs: http://alabaster.readthedocs.io/en/latest/installation.html#sidebars
+html_sidebars = {
+    '**': [
+        'about.html',
+        'navigation.html',
+        'relations.html',  # needs 'show_related': True theme option to display
+        'searchbox.html',
+        'donate.html',
+    ]
+}

src/examples/throughput/CMakeLists.txt

@@ -0,0 +1,33 @@
+#
+# Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License v. 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+# v. 1.0 which is available at
+# http://www.eclipse.org/org/documents/edl-v10.php.
+#
+# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+#
+cmake_minimum_required(VERSION 3.5)
+
+if (NOT TARGET CycloneDDS::ddsc)
+    # Find the CycloneDDS package. If it is not in a default location, try
+    # finding it relative to the example where it most likely resides.
+    find_package(CycloneDDS REQUIRED PATHS "${CMAKE_SOURCE_DIR}/../../")
+endif()
+
+# This is a convenience function, provided by the CycloneDDS package,
+# that will supply a library target related the the given idl file.
+# In short, it takes the idl file, generates the source files with
+# the proper data types and compiles them into a library.
+idlc_generate(Throughput_lib Throughput.idl)
+
+# Both executables have only one related source file.
+add_executable(ThroughputPublisher publisher.c)
+add_executable(ThroughputSubscriber subscriber.c)
+
+# Both executables need to be linked to the idl data type library and
+# the ddsc API library.
+target_link_libraries(ThroughputPublisher Throughput_lib CycloneDDS::ddsc)
+target_link_libraries(ThroughputSubscriber Throughput_lib CycloneDDS::ddsc)

src/examples/throughput/Throughput.idl

@@ -0,0 +1,9 @@
+module ThroughputModule
+{
+  struct DataType
+  {
+    unsigned long long count;
+    sequence<octet> payload;
+  };
+  #pragma keylist DataType
+};

src/examples/throughput/publisher.c

@@ -0,0 +1,309 @@
+#include "ddsc/dds.h"
+#include "Throughput.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <signal.h>
+
+/*
+ * The Throughput example measures data throughput in bytes per second. The publisher
+ * allows you to specify a payload size in bytes as well as allowing you to specify
+ * whether to send data in bursts. The publisher will continue to send data forever
+ * unless a time out is specified. The subscriber will receive data and output the
+ * total amount received and the data rate in bytes per second. It will also indicate
+ * if any samples were received out of order. A maximum number of cycles can be
+ * specified and once this has been reached the subscriber will terminate and output
+ * totals and averages.
+ */
+
+#define MAX_SAMPLES 100
+
+static bool done = false;
+
+/* Forward declarations */
+static dds_return_t wait_for_reader(dds_entity_t writer, dds_entity_t participant);
+static void start_writing(dds_entity_t writer, ThroughputModule_DataType *sample,
+    unsigned int burstInterval, unsigned int burstSize, unsigned int timeOut);
+static int parse_args(int argc, char **argv, uint32_t *payloadSize, unsigned int *burstInterval,
+    unsigned int *burstSize, unsigned int *timeOut, char **partitionName);
+static dds_entity_t prepare_dds(dds_entity_t *writer, const char *partitionName);
+static void finalize_dds(dds_entity_t participant, dds_entity_t writer, ThroughputModule_DataType sample);
+
+/* Functions to handle Ctrl-C presses. */
+#ifdef _WIN32
+#include <Windows.h>
+static int CtrlHandler (DWORD fdwCtrlType)
+{
+  done = true;
+  return true; /* Don't let other handlers handle this key */
+}
+#else
+struct sigaction oldAction;
+static void CtrlHandler (int fdwCtrlType)
+{
+  done = true;
+}
+#endif
+
+int main (int argc, char **argv)
+{
+  int result = EXIT_SUCCESS;
+  uint32_t payloadSize = 8192;
+  unsigned int burstInterval = 0;
+  unsigned int burstSize = 1;
+  unsigned int timeOut = 0;
+  char * partitionName = "Throughput example";
+  dds_entity_t participant;
+  dds_entity_t writer;
+  ThroughputModule_DataType sample;
+
+  /* Register handler for Ctrl-C */
+#ifdef _WIN32
+  SetConsoleCtrlHandler ((PHANDLER_ROUTINE) CtrlHandler, true);
+#else
+  struct sigaction sat;
+  sat.sa_handler = CtrlHandler;
+  sigemptyset (&sat.sa_mask);
+  sat.sa_flags = 0;
+  sigaction (SIGINT, &sat, &oldAction);
+#endif
+
+  if (parse_args(argc, argv, &payloadSize, &burstInterval, &burstSize, &timeOut, &partitionName) == EXIT_FAILURE) {
+    return EXIT_FAILURE;
+  }
+
+  participant = prepare_dds(&writer, partitionName);
+
+  /* Wait until have a reader */
+  if (wait_for_reader(writer, participant) == 0) {
+    printf ("=== [Publisher]  Did not discover a reader.\n");
+    DDS_ERR_CHECK (dds_delete (participant), DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+    return EXIT_FAILURE;
+  }
+
+  /* Fill the sample payload with data */
+  sample.count = 0;
+  sample.payload._buffer = dds_alloc (payloadSize);
+  sample.payload._length = payloadSize;
+  sample.payload._release = true;
+  for (uint32_t i = 0; i < payloadSize; i++) {
+    sample.payload._buffer[i] = 'a';
+  }
+
+  /* Register the sample instance and write samples repeatedly or until time out */
+  start_writing(writer, &sample, burstInterval, burstSize, timeOut);
+
+#ifdef _WIN32
+  SetConsoleCtrlHandler (0, false);
+#else
+  sigaction (SIGINT, &oldAction, 0);
+#endif
+
+  /* Cleanup */
+  finalize_dds(participant, writer, sample);
+
+}
+
+static int parse_args(
+    int argc,
+    char **argv,
+    uint32_t *payloadSize,
+    unsigned int *burstInterval,
+    unsigned int *burstSize,
+    unsigned int *timeOut,
+    char **partitionName)
+{
+  int result = EXIT_SUCCESS;
+  /*
+   * Get the program parameters
+   * Parameters: publisher [payloadSize] [burstInterval] [burstSize] [timeOut] [partitionName]
+   */
+  if (argc == 2 && (strcmp (argv[1], "-h") == 0 || strcmp (argv[1], "--help") == 0))
+  {
+    printf ("Usage (parameters must be supplied in order):\n");
+    printf ("./publisher [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]\n");
+    printf ("Defaults:\n");
+    printf ("./publisher 8192 0 1 0 \"Throughput example\"\n");
+    return EXIT_FAILURE;
+  }
+  if (argc > 1)
+  {
+    *payloadSize = atoi (argv[1]); /* The size of the payload in bytes */
+  }
+  if (argc > 2)
+  {
+    *burstInterval = atoi (argv[2]); /* The time interval between each burst in ms */
+  }
+  if (argc > 3)
+  {
+    *burstSize = atoi (argv[3]); /* The number of samples to send each burst */
+  }
+  if (argc > 4)
+  {
+    *timeOut = atoi (argv[4]); /* The number of seconds the publisher should run for (0 = infinite) */
+  }
+  if (argc > 5)
+  {
+    *partitionName = argv[5]; /* The name of the partition */
+  }
+
+  printf ("payloadSize: %u bytes burstInterval: %u ms burstSize: %u timeOut: %u seconds partitionName: %s\n",
+    *payloadSize, *burstInterval, *burstSize, *timeOut, *partitionName);
+
+  return result;
+}
+
+static dds_entity_t prepare_dds(dds_entity_t *writer, const char *partitionName)
+{
+  dds_entity_t participant;
+  dds_entity_t topic;
+  dds_entity_t publisher;
+  const char *pubParts[1];
+  dds_qos_t *pubQos;
+  dds_qos_t *dwQos;
+
+  /* A domain participant is created for the default domain. */
+  participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
+  DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  /* A topic is created for our sample type on the domain participant. */
+  topic = dds_create_topic (participant, &ThroughputModule_DataType_desc, "Throughput", NULL, NULL);
+  DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  /* A publisher is created on the domain participant. */
+  pubQos = dds_qos_create ();
+  pubParts[0] = partitionName;
+  dds_qset_partition (pubQos, 1, pubParts);
+  publisher = dds_create_publisher (participant, pubQos, NULL);
+  DDS_ERR_CHECK (publisher, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (pubQos);
+
+  /* A DataWriter is created on the publisher. */
+  dwQos = dds_qos_create ();
+  dds_qset_reliability (dwQos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
+  dds_qset_history (dwQos, DDS_HISTORY_KEEP_ALL, 0);
+  dds_qset_resource_limits (dwQos, MAX_SAMPLES, DDS_LENGTH_UNLIMITED, DDS_LENGTH_UNLIMITED);
+  *writer = dds_create_writer (publisher, topic, dwQos, NULL);
+  DDS_ERR_CHECK (*writer, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (dwQos);
+
+  /* Enable write batching */
+  dds_write_set_batch (true);
+
+  return participant;
+}
+
+static dds_return_t wait_for_reader(dds_entity_t writer, dds_entity_t participant)
+{
+  printf ("\n=== [Publisher]  Waiting for a reader ...\n");
+
+  dds_return_t ret;
+  dds_entity_t waitset;
+
+  ret = dds_set_enabled_status(writer, DDS_PUBLICATION_MATCHED_STATUS);
+  DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  waitset = dds_create_waitset(participant);
+  DDS_ERR_CHECK (waitset, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  ret = dds_waitset_attach(waitset, writer, (dds_attach_t)NULL);
+  DDS_ERR_CHECK (waitset, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  ret = dds_waitset_wait(waitset, NULL, 0, DDS_SECS(30));
+  DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  return ret;
+}
+
+static void start_writing(
+    dds_entity_t writer,
+    ThroughputModule_DataType *sample,
+    unsigned int burstInterval,
+    unsigned int burstSize,
+    unsigned int timeOut)
+{
+  bool timedOut = false;
+  dds_time_t pubStart = dds_time ();
+  dds_time_t now;
+  dds_time_t deltaTv;
+  dds_return_t status;
+
+  if (!done)
+  {
+    dds_time_t burstStart = pubStart;
+    unsigned int burstCount = 0;
+
+    printf ("=== [Publisher]  Writing samples...\n");
+
+    while (!done && !timedOut)
+    {
+      /* Write data until burst size has been reached */
+
+      if (burstCount < burstSize)
+      {
+        status = dds_write (writer, sample);
+        if (dds_err_nr(status) == DDS_RETCODE_TIMEOUT)
+        {
+          timedOut = true;
+        }
+        else
+        {
+          DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+          sample->count++;
+          burstCount++;
+        }
+      }
+      else if (burstInterval)
+      {
+        /* Sleep until burst interval has passed */
+
+        dds_time_t time = dds_time ();
+        deltaTv = time - burstStart;
+        if (deltaTv < DDS_MSECS (burstInterval))
+        {
+          dds_write_flush (writer);
+          dds_sleepfor (DDS_MSECS (burstInterval) - deltaTv);
+        }
+        burstStart = dds_time ();
+        burstCount = 0;
+      }
+      else
+      {
+        burstCount = 0;
+      }
+
+      if (timeOut)
+      {
+        now = dds_time ();
+        deltaTv = now - pubStart;
+        if ((deltaTv) > DDS_SECS (timeOut))
+        {
+          timedOut = true;
+        }
+      }
+    }
+    dds_write_flush (writer);
+
+    if (done)
+    {
+      printf ("=== [Publisher]  Terminated, %llu samples written.\n", (unsigned long long) sample->count);
+    }
+    else
+    {
+      printf ("=== [Publisher]  Timed out, %llu samples written.\n", (unsigned long long) sample->count);
+    }
+  }
+}
+
+static void finalize_dds(dds_entity_t participant, dds_entity_t writer, ThroughputModule_DataType sample)
+{
+  dds_return_t status = dds_dispose (writer, &sample);
+  if (dds_err_nr (status) != DDS_RETCODE_TIMEOUT)
+  {
+    DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  }
+
+  dds_free (sample.payload._buffer);
+  status = dds_delete (participant);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+}

src/examples/throughput/readme.rst

@@ -0,0 +1,99 @@
+..
+   Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
+
+   This program and the accompanying materials are made available under the
+   terms of the Eclipse Public License v. 2.0 which is available at
+   http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+   v. 1.0 which is available at
+   http://www.eclipse.org/org/documents/edl-v10.php.
+
+   SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+
+Throughput
+==========
+
+Description
+***********
+
+The Throughput example allows the measurement of data throughput when receiving samples from a publisher.
+
+
+Design
+******
+
+It consists of 2 units:
+
+- Publisher: sends samples at a specified size and rate.
+- Subscriber: Receives samples and outputs statistics about throughput
+
+Scenario
+********
+
+The **publisher** sends samples and allows you to specify a payload size in bytes as well as allowing you to specify whether
+to send data in bursts. The **publisher** will continue to send data forever unless a time-out is specified.
+
+Configurable:
+
+- payloadSize: the size of the payload in bytes
+- burstInterval: the time interval between each burst in ms
+- burstSize: the number of samples to send each burst
+- timeOut: the number of seconds the publisher should run for (0=infinite)
+- partitionName: the name of the partition
+
+The **subscriber** will receive data and output the total amount received and the data-rate in bytes-per-second. It will
+also indicate if any samples were received out-of-order. A maximum number of cycles can be specified and once this has
+been reached the subscriber will terminate and output totals and averages.
+
+The **subscriber** executable measures:
+
+- transferred: the total amount of data transferred in bytes.
+- outOfOrder: the number of samples that were received out of order.
+- transfer rate: the data transfer rate in bytes per second.
+- subscriber also calculates statistics on these values over a configurable number of cycles.
+
+Configurable:
+
+- maxCycles: the number of times to output statistics before terminating
+- pollingDelay
+- partitionName: the name of the partition
+
+
+Running the example
+*******************
+
+It is recommended that you run ping and pong in separate terminals to avoid mixing the output.
+
+- Open 2 terminals.
+- In the first terminal start Publisher by running publisher
+
+  publisher usage (parameters must be supplied in order):
+    ``./publisher [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]``
+  defaults:
+    ``./publisher 8192 0 1 0 "Throughput example"``
+
+- In the second terminal start Ping by running subscriber
+
+  subscriber usage (parameters must be supplied in order):
+    ``./subscriber [maxCycles (0=infinite)] [pollingDelay (ms, 0 = event based)] [partitionName]``
+  defaults:
+    ``./subscriber 0 0 "Throughput example"``
+
+- To achieve optimal performance it is recommended to set the CPU affinity so that ping and pong run on separate CPU cores,
+  and use real-time scheduling. In a Linux environment this can be achieved as follows:
+
+  publisher usage:
+    ``taskset -c 0 chrt -f 80 ./publisher [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]``
+  subscriber usage:
+    ``taskset -c 1 chrt -f 80 ./subscriber [maxCycles (0 = infinite)] [pollingDelay (ms, 0 = event based)] [partitionName]``
+
+  On Windows the CPU affinity and prioritized scheduling class can be set as follows:
+
+  publisher usage:
+    ``START /affinity 1 /high cmd /k "publisher.exe" [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]``
+  subscriber usage:
+    ``START /affinity 2 /high cmd /k "subscriber.exe" [maxCycles (0 = infinite)] [pollingDelay (ms, 0 = event based)] [partitionName]``
+
+
+
+
+

src/examples/throughput/subscriber.c

@@ -0,0 +1,426 @@
+#include "ddsc/dds.h"
+#include "Throughput.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <signal.h>
+#include <assert.h>
+/*
+ * The Throughput example measures data throughput in bytes per second. The publisher
+ * allows you to specify a payload size in bytes as well as allowing you to specify
+ * whether to send data in bursts. The publisher will continue to send data forever
+ * unless a time out is specified. The subscriber will receive data and output the
+ * total amount received and the data rate in bytes per second. It will also indicate
+ * if any samples were received out of order. A maximum number of cycles can be
+ * specified and once this has been reached the subscriber will terminate and output
+ * totals and averages.
+ */
+
+#define BYTES_PER_SEC_TO_MEGABITS_PER_SEC 125000
+#define MAX_SAMPLES 100
+
+typedef struct HandleEntry
+{
+  dds_instance_handle_t handle;
+  unsigned long long count;
+  struct HandleEntry * next;
+} HandleEntry;
+
+typedef struct HandleMap
+{
+  HandleEntry *entries;
+} HandleMap;
+
+static unsigned long pollingDelay = 0;
+
+static HandleMap * imap;
+static unsigned long long outOfOrder = 0;
+static unsigned long long total_bytes = 0;
+static unsigned long long total_samples = 0;
+
+static dds_time_t startTime = 0;
+static dds_time_t time_now = 0;
+static dds_time_t prev_time = 0;
+
+static unsigned long payloadSize = 0;
+
+static ThroughputModule_DataType data [MAX_SAMPLES];
+static void * samples[MAX_SAMPLES];
+
+static dds_entity_t waitSet;
+static dds_entity_t pollingWaitset;
+
+static bool done = false;
+
+/* Forward declarations */
+static HandleMap * HandleMap__alloc (void);
+static void HandleMap__free (HandleMap *map);
+static HandleEntry * store_handle (HandleMap *map, dds_instance_handle_t key);
+static HandleEntry * retrieve_handle (HandleMap *map, dds_instance_handle_t key);
+
+static void data_available_handler (dds_entity_t reader, void *arg);
+static int parse_args(int argc, char **argv, unsigned long long *maxCycles, char **partitionName);
+static void process_samples(unsigned long long maxCycles);
+static dds_entity_t prepare_dds(dds_entity_t *reader, const char *partitionName);
+static void finalize_dds(dds_entity_t participant);
+
+/* Functions to handle Ctrl-C presses. */
+#ifdef _WIN32
+#include <Windows.h>
+static int CtrlHandler (DWORD fdwCtrlType)
+{
+  dds_waitset_set_trigger (waitSet, true);
+  done = true;
+  return true; /* Don't let other handlers handle this key */
+}
+#else
+struct sigaction oldAction;
+static void CtrlHandler (int fdwCtrlType)
+{
+  dds_waitset_set_trigger (waitSet, true);
+  done = true;
+}
+#endif
+
+int main (int argc, char **argv)
+{
+  unsigned long long maxCycles = 0;
+  char *partitionName = "Throughput example";
+
+  dds_entity_t participant;
+  dds_entity_t reader;
+
+  time_now = dds_time ();
+  prev_time = time_now;
+
+  /* Register handler for Ctrl-C */
+#ifdef _WIN32
+  SetConsoleCtrlHandler((PHANDLER_ROUTINE) CtrlHandler, true);
+#else
+  struct sigaction sat;
+  sat.sa_handler = CtrlHandler;
+  sigemptyset(&sat.sa_mask);
+  sat.sa_flags = 0;
+  sigaction (SIGINT, &sat, &oldAction);
+#endif
+
+  if (parse_args(argc, argv, &maxCycles, &partitionName) == EXIT_FAILURE)
+  {
+    return EXIT_FAILURE;
+  }
+
+  printf ("Cycles: %llu | PollingDelay: %lu | Partition: %s\n",
+    maxCycles, pollingDelay, partitionName);
+
+  participant = prepare_dds(&reader, partitionName);
+
+  printf ("=== [Subscriber] Waiting for samples...\n");
+
+  /* Process samples until Ctrl-C is pressed or until maxCycles */
+  /* has been reached (0 = infinite) */
+  process_samples(maxCycles);
+
+  /* Finished, disable callbacks */
+  dds_set_enabled_status (reader, 0);
+  HandleMap__free (imap);
+
+#ifdef _WIN32
+  SetConsoleCtrlHandler (0, FALSE);
+#else
+  sigaction (SIGINT, &oldAction, 0);
+#endif
+
+  /* Clean up */
+  finalize_dds(participant);
+
+  return EXIT_SUCCESS;
+}
+
+/*
+ * This struct contains all of the entities used in the publisher and subscriber.
+ */
+static HandleMap * HandleMap__alloc (void)
+{
+  HandleMap * map = malloc (sizeof (*map));
+  assert(map);
+  memset (map, 0, sizeof (*map));
+  return map;
+}
+
+static void HandleMap__free (HandleMap *map)
+{
+  HandleEntry * entry;
+
+  while (map->entries)
+  {
+    entry = map->entries;
+    map->entries = entry->next;
+    free (entry);
+  }
+  free (map);
+}
+
+static HandleEntry * store_handle (HandleMap *map, dds_instance_handle_t key)
+{
+  HandleEntry * entry = malloc (sizeof (*entry));
+  assert(entry);
+  memset (entry, 0, sizeof (*entry));
+
+  entry->handle = key;
+  entry->next = map->entries;
+  map->entries = entry;
+
+  return entry;
+}
+
+static HandleEntry * retrieve_handle (HandleMap *map, dds_instance_handle_t key)
+{
+  HandleEntry * entry = map->entries;
+
+  while (entry)
+  {
+    if (entry->handle == key)
+    {
+      break;
+    }
+    entry = entry->next;
+  }
+  return entry;
+}
+
+static void data_available_handler (dds_entity_t reader, void *arg)
+{
+  int samples_received;
+  dds_sample_info_t info [MAX_SAMPLES];
+  dds_instance_handle_t ph = 0;
+  HandleEntry * current = NULL;
+
+  if (startTime == 0)
+  {
+    startTime = dds_time ();
+  }
+
+  /* Take samples and iterate through them */
+
+  samples_received = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
+  DDS_ERR_CHECK (samples_received, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  for (int i = 0; !done && i < samples_received; i++)
+  {
+    if (info[i].valid_data)
+    {
+      ph = info[i].publication_handle;
+      current = retrieve_handle (imap, ph);
+      ThroughputModule_DataType * this_sample = &data[i];
+
+      if (current == NULL)
+      {
+        current = store_handle (imap, ph);
+        current->count = this_sample->count;
+      }
+
+      if (this_sample->count != current->count)
+      {
+        outOfOrder++;
+      }
+      current->count = this_sample->count + 1;
+
+      /* Add the sample payload size to the total received */
+
+      payloadSize = this_sample->payload._length;
+      total_bytes += payloadSize + 8;
+      total_samples++;
+    }
+  }
+  time_now = dds_time ();
+  if ((pollingDelay == 0) && (time_now > (prev_time + DDS_SECS (1))))
+  {
+     dds_waitset_set_trigger (pollingWaitset, true);
+  }
+}
+
+static int parse_args(int argc, char **argv, unsigned long long *maxCycles, char **partitionName)
+{
+  /*
+   * Get the program parameters
+   * Parameters: subscriber [maxCycles] [pollingDelay] [partitionName]
+   */
+  if (argc == 2 && (strcmp (argv[1], "-h") == 0 || strcmp (argv[1], "--help") == 0))
+  {
+    printf ("Usage (parameters must be supplied in order):\n");
+    printf ("./subscriber [maxCycles (0 = infinite)] [pollingDelay (ms, 0 = event based)] [partitionName]\n");
+    printf ("Defaults:\n");
+    printf ("./subscriber 0 0 \"Throughput example\"\n");
+    return EXIT_FAILURE;
+  }
+
+  if (argc > 1)
+  {
+    *maxCycles = atoi (argv[1]); /* The number of times to output statistics before terminating */
+  }
+  if (argc > 2)
+  {
+    pollingDelay = atoi (argv[2]); /* The number of ms to wait between reads (0 = event based) */
+  }
+  if (argc > 3)
+  {
+    *partitionName = argv[3]; /* The name of the partition */
+  }
+  return EXIT_SUCCESS;
+}
+
+static void process_samples(unsigned long long maxCycles)
+{
+  dds_return_t status;
+  unsigned long long prev_bytes = 0;
+  unsigned long long prev_samples = 0;
+  dds_attach_t wsresults[1];
+  size_t wsresultsize = 1U;
+  dds_time_t deltaTv;
+  bool first_batch = true;
+  unsigned long cycles = 0;
+  double deltaTime = 0;
+
+  while (!done && (maxCycles == 0 || cycles < maxCycles))
+  {
+    if (pollingDelay)
+    {
+      dds_sleepfor (DDS_MSECS (pollingDelay));
+    }
+    else
+    {
+      status = dds_waitset_wait (waitSet, wsresults, wsresultsize, DDS_INFINITY);
+      DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+      if ((status > 0 ) && (dds_triggered (pollingWaitset)))
+      {
+        dds_waitset_set_trigger (pollingWaitset, false);
+      }
+    }
+
+    if (!first_batch)
+    {
+      deltaTv = time_now - prev_time;
+      deltaTime = (double) deltaTv / DDS_NSECS_IN_SEC;
+      prev_time = time_now;
+
+      printf
+      (
+        "=== [Subscriber] Payload size: %lu | Total received: %llu samples, %llu bytes | Out of order: %llu samples "
+        "Transfer rate: %.2lf samples/s, %.2lf Mbit/s\n",
+        payloadSize, total_samples, total_bytes, outOfOrder,
+        (deltaTime) ? ((total_samples - prev_samples) / deltaTime) : 0,
+        (deltaTime) ? (((total_bytes - prev_bytes) / BYTES_PER_SEC_TO_MEGABITS_PER_SEC) / deltaTime) : 0
+      );
+      cycles++;
+    }
+    else
+    {
+      prev_time = time_now;
+      first_batch = false;
+    }
+
+    /* Update the previous values for next iteration */
+
+    prev_bytes = total_bytes;
+    prev_samples = total_samples;
+  }
+
+  /* Output totals and averages */
+  deltaTv = time_now - startTime;
+  deltaTime = (double) (deltaTv / DDS_NSECS_IN_SEC);
+  printf ("\nTotal received: %llu samples, %llu bytes\n", total_samples, total_bytes);
+  printf ("Out of order: %llu samples\n", outOfOrder);
+  printf ("Average transfer rate: %.2lf samples/s, ", total_samples / deltaTime);
+  printf ("%.2lf Mbit/s\n", (total_bytes / BYTES_PER_SEC_TO_MEGABITS_PER_SEC) / deltaTime);
+}
+
+static dds_entity_t prepare_dds(dds_entity_t *reader, const char *partitionName)
+{
+  dds_return_t status;
+  dds_entity_t topic;
+  dds_entity_t subscriber;
+  dds_listener_t *rd_listener;
+  dds_entity_t participant;
+
+  uint32_t maxSamples = 400;
+  const char *subParts[1];
+  dds_qos_t *subQos = dds_qos_create ();
+  dds_qos_t *drQos = dds_qos_create ();
+
+  /* A Participant is created for the default domain. */
+
+  participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
+  DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  /* A Topic is created for our sample type on the domain participant. */
+
+  topic = dds_create_topic (participant, &ThroughputModule_DataType_desc, "Throughput", NULL, NULL);
+  DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  /* A Subscriber is created on the domain participant. */
+
+  subParts[0] = partitionName;
+  dds_qset_partition (subQos, 1, subParts);
+  subscriber = dds_create_subscriber (participant, subQos, NULL);
+  DDS_ERR_CHECK (subscriber, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (subQos);
+
+  /* A Reader is created on the Subscriber & Topic with a modified Qos. */
+
+  dds_qset_reliability (drQos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
+  dds_qset_history (drQos, DDS_HISTORY_KEEP_ALL, 0);
+  dds_qset_resource_limits (drQos, maxSamples, DDS_LENGTH_UNLIMITED, DDS_LENGTH_UNLIMITED);
+
+  rd_listener = dds_listener_create(NULL);
+  dds_lset_data_available(rd_listener, data_available_handler);
+
+  /* A Read Condition is created which is triggered when data is available to read */
+  waitSet = dds_create_waitset (participant);
+  DDS_ERR_CHECK (waitSet, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  pollingWaitset = dds_create_waitset (participant);
+  DDS_ERR_CHECK (pollingWaitset, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  status = dds_waitset_attach (waitSet, pollingWaitset, pollingWaitset);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  status = dds_waitset_attach (waitSet, waitSet, waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+
+  imap = HandleMap__alloc ();
+
+  memset (data, 0, sizeof (data));
+  for (unsigned int i = 0; i < MAX_SAMPLES; i++)
+  {
+    samples[i] = &data[i];
+  }
+
+  *reader = dds_create_reader (subscriber, topic, drQos, rd_listener);
+  DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  dds_qos_delete (drQos);
+  dds_listener_delete(rd_listener);
+
+  return participant;
+}
+
+static void finalize_dds(dds_entity_t participant)
+{
+  dds_return_t status;
+
+  for (unsigned int i = 0; i < MAX_SAMPLES; i++)
+  {
+    ThroughputModule_DataType_free (&data[i], DDS_FREE_CONTENTS);
+  }
+
+  status = dds_waitset_detach (waitSet, waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_waitset_detach (waitSet, pollingWaitset);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (pollingWaitset);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (waitSet);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+  status = dds_delete (participant);
+  DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
+}