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This commit is contained in:
Michiel Beemster 2018-04-10 17:03:59 +02:00
parent 7b5cc4fa59
commit 11d9ce37aa
580 changed files with 155133 additions and 162 deletions
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22
src/examples/helloworld/CMakeLists.export Normal file
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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)

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src/examples/helloworld/CMakeLists.txt Normal file
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#
# 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)

54
src/examples/helloworld/HelloWorld.sln Normal file
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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 14
VisualStudioVersion = 14.0.25123.0
MinimumVisualStudioVersion = 10.0.40219.1
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EndProject
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|x86 = Debug|x86
Release|x64 = Release|x64
Release|x86 = Release|x86
EndGlobalSection
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{D8B2F285-EB03-4657-A0DC-603172553BEA}.Debug|x64.Build.0 = Debug|x64
{D8B2F285-EB03-4657-A0DC-603172553BEA}.Debug|x86.ActiveCfg = Debug|Win32
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{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
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{D8B2F285-EB03-4657-ACDC-603172553BEA}.Release|x64.ActiveCfg = Release|x64
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HideSolutionNode = FALSE
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9
src/examples/helloworld/HelloWorldData.idl Normal file
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module HelloWorldData
{
struct Msg
{
long userID;
string message;
};
#pragma keylist Msg userID
};

54
src/examples/helloworld/Makefile Normal file
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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

59
src/examples/helloworld/publisher.c Normal file
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#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;
}

46
src/examples/helloworld/readme.rst Normal file
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..
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

75
src/examples/helloworld/subscriber.c Normal file
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#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;
}

142
src/examples/helloworld/vs/HelloWorldPublisher.vcxproj Normal file
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
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