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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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src/examples/roundtrip/pong.c Normal file
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#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;
}