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* Move the project top-level CMakeLists.txt to the root of the project;
  this allows building Cyclone as part of ROS2 without any special
  tricks;

* Clean up the build options:

  ENABLE_SSL:    whether to check for and include OpenSSL support if a
                 library can be found (default = ON); this used to be
                 called DDSC_ENABLE_OPENSSL, the old name is deprecated
                 but still works
  BUILD_DOCS:    whether to build docs (default = OFF)
  BUILD_TESTING: whether to build test (default = OFF)

* Collect all documentation into top-level "docs" directory;

* Move the examples to the top-level directory;

* Remove the unused and somewhat misleading pseudo-default
  cyclonedds.xml;

* Remove unused cmake files

Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-07-26 09:43:53 +02:00 • committed by eboasson
parent 4e80559763
commit 9cf4b97f1a
102 changed files with 627 additions and 1925 deletions
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68
examples/helloworld/publisher.c Normal file
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#include "dds/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 rc;
HelloWorldData_Msg msg;
uint32_t status = 0;
(void)argc;
(void)argv;
/* Create a Participant. */
participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
if (participant < 0)
DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
/* Create a Topic. */
topic = dds_create_topic (
participant, &HelloWorldData_Msg_desc, "HelloWorldData_Msg", NULL, NULL);
if (topic < 0)
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
/* Create a Writer. */
writer = dds_create_writer (participant, topic, NULL, NULL);
if (writer < 0)
DDS_FATAL("dds_create_write: %s\n", dds_strretcode(-writer));
printf("=== [Publisher] Waiting for a reader to be discovered ...\n");
fflush (stdout);
rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
if (rc != DDS_RETCODE_OK)
DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
{
rc = dds_get_status_changes (writer, &status);
if (rc != DDS_RETCODE_OK)
DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));
/* Polling sleep. */
dds_sleepfor (DDS_MSECS (20));
}
/* Create a message to write. */
msg.userID = 1;
msg.message = "Hello World";
printf ("=== [Publisher] Writing : ");
printf ("Message (%"PRId32", %s)\n", msg.userID, msg.message);
fflush (stdout);
rc = dds_write (writer, &msg);
if (rc != DDS_RETCODE_OK)
DDS_FATAL("dds_write: %s\n", dds_strretcode(-rc));
/* Deleting the participant will delete all its children recursively as well. */
rc = dds_delete (participant);
if (rc != DDS_RETCODE_OK)
DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
return EXIT_SUCCESS;
}