stricter warning checks and the corresponding fixes
Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson
eboasson
parent
87e4780446
commit
b7487b18a6
101 changed files with 1756 additions and 1615 deletions
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@ -1,308 +1,309 @@
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#include "ddsc/dds.h"
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#include "Throughput.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <signal.h>
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/*
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* The Throughput example measures data throughput in bytes per second. The publisher
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* allows you to specify a payload size in bytes as well as allowing you to specify
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* whether to send data in bursts. The publisher will continue to send data forever
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* unless a time out is specified. The subscriber will receive data and output the
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* total amount received and the data rate in bytes per second. It will also indicate
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* if any samples were received out of order. A maximum number of cycles can be
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* specified and once this has been reached the subscriber will terminate and output
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* totals and averages.
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*/
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#define MAX_SAMPLES 100
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static bool done = false;
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/* Forward declarations */
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static dds_return_t wait_for_reader(dds_entity_t writer, dds_entity_t participant);
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static void start_writing(dds_entity_t writer, ThroughputModule_DataType *sample,
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unsigned int burstInterval, unsigned int burstSize, unsigned int timeOut);
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static int parse_args(int argc, char **argv, uint32_t *payloadSize, unsigned int *burstInterval,
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unsigned int *burstSize, unsigned int *timeOut, char **partitionName);
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static dds_entity_t prepare_dds(dds_entity_t *writer, const char *partitionName);
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static void finalize_dds(dds_entity_t participant, dds_entity_t writer, ThroughputModule_DataType sample);
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/* Functions to handle Ctrl-C presses. */
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#ifdef _WIN32
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#include <Windows.h>
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static int CtrlHandler (DWORD fdwCtrlType)
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{
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done = true;
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return true; /* Don't let other handlers handle this key */
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}
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#else
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struct sigaction oldAction;
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static void CtrlHandler (int fdwCtrlType)
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{
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done = true;
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}
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#endif
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int main (int argc, char **argv)
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{
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uint32_t payloadSize = 8192;
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unsigned int burstInterval = 0;
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unsigned int burstSize = 1;
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unsigned int timeOut = 0;
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char * partitionName = "Throughput example";
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dds_entity_t participant;
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dds_entity_t writer;
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ThroughputModule_DataType sample;
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/* Register handler for Ctrl-C */
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#ifdef _WIN32
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SetConsoleCtrlHandler ((PHANDLER_ROUTINE) CtrlHandler, true);
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#else
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struct sigaction sat;
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sat.sa_handler = CtrlHandler;
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sigemptyset (&sat.sa_mask);
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sat.sa_flags = 0;
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sigaction (SIGINT, &sat, &oldAction);
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#endif
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if (parse_args(argc, argv, &payloadSize, &burstInterval, &burstSize, &timeOut, &partitionName) == EXIT_FAILURE) {
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return EXIT_FAILURE;
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}
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participant = prepare_dds(&writer, partitionName);
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/* Wait until have a reader */
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if (wait_for_reader(writer, participant) == 0) {
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printf ("=== [Publisher] Did not discover a reader.\n");
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DDS_ERR_CHECK (dds_delete (participant), DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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return EXIT_FAILURE;
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}
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/* Fill the sample payload with data */
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sample.count = 0;
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sample.payload._buffer = dds_alloc (payloadSize);
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sample.payload._length = payloadSize;
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sample.payload._release = true;
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for (uint32_t i = 0; i < payloadSize; i++) {
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sample.payload._buffer[i] = 'a';
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}
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/* Register the sample instance and write samples repeatedly or until time out */
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start_writing(writer, &sample, burstInterval, burstSize, timeOut);
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#ifdef _WIN32
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SetConsoleCtrlHandler (0, false);
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#else
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sigaction (SIGINT, &oldAction, 0);
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#endif
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/* Cleanup */
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finalize_dds(participant, writer, sample);
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return EXIT_SUCCESS;
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}
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static int parse_args(
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int argc,
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char **argv,
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uint32_t *payloadSize,
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unsigned int *burstInterval,
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unsigned int *burstSize,
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unsigned int *timeOut,
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char **partitionName)
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{
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int result = EXIT_SUCCESS;
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/*
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* Get the program parameters
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* Parameters: publisher [payloadSize] [burstInterval] [burstSize] [timeOut] [partitionName]
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*/
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if (argc == 2 && (strcmp (argv[1], "-h") == 0 || strcmp (argv[1], "--help") == 0))
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{
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printf ("Usage (parameters must be supplied in order):\n");
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printf ("./publisher [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]\n");
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printf ("Defaults:\n");
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printf ("./publisher 8192 0 1 0 \"Throughput example\"\n");
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return EXIT_FAILURE;
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}
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if (argc > 1)
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{
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*payloadSize = atoi (argv[1]); /* The size of the payload in bytes */
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}
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if (argc > 2)
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{
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*burstInterval = atoi (argv[2]); /* The time interval between each burst in ms */
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}
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if (argc > 3)
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{
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*burstSize = atoi (argv[3]); /* The number of samples to send each burst */
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}
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if (argc > 4)
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{
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*timeOut = atoi (argv[4]); /* The number of seconds the publisher should run for (0 = infinite) */
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}
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if (argc > 5)
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{
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*partitionName = argv[5]; /* The name of the partition */
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}
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printf ("payloadSize: %u bytes burstInterval: %u ms burstSize: %u timeOut: %u seconds partitionName: %s\n",
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*payloadSize, *burstInterval, *burstSize, *timeOut, *partitionName);
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return result;
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}
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static dds_entity_t prepare_dds(dds_entity_t *writer, const char *partitionName)
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{
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dds_entity_t participant;
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dds_entity_t topic;
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dds_entity_t publisher;
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const char *pubParts[1];
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dds_qos_t *pubQos;
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dds_qos_t *dwQos;
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/* A domain participant is created for the default domain. */
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participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
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DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* A topic is created for our sample type on the domain participant. */
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topic = dds_create_topic (participant, &ThroughputModule_DataType_desc, "Throughput", NULL, NULL);
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DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* A publisher is created on the domain participant. */
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pubQos = dds_qos_create ();
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pubParts[0] = partitionName;
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dds_qset_partition (pubQos, 1, pubParts);
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publisher = dds_create_publisher (participant, pubQos, NULL);
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DDS_ERR_CHECK (publisher, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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dds_qos_delete (pubQos);
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/* A DataWriter is created on the publisher. */
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dwQos = dds_qos_create ();
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dds_qset_reliability (dwQos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
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dds_qset_history (dwQos, DDS_HISTORY_KEEP_ALL, 0);
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dds_qset_resource_limits (dwQos, MAX_SAMPLES, DDS_LENGTH_UNLIMITED, DDS_LENGTH_UNLIMITED);
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*writer = dds_create_writer (publisher, topic, dwQos, NULL);
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DDS_ERR_CHECK (*writer, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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dds_qos_delete (dwQos);
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/* Enable write batching */
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dds_write_set_batch (true);
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return participant;
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}
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static dds_return_t wait_for_reader(dds_entity_t writer, dds_entity_t participant)
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{
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printf ("\n=== [Publisher] Waiting for a reader ...\n");
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dds_return_t ret;
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dds_entity_t waitset;
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ret = dds_set_enabled_status(writer, DDS_PUBLICATION_MATCHED_STATUS);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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waitset = dds_create_waitset(participant);
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DDS_ERR_CHECK (waitset, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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ret = dds_waitset_attach(waitset, writer, (dds_attach_t)NULL);
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DDS_ERR_CHECK (waitset, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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ret = dds_waitset_wait(waitset, NULL, 0, DDS_SECS(30));
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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return ret;
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}
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static void start_writing(
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dds_entity_t writer,
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ThroughputModule_DataType *sample,
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unsigned int burstInterval,
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unsigned int burstSize,
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unsigned int timeOut)
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{
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bool timedOut = false;
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dds_time_t pubStart = dds_time ();
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dds_time_t now;
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dds_time_t deltaTv;
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dds_return_t status;
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if (!done)
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{
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dds_time_t burstStart = pubStart;
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unsigned int burstCount = 0;
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printf ("=== [Publisher] Writing samples...\n");
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while (!done && !timedOut)
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{
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/* Write data until burst size has been reached */
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if (burstCount < burstSize)
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{
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status = dds_write (writer, sample);
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if (dds_err_nr(status) == DDS_RETCODE_TIMEOUT)
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{
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timedOut = true;
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}
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else
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{
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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sample->count++;
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burstCount++;
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}
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}
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else if (burstInterval)
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{
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/* Sleep until burst interval has passed */
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dds_time_t time = dds_time ();
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deltaTv = time - burstStart;
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if (deltaTv < DDS_MSECS (burstInterval))
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{
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dds_write_flush (writer);
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dds_sleepfor (DDS_MSECS (burstInterval) - deltaTv);
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}
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burstStart = dds_time ();
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burstCount = 0;
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}
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else
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{
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burstCount = 0;
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}
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if (timeOut)
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{
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now = dds_time ();
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deltaTv = now - pubStart;
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if ((deltaTv) > DDS_SECS (timeOut))
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{
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timedOut = true;
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}
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}
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}
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dds_write_flush (writer);
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if (done)
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{
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printf ("=== [Publisher] Terminated, %llu samples written.\n", (unsigned long long) sample->count);
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}
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else
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{
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printf ("=== [Publisher] Timed out, %llu samples written.\n", (unsigned long long) sample->count);
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}
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}
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}
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static void finalize_dds(dds_entity_t participant, dds_entity_t writer, ThroughputModule_DataType sample)
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{
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dds_return_t status = dds_dispose (writer, &sample);
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if (dds_err_nr (status) != DDS_RETCODE_TIMEOUT)
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{
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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}
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dds_free (sample.payload._buffer);
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status = dds_delete (participant);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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}
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#include "ddsc/dds.h"
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#include "Throughput.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <signal.h>
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/*
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* The Throughput example measures data throughput in bytes per second. The publisher
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* allows you to specify a payload size in bytes as well as allowing you to specify
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* whether to send data in bursts. The publisher will continue to send data forever
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* unless a time out is specified. The subscriber will receive data and output the
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* total amount received and the data rate in bytes per second. It will also indicate
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* if any samples were received out of order. A maximum number of cycles can be
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* specified and once this has been reached the subscriber will terminate and output
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* totals and averages.
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*/
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#define MAX_SAMPLES 100
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static bool done = false;
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/* Forward declarations */
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static dds_return_t wait_for_reader(dds_entity_t writer, dds_entity_t participant);
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static void start_writing(dds_entity_t writer, ThroughputModule_DataType *sample,
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int burstInterval, uint32_t burstSize, int timeOut);
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static int parse_args(int argc, char **argv, uint32_t *payloadSize, int *burstInterval,
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uint32_t *burstSize, int *timeOut, char **partitionName);
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static dds_entity_t prepare_dds(dds_entity_t *writer, const char *partitionName);
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static void finalize_dds(dds_entity_t participant, dds_entity_t writer, ThroughputModule_DataType sample);
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/* Functions to handle Ctrl-C presses. */
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#ifdef _WIN32
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#include <Windows.h>
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static int CtrlHandler (DWORD fdwCtrlType)
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{
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done = true;
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return true; /* Don't let other handlers handle this key */
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}
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#else
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struct sigaction oldAction;
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static void CtrlHandler (int sig)
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{
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(void)sig;
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done = true;
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}
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#endif
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int main (int argc, char **argv)
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{
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uint32_t payloadSize = 8192;
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int burstInterval = 0;
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uint32_t burstSize = 1;
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int timeOut = 0;
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char * partitionName = "Throughput example";
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dds_entity_t participant;
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dds_entity_t writer;
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ThroughputModule_DataType sample;
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/* Register handler for Ctrl-C */
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#ifdef _WIN32
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SetConsoleCtrlHandler ((PHANDLER_ROUTINE) CtrlHandler, true);
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#else
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struct sigaction sat;
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sat.sa_handler = CtrlHandler;
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sigemptyset (&sat.sa_mask);
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sat.sa_flags = 0;
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sigaction (SIGINT, &sat, &oldAction);
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#endif
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if (parse_args(argc, argv, &payloadSize, &burstInterval, &burstSize, &timeOut, &partitionName) == EXIT_FAILURE) {
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return EXIT_FAILURE;
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}
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participant = prepare_dds(&writer, partitionName);
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/* Wait until have a reader */
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if (wait_for_reader(writer, participant) == 0) {
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printf ("=== [Publisher] Did not discover a reader.\n");
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DDS_ERR_CHECK (dds_delete (participant), DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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return EXIT_FAILURE;
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}
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/* Fill the sample payload with data */
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sample.count = 0;
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sample.payload._buffer = dds_alloc (payloadSize);
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sample.payload._length = payloadSize;
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sample.payload._release = true;
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for (uint32_t i = 0; i < payloadSize; i++) {
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sample.payload._buffer[i] = 'a';
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}
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/* Register the sample instance and write samples repeatedly or until time out */
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start_writing(writer, &sample, burstInterval, burstSize, timeOut);
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#ifdef _WIN32
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SetConsoleCtrlHandler (0, false);
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#else
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sigaction (SIGINT, &oldAction, 0);
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#endif
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/* Cleanup */
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finalize_dds(participant, writer, sample);
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return EXIT_SUCCESS;
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}
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static int parse_args(
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int argc,
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char **argv,
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uint32_t *payloadSize,
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int *burstInterval,
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uint32_t *burstSize,
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int *timeOut,
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char **partitionName)
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{
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int result = EXIT_SUCCESS;
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/*
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* Get the program parameters
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* Parameters: publisher [payloadSize] [burstInterval] [burstSize] [timeOut] [partitionName]
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*/
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if (argc == 2 && (strcmp (argv[1], "-h") == 0 || strcmp (argv[1], "--help") == 0))
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{
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printf ("Usage (parameters must be supplied in order):\n");
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printf ("./publisher [payloadSize (bytes)] [burstInterval (ms)] [burstSize (samples)] [timeOut (seconds)] [partitionName]\n");
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printf ("Defaults:\n");
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printf ("./publisher 8192 0 1 0 \"Throughput example\"\n");
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return EXIT_FAILURE;
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}
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if (argc > 1)
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{
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*payloadSize = (uint32_t) atoi (argv[1]); /* The size of the payload in bytes */
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}
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if (argc > 2)
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{
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*burstInterval = atoi (argv[2]); /* The time interval between each burst in ms */
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}
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if (argc > 3)
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{
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*burstSize = (uint32_t) atoi (argv[3]); /* The number of samples to send each burst */
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}
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if (argc > 4)
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{
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*timeOut = atoi (argv[4]); /* The number of seconds the publisher should run for (0 = infinite) */
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}
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if (argc > 5)
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{
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*partitionName = argv[5]; /* The name of the partition */
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}
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printf ("payloadSize: %u bytes burstInterval: %u ms burstSize: %u timeOut: %u seconds partitionName: %s\n",
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*payloadSize, *burstInterval, *burstSize, *timeOut, *partitionName);
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return result;
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}
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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,
|
||||
int burstInterval,
|
||||
uint32_t burstSize,
|
||||
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);
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue