Rearrange and fixup abstraction layer
- Replace os_result by dds_retcode_t and move DDS return code defines down. Eliminates the need to convert between different return code types. - Move dds_time_t down and remove os_time. Eliminates the need to convert between different time representations and reduces code duplication. - Remove use of Microsoft source-code annotation language (SAL). SAL annotations are Microsoft specific and not very well documented. This makes it very difficult for contributers to write. - Rearrange the abstraction layer to be feature-based. The previous layout falsely assumed that the operating system dictates which implementation is best suited. For general purpose operating systems this is mostly true, but embedded targets require a slightly different approach and may not even offer all features. The new layout makes it possible to mix-and-match feature implementations and allows for features to not be implemented at all. - Replace the os prefix by ddsrt to avoid name collisions. - Remove various portions of unused and unwanted code. - Export thread names on all supported platforms. - Return native thread identifier on POSIX compatible platforms. - Add timed wait for condition variables that takes an absolute time. - Remove system abstraction for errno. The os_getErrno and os_setErrno were incorrect. Functions that might fail now simply return a DDS return code instead. - Remove thread-specific memory abstraction. os_threadMemGet and accompanying functions were a mess and their use has been eliminated by other changes in this commit. - Replace attribute (re)defines by ddsrt_ prefixed equivalents to avoid name collisions and problems with faulty __nonnull__ attributes. Signed-off-by: Jeroen Koekkoek <jeroen@koekkoek.nl>
This commit is contained in:
Jeroen Koekkoek
parent
318968f40f
commit
cd6742ee12
439 changed files with 22117 additions and 28782 deletions
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@ -1,61 +1,66 @@
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#include "ddsc/dds.h"
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#include "dds/dds.h"
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#include "HelloWorldData.h"
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#include <stdio.h>
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#include <stdlib.h>
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int main (int argc, char ** argv)
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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 writer;
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dds_return_t ret;
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HelloWorldData_Msg msg;
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(void)argc;
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(void)argv;
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dds_entity_t participant;
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dds_entity_t topic;
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dds_entity_t writer;
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dds_return_t rc;
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HelloWorldData_Msg msg;
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uint32_t status = 0;
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(void)argc;
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(void)argv;
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/* Create a Participant. */
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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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/* Create a Participant. */
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participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
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if (participant < 0)
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DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
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/* Create a Topic. */
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topic = dds_create_topic (participant, &HelloWorldData_Msg_desc,
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"HelloWorldData_Msg", NULL, NULL);
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DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Create a Topic. */
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topic = dds_create_topic (
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participant, &HelloWorldData_Msg_desc, "HelloWorldData_Msg", NULL, NULL);
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if (topic < 0)
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DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
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/* Create a Writer. */
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writer = dds_create_writer (participant, topic, NULL, NULL);
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/* Create a Writer. */
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writer = dds_create_writer (participant, topic, NULL, NULL);
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if (writer < 0)
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DDS_FATAL("dds_create_write: %s\n", dds_strretcode(-writer));
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printf("=== [Publisher] Waiting for a reader to be discovered ...\n");
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printf("=== [Publisher] Waiting for a reader to be discovered ...\n");
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ret = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
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if (rc != DDS_RETCODE_OK)
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DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
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while(true)
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{
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uint32_t status;
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ret = dds_get_status_changes (writer, &status);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
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{
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rc = dds_get_status_changes (writer, &status);
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if (rc != DDS_RETCODE_OK)
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DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));
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if (status == DDS_PUBLICATION_MATCHED_STATUS) {
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break;
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}
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/* Polling sleep. */
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dds_sleepfor (DDS_MSECS (20));
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}
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/* Polling sleep. */
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dds_sleepfor (DDS_MSECS (20));
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}
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/* Create a message to write. */
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msg.userID = 1;
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msg.message = "Hello World";
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/* Create a message to write. */
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msg.userID = 1;
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msg.message = "Hello World";
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printf ("=== [Publisher] Writing : ");
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printf ("Message (%d, %s)\n", msg.userID, msg.message);
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printf ("=== [Publisher] Writing : ");
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printf ("Message (%d, %s)\n", msg.userID, msg.message);
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ret = dds_write (writer, &msg);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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rc = dds_write (writer, &msg);
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if (rc != DDS_RETCODE_OK)
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DDS_FATAL("dds_write: %s\n", dds_strretcode(-rc));
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/* Deleting the participant will delete all its children recursively as well. */
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ret = dds_delete (participant);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Deleting the participant will delete all its children recursively as well. */
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rc = dds_delete (participant);
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if (rc != DDS_RETCODE_OK)
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DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
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return EXIT_SUCCESS;
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return EXIT_SUCCESS;
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}
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@ -1,4 +1,4 @@
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#include "ddsc/dds.h"
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#include "dds/dds.h"
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#include "HelloWorldData.h"
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#include <stdio.h>
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#include <string.h>
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@ -9,69 +9,74 @@
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int main (int argc, char ** argv)
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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 reader;
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HelloWorldData_Msg *msg;
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void *samples[MAX_SAMPLES];
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dds_sample_info_t infos[MAX_SAMPLES];
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dds_return_t ret;
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dds_qos_t *qos;
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(void)argc;
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(void)argv;
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dds_entity_t participant;
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dds_entity_t topic;
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dds_entity_t reader;
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HelloWorldData_Msg *msg;
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void *samples[MAX_SAMPLES];
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dds_sample_info_t infos[MAX_SAMPLES];
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dds_return_t rc;
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dds_qos_t *qos;
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(void)argc;
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(void)argv;
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/* Create a Participant. */
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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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/* Create a Participant. */
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participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
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if (participant < 0)
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DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
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/* Create a Topic. */
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topic = dds_create_topic (participant, &HelloWorldData_Msg_desc,
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"HelloWorldData_Msg", NULL, NULL);
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DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Create a Topic. */
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topic = dds_create_topic (
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participant, &HelloWorldData_Msg_desc, "HelloWorldData_Msg", NULL, NULL);
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if (topic < 0)
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DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
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/* Create a reliable Reader. */
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qos = dds_create_qos ();
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dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
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reader = dds_create_reader (participant, topic, qos, NULL);
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DDS_ERR_CHECK (reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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dds_delete_qos(qos);
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/* Create a reliable Reader. */
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qos = dds_create_qos ();
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dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
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reader = dds_create_reader (participant, topic, qos, NULL);
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if (reader < 0)
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DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-reader));
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dds_delete_qos(qos);
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printf ("\n=== [Subscriber] Waiting for a sample ...\n");
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printf ("\n=== [Subscriber] Waiting for a sample ...\n");
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/* Initialize sample buffer, by pointing the void pointer within
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* the buffer array to a valid sample memory location. */
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samples[0] = HelloWorldData_Msg__alloc ();
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/* Initialize sample buffer, by pointing the void pointer within
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* the buffer array to a valid sample memory location. */
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samples[0] = HelloWorldData_Msg__alloc ();
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/* Poll until data has been read. */
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while (true)
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/* Poll until data has been read. */
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while (true)
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{
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/* Do the actual read.
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* The return value contains the number of read samples. */
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rc = dds_read (reader, samples, infos, MAX_SAMPLES, MAX_SAMPLES);
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if (rc < 0)
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DDS_FATAL("dds_read: %s\n", dds_strretcode(-rc));
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/* Check if we read some data and it is valid. */
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if ((rc > 0) && (infos[0].valid_data))
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{
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/* Do the actual read.
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* The return value contains the number of read samples. */
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ret = dds_read (reader, samples, infos, MAX_SAMPLES, MAX_SAMPLES);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Check if we read some data and it is valid. */
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if ((ret > 0) && (infos[0].valid_data))
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{
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/* Print Message. */
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msg = (HelloWorldData_Msg*) samples[0];
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printf ("=== [Subscriber] Received : ");
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printf ("Message (%d, %s)\n", msg->userID, msg->message);
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break;
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}
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else
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{
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/* Polling sleep. */
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dds_sleepfor (DDS_MSECS (20));
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}
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/* Print Message. */
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msg = (HelloWorldData_Msg*) samples[0];
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printf ("=== [Subscriber] Received : ");
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printf ("Message (%d, %s)\n", msg->userID, msg->message);
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break;
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}
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else
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{
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/* Polling sleep. */
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dds_sleepfor (DDS_MSECS (20));
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}
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}
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/* Free the data location. */
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HelloWorldData_Msg_free (samples[0], DDS_FREE_ALL);
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/* Free the data location. */
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HelloWorldData_Msg_free (samples[0], DDS_FREE_ALL);
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/* Deleting the participant will delete all its children recursively as well. */
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ret = dds_delete (participant);
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DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Deleting the participant will delete all its children recursively as well. */
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rc = dds_delete (participant);
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if (rc != DDS_RETCODE_OK)
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DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
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return EXIT_SUCCESS;
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return EXIT_SUCCESS;
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}
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@ -1,4 +1,4 @@
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#include "ddsc/dds.h"
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#include "dds/dds.h"
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#include "RoundTrip.h"
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#include <stdio.h>
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#include <stdlib.h>
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@ -158,7 +158,8 @@ static void data_available(dds_entity_t rd, void *arg)
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/* Take sample and check that it is valid */
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preTakeTime = dds_time ();
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status = dds_take (rd, samples, info, MAX_SAMPLES, MAX_SAMPLES);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (status < 0)
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DDS_FATAL("dds_take: %s\n", dds_strretcode(-status));
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postTakeTime = dds_time ();
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/* Update stats */
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@ -203,7 +204,8 @@ static void data_available(dds_entity_t rd, void *arg)
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preWriteTime = dds_time();
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status = dds_write_ts (writer, &pub_data, preWriteTime);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (status < 0)
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DDS_FATAL("dds_write_ts: %s\n", dds_strretcode(-status));
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postWriteTime = dds_time();
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}
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@ -270,7 +272,8 @@ int main (int argc, char *argv[])
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}
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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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if (participant < 0)
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DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
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if (use_listener)
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{
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@ -292,7 +295,8 @@ int main (int argc, char *argv[])
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pub_data.payload._release = true;
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pub_data.payload._maximum = 0;
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status = dds_writedispose (writer, &pub_data);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (status < 0)
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DDS_FATAL("dds_writedispose: %s\n", dds_strretcode(-status));
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dds_sleepfor (DDS_SECS (1));
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goto done;
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}
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@ -337,11 +341,14 @@ int main (int argc, char *argv[])
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while (!dds_triggered (waitSet) && difference < DDS_SECS(5))
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{
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status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (status < 0)
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DDS_FATAL("dds_waitset_wait: %s\n", dds_strretcode(-status));
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if (status > 0 && listener == NULL) /* data */
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{
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status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (status < 0)
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DDS_FATAL("dds_take: %s\n", dds_strretcode(-status));
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}
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time = dds_time ();
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@ -365,12 +372,14 @@ int main (int argc, char *argv[])
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/* Write a sample that pong can send back */
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preWriteTime = dds_time ();
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status = dds_write_ts (writer, &pub_data, preWriteTime);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (status < 0)
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DDS_FATAL("dds_write_ts: %s\n", dds_strretcode(-status));
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postWriteTime = dds_time ();
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for (i = 0; !dds_triggered (waitSet) && (!numSamples || i < numSamples); i++)
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{
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status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (status < 0)
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DDS_FATAL("dds_waitset_wait: %s\n", dds_strretcode(-status));
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if (status != 0 && listener == NULL) {
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data_available(reader, NULL);
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}
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@ -439,14 +448,16 @@ static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t
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/* A DDS_Topic is created for our sample type on the domain participant. */
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topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL);
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DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (topic < 0)
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DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
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/* A DDS_Publisher is created on the domain participant. */
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pubQos = dds_create_qos ();
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dds_qset_partition (pubQos, 1, pubPartitions);
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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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if (publisher < 0)
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DDS_FATAL("dds_create_publisher: %s\n", dds_strretcode(-publisher));
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dds_delete_qos (pubQos);
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/* A DDS_DataWriter is created on the Publisher & Topic with a modified Qos. */
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@ -454,7 +465,8 @@ static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t
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dds_qset_reliability (dwQos, DDS_RELIABILITY_RELIABLE, DDS_SECS (10));
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dds_qset_writer_data_lifecycle (dwQos, false);
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*wr = dds_create_writer (publisher, topic, dwQos, NULL);
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DDS_ERR_CHECK (*wr, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (*wr < 0)
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DDS_FATAL("dds_create_writer: %s\n", dds_strretcode(-*wr));
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dds_delete_qos (dwQos);
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/* A DDS_Subscriber is created on the domain participant. */
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@ -463,25 +475,29 @@ static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t
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dds_qset_partition (subQos, 1, subPartitions);
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subscriber = dds_create_subscriber (participant, subQos, NULL);
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DDS_ERR_CHECK (subscriber, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (subscriber < 0)
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DDS_FATAL("dds_create_subscriber: %s\n", dds_strretcode(-subscriber));
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dds_delete_qos (subQos);
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/* A DDS_DataReader is created on the Subscriber & Topic with a modified QoS. */
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drQos = dds_create_qos ();
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dds_qset_reliability (drQos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
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*rd = dds_create_reader (subscriber, topic, drQos, listener);
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DDS_ERR_CHECK (*rd, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (*rd < 0)
|
||||
DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-*rd));
|
||||
dds_delete_qos (drQos);
|
||||
|
||||
waitSet = dds_create_waitset (participant);
|
||||
if (listener == NULL) {
|
||||
*rdcond = dds_create_readcondition (*rd, DDS_ANY_STATE);
|
||||
status = dds_waitset_attach (waitSet, *rdcond, *rd);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-status));
|
||||
} else {
|
||||
*rdcond = 0;
|
||||
}
|
||||
status = dds_waitset_attach (waitSet, waitSet, waitSet);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-status));
|
||||
|
||||
return participant;
|
||||
}
|
||||
|
|
@ -490,5 +506,6 @@ static void finalize_dds(dds_entity_t ppant)
|
|||
{
|
||||
dds_return_t status;
|
||||
status = dds_delete (ppant);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_delete: %s\n", dds_strretcode(-status));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
#include "ddsc/dds.h"
|
||||
#include "dds/dds.h"
|
||||
#include "RoundTrip.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
|
@ -42,7 +42,8 @@ static void data_available(dds_entity_t rd, void *arg)
|
|||
int status, samplecount;
|
||||
(void)arg;
|
||||
samplecount = dds_take (rd, samples, info, MAX_SAMPLES, MAX_SAMPLES);
|
||||
DDS_ERR_CHECK (samplecount, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (samplecount < 0)
|
||||
DDS_FATAL("dds_take: %s\n", dds_strretcode(-samplecount));
|
||||
for (int j = 0; !dds_triggered (waitSet) && j < samplecount; j++)
|
||||
{
|
||||
/* If writer has been disposed terminate pong */
|
||||
|
|
@ -58,7 +59,8 @@ static void data_available(dds_entity_t rd, void *arg)
|
|||
/* If sample is valid, send it back to ping */
|
||||
RoundTripModule_DataType * valid_sample = &data[j];
|
||||
status = dds_write_ts (writer, valid_sample, info[j].source_timestamp);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_write_ts: %s\n", -status);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -101,7 +103,8 @@ int main (int argc, char *argv[])
|
|||
}
|
||||
|
||||
participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
|
||||
DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (participant < 0)
|
||||
DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
|
||||
|
||||
if (use_listener)
|
||||
{
|
||||
|
|
@ -116,7 +119,8 @@ int main (int argc, char *argv[])
|
|||
/* Wait for a sample from ping */
|
||||
|
||||
status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_wait: %s\n", dds_strretcode(-status));
|
||||
|
||||
/* Take samples */
|
||||
if (listener == NULL) {
|
||||
|
|
@ -140,7 +144,8 @@ static void finalize_dds(dds_entity_t pp, RoundTripModule_DataType xs[MAX_SAMPLE
|
|||
{
|
||||
dds_return_t status;
|
||||
status = dds_delete (pp);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_delete: %s\n", dds_strretcode(-status));
|
||||
for (unsigned int i = 0; i < MAX_SAMPLES; i++)
|
||||
{
|
||||
RoundTripModule_DataType_free (&xs[i], DDS_FREE_CONTENTS);
|
||||
|
|
@ -160,7 +165,8 @@ static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t
|
|||
/* 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);
|
||||
if (topic < 0)
|
||||
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
|
||||
|
||||
/* A DDS Publisher is created on the domain participant. */
|
||||
|
||||
|
|
@ -168,7 +174,8 @@ static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t
|
|||
dds_qset_partition (qos, 1, pubPartitions);
|
||||
|
||||
publisher = dds_create_publisher (participant, qos, NULL);
|
||||
DDS_ERR_CHECK (publisher, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (publisher < 0)
|
||||
DDS_FATAL("dds_create_publisher: %s\n", dds_strretcode(-publisher));
|
||||
dds_delete_qos (qos);
|
||||
|
||||
/* A DDS DataWriter is created on the Publisher & Topic with a modififed Qos. */
|
||||
|
|
@ -177,7 +184,8 @@ static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t
|
|||
dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
|
||||
dds_qset_writer_data_lifecycle (qos, false);
|
||||
*wr = dds_create_writer (publisher, topic, qos, NULL);
|
||||
DDS_ERR_CHECK (*wr, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (*wr < 0)
|
||||
DDS_FATAL("dds_create_writer: %s\n", dds_strretcode(-*wr));
|
||||
dds_delete_qos (qos);
|
||||
|
||||
/* A DDS Subscriber is created on the domain participant. */
|
||||
|
|
@ -186,7 +194,8 @@ static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t
|
|||
dds_qset_partition (qos, 1, subPartitions);
|
||||
|
||||
subscriber = dds_create_subscriber (participant, qos, NULL);
|
||||
DDS_ERR_CHECK (subscriber, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (subscriber < 0)
|
||||
DDS_FATAL("dds_create_subscriber: %s\n", dds_strretcode(-subscriber));
|
||||
dds_delete_qos (qos);
|
||||
|
||||
/* A DDS DataReader is created on the Subscriber & Topic with a modified QoS. */
|
||||
|
|
@ -194,19 +203,22 @@ static dds_entity_t prepare_dds(dds_entity_t *wr, dds_entity_t *rd, dds_entity_t
|
|||
qos = dds_create_qos ();
|
||||
dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
|
||||
*rd = dds_create_reader (subscriber, topic, qos, rdlist);
|
||||
DDS_ERR_CHECK (*rd, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (*rd < 0)
|
||||
DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-*rd));
|
||||
dds_delete_qos (qos);
|
||||
|
||||
waitSet = dds_create_waitset (participant);
|
||||
if (rdlist == NULL) {
|
||||
*rdcond = dds_create_readcondition (*rd, DDS_ANY_STATE);
|
||||
status = dds_waitset_attach (waitSet, *rdcond, *rd);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-status));
|
||||
} else {
|
||||
*rdcond = 0;
|
||||
}
|
||||
status = dds_waitset_attach (waitSet, waitSet, waitSet);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-status));
|
||||
|
||||
printf ("Waiting for samples from ping to send back...\n");
|
||||
fflush (stdout);
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
#include "ddsc/dds.h"
|
||||
#include "dds/dds.h"
|
||||
#include "Throughput.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
|
@ -44,6 +44,7 @@ int main (int argc, char **argv)
|
|||
char * partitionName = "Throughput example";
|
||||
dds_entity_t participant;
|
||||
dds_entity_t writer;
|
||||
dds_return_t rc;
|
||||
ThroughputModule_DataType sample;
|
||||
|
||||
#if !defined(_WIN32)
|
||||
|
|
@ -59,7 +60,9 @@ int main (int argc, char **argv)
|
|||
/* 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);
|
||||
rc = dds_delete (participant);
|
||||
if (rc < 0)
|
||||
DDS_FATAL("dds_delete: %s\n", dds_strretcode(-rc));
|
||||
return EXIT_FAILURE;
|
||||
}
|
||||
|
||||
|
|
@ -143,18 +146,21 @@ static dds_entity_t prepare_dds(dds_entity_t *writer, const char *partitionName)
|
|||
|
||||
/* 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);
|
||||
if (participant < 0)
|
||||
DDS_FATAL("dds_create_participant: %s\n", dds_strretcode(-participant));
|
||||
|
||||
/* 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);
|
||||
if (topic < 0)
|
||||
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
|
||||
|
||||
/* A publisher is created on the domain participant. */
|
||||
pubQos = dds_create_qos ();
|
||||
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);
|
||||
if (publisher < 0)
|
||||
DDS_FATAL("dds_create_publisher: %s\n", dds_strretcode(-publisher));
|
||||
dds_delete_qos (pubQos);
|
||||
|
||||
/* A DataWriter is created on the publisher. */
|
||||
|
|
@ -163,7 +169,8 @@ static dds_entity_t prepare_dds(dds_entity_t *writer, const char *partitionName)
|
|||
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);
|
||||
if (*writer < 0)
|
||||
DDS_FATAL("dds_create_writer: %s\n", dds_strretcode(-*writer));
|
||||
dds_delete_qos (dwQos);
|
||||
|
||||
/* Enable write batching */
|
||||
|
|
@ -176,22 +183,26 @@ static dds_return_t wait_for_reader(dds_entity_t writer, dds_entity_t participan
|
|||
{
|
||||
printf ("\n=== [Publisher] Waiting for a reader ...\n");
|
||||
|
||||
dds_return_t ret;
|
||||
dds_return_t rc;
|
||||
dds_entity_t waitset;
|
||||
|
||||
ret = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
|
||||
DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
|
||||
if (rc < 0)
|
||||
DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
|
||||
|
||||
waitset = dds_create_waitset(participant);
|
||||
DDS_ERR_CHECK (waitset, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (waitset < 0)
|
||||
DDS_FATAL("dds_create_waitset: %s\n", dds_strretcode(-waitset));
|
||||
|
||||
ret = dds_waitset_attach(waitset, writer, (dds_attach_t)NULL);
|
||||
DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
rc = dds_waitset_attach(waitset, writer, (dds_attach_t)NULL);
|
||||
if (rc < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-rc));
|
||||
|
||||
ret = dds_waitset_wait(waitset, NULL, 0, DDS_SECS(30));
|
||||
DDS_ERR_CHECK (ret, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
rc = dds_waitset_wait(waitset, NULL, 0, DDS_SECS(30));
|
||||
if (rc < 0)
|
||||
DDS_FATAL("dds_waitset_wait: %s\n", dds_strretcode(-rc));
|
||||
|
||||
return ret;
|
||||
return rc;
|
||||
}
|
||||
|
||||
static void start_writing(
|
||||
|
|
@ -225,9 +236,12 @@ static void start_writing(
|
|||
{
|
||||
timedOut = true;
|
||||
}
|
||||
else if (status < 0)
|
||||
{
|
||||
DDS_FATAL("dds_write: %s\n", dds_strretcode(-status));
|
||||
}
|
||||
else
|
||||
{
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
sample->count++;
|
||||
burstCount++;
|
||||
}
|
||||
|
|
@ -277,12 +291,11 @@ static void start_writing(
|
|||
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);
|
||||
}
|
||||
if (dds_err_nr (status) != DDS_RETCODE_TIMEOUT && status < 0)
|
||||
DDS_FATAL("dds_dispose: %s\n", dds_strretcode(-status));
|
||||
|
||||
dds_free (sample.payload._buffer);
|
||||
status = dds_delete (participant);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_delete: %s\n", dds_strretcode(-status));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
#include "ddsc/dds.h"
|
||||
#include "dds/dds.h"
|
||||
#include "Throughput.h"
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
|
|
@ -168,7 +168,8 @@ static int do_take (dds_entity_t reader)
|
|||
/* 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);
|
||||
if (samples_received < 0)
|
||||
DDS_FATAL("dds_take: %s\n", dds_strretcode(-samples_received));
|
||||
|
||||
for (int i = 0; !done && i < samples_received; i++)
|
||||
{
|
||||
|
|
@ -256,7 +257,8 @@ static void process_samples(dds_entity_t reader, unsigned long long maxCycles)
|
|||
else
|
||||
{
|
||||
status = dds_waitset_wait (waitSet, wsresults, sizeof(wsresults)/sizeof(wsresults[0]), DDS_MSECS(100));
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_wait: %s\n", dds_strretcode(-status));
|
||||
}
|
||||
|
||||
if (pollingDelay >= 0)
|
||||
|
|
@ -316,19 +318,22 @@ static dds_entity_t prepare_dds(dds_entity_t *reader, const char *partitionName)
|
|||
/* 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);
|
||||
if (participant < 0)
|
||||
DDS_FATAL("dds_create_particpant: %s\n", dds_strretcode(-participant));
|
||||
|
||||
/* 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);
|
||||
if (topic < 0)
|
||||
DDS_FATAL("dds_create_topic: %s\n", dds_strretcode(-topic));
|
||||
|
||||
/* 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);
|
||||
if (subscriber < 0)
|
||||
DDS_FATAL("dds_create_subscriber: %s\n", dds_strretcode(-subscriber));
|
||||
dds_delete_qos (subQos);
|
||||
|
||||
/* A Reader is created on the Subscriber & Topic with a modified Qos. */
|
||||
|
|
@ -342,10 +347,12 @@ static dds_entity_t prepare_dds(dds_entity_t *reader, const char *partitionName)
|
|||
|
||||
/* 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);
|
||||
if (waitSet < 0)
|
||||
DDS_FATAL("dds_create_waitset: %s\n", dds_strretcode(-waitSet));
|
||||
|
||||
status = dds_waitset_attach (waitSet, waitSet, waitSet);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-status));
|
||||
|
||||
imap = HandleMap__alloc ();
|
||||
|
||||
|
|
@ -356,12 +363,14 @@ static dds_entity_t prepare_dds(dds_entity_t *reader, const char *partitionName)
|
|||
}
|
||||
|
||||
*reader = dds_create_reader (subscriber, topic, drQos, pollingDelay < 0 ? rd_listener : NULL);
|
||||
DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (*reader < 0)
|
||||
DDS_FATAL("dds_create_reader: %s\n", dds_strretcode(-*reader));
|
||||
|
||||
if (pollingDelay == 0)
|
||||
{
|
||||
status = dds_waitset_attach (waitSet, *reader, *reader);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_attach: %s\n", dds_strretcode(-status));
|
||||
}
|
||||
|
||||
dds_delete_qos (drQos);
|
||||
|
|
@ -380,9 +389,12 @@ static void finalize_dds(dds_entity_t participant)
|
|||
}
|
||||
|
||||
status = dds_waitset_detach (waitSet, waitSet);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_waitset_detach: %s\n", dds_strretcode(-status));
|
||||
status = dds_delete (waitSet);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_delete: %s\n", dds_strretcode(-status));
|
||||
status = dds_delete (participant);
|
||||
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
|
||||
if (status < 0)
|
||||
DDS_FATAL("dds_delete: %s\n", dds_strretcode(-status));
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue