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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@ -1,4 +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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