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Rearrange and fixup abstraction layer

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- 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 2019-01-18 14:10:19 +01:00
parent 318968f40f
commit cd6742ee12
439 changed files with 22117 additions and 28782 deletions
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55
src/examples/throughput/publisher.c
View file

@ -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));
}