rework roundtrip to print 99 percentile & max and to optionally use listeners
Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson
parent
5c0bdddc2a
commit
e062da6798
2 changed files with 225 additions and 181 deletions
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@ -10,7 +10,7 @@ static dds_entity_t waitSet;
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#define MAX_SAMPLES 10
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/* Forward declarations */
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static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond);
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static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond, dds_listener_t *listener);
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static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundTripModule_DataType data[MAX_SAMPLES]);
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#ifdef _WIN32
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@ -27,21 +27,58 @@ static void CtrlHandler (int fdwCtrlType)
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}
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#endif
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static RoundTripModule_DataType data[MAX_SAMPLES];
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static void * samples[MAX_SAMPLES];
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static dds_sample_info_t info[MAX_SAMPLES];
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static dds_entity_t participant;
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static dds_entity_t reader;
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static dds_entity_t writer;
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static dds_entity_t readCond;
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static void data_available(dds_entity_t reader, void *arg)
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{
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int status, samplecount;
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(void)arg;
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samplecount = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
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DDS_ERR_CHECK (samplecount, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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for (int j = 0; !dds_triggered (waitSet) && j < samplecount; j++)
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{
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/* If writer has been disposed terminate pong */
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if (info[j].instance_state == DDS_IST_NOT_ALIVE_DISPOSED)
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{
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printf ("Received termination request. Terminating.\n");
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dds_waitset_set_trigger (waitSet, true);
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break;
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}
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else if (info[j].valid_data)
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{
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/* If sample is valid, send it back to ping */
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RoundTripModule_DataType * valid_sample = &data[j];
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status = dds_write_ts (writer, valid_sample, info[j].source_timestamp);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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}
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}
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}
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int main (int argc, char *argv[])
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{
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dds_duration_t waitTimeout = DDS_INFINITY;
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unsigned int i;
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int status, samplecount, j;
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int status;
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dds_attach_t wsresults[1];
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size_t wsresultsize = 1U;
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dds_entity_t participant;
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dds_entity_t reader;
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dds_entity_t writer;
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dds_entity_t readCond;
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RoundTripModule_DataType data[MAX_SAMPLES];
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void * samples[MAX_SAMPLES];
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dds_sample_info_t info[MAX_SAMPLES];
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dds_listener_t *listener = NULL;
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bool use_listener = false;
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int argidx = 1;
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if (argc > argidx && strcmp(argv[argidx], "-l") == 0)
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{
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argidx++;
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use_listener = true;
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}
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/* Register handler for Ctrl-C */
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@ -55,8 +92,6 @@ int main (int argc, char *argv[])
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sigaction (SIGINT, &sat, &oldAction);
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#endif
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participant = prepare_dds(&writer, &reader, &readCond);
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/* Initialize sample data */
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memset (data, 0, sizeof (data));
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for (i = 0; i < MAX_SAMPLES; i++)
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@ -64,6 +99,17 @@ int main (int argc, char *argv[])
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samples[i] = &data[i];
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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 (use_listener)
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{
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listener = dds_listener_create(NULL);
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dds_lset_data_available(listener, data_available);
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}
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(void)prepare_dds(&writer, &reader, &readCond, listener);
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while (!dds_triggered (waitSet))
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{
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/* Wait for a sample from ping */
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@ -72,25 +118,8 @@ int main (int argc, char *argv[])
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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/* Take samples */
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samplecount = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
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DDS_ERR_CHECK (samplecount, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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for (j = 0; !dds_triggered (waitSet) && j < samplecount; j++)
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{
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/* If writer has been disposed terminate pong */
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if (info[j].instance_state == DDS_IST_NOT_ALIVE_DISPOSED)
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{
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printf ("Received termination request. Terminating.\n");
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dds_waitset_set_trigger (waitSet, true);
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break;
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}
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else if (info[j].valid_data)
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{
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/* If sample is valid, send it back to ping */
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RoundTripModule_DataType * valid_sample = &data[j];
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status = dds_write (writer, valid_sample);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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}
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if (listener == NULL) {
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data_available (reader, 0);
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}
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}
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@ -108,12 +137,11 @@ int main (int argc, char *argv[])
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static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundTripModule_DataType data[MAX_SAMPLES])
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{
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dds_return_t status = dds_waitset_detach (waitSet, readCond);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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dds_return_t status;
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(void)dds_waitset_detach (waitSet, readCond);
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status = dds_waitset_detach (waitSet, waitSet);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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status = dds_delete (readCond);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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(void)dds_delete (readCond);
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status = dds_delete (waitSet);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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status = dds_delete (participant);
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@ -125,7 +153,7 @@ static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundT
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}
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}
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static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond)
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static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond, dds_listener_t *listener)
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{
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const char *pubPartitions[] = { "pong" };
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const char *subPartitions[] = { "ping" };
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@ -135,9 +163,6 @@ static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_
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dds_entity_t topic;
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dds_return_t status;
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dds_entity_t 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 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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@ -174,14 +199,18 @@ static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_
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qos = dds_qos_create ();
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dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
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*reader = dds_create_reader (subscriber, topic, qos, NULL);
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*reader = dds_create_reader (subscriber, topic, qos, listener);
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DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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dds_qos_delete (qos);
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waitSet = dds_create_waitset (participant);
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*readCond = dds_create_readcondition (*reader, DDS_ANY_STATE);
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status = dds_waitset_attach (waitSet, *readCond, *reader);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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if (listener == NULL) {
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*readCond = dds_create_readcondition (*reader, DDS_ANY_STATE);
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status = dds_waitset_attach (waitSet, *readCond, *reader);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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} else {
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*readCond = 0;
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}
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status = dds_waitset_attach (waitSet, waitSet, waitSet);
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DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
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