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rework roundtrip to print 99 percentile & max and to optionally use listeners

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Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2018-08-03 10:33:40 +02:00
parent 5c0bdddc2a
commit e062da6798
2 changed files with 225 additions and 181 deletions
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293
src/examples/roundtrip/ping.c
View file

@ -12,7 +12,7 @@
/* Forward declaration */ /* Forward declaration */
static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond); static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond, dds_listener_t *listener);
static void finalize_dds(dds_entity_t participant, dds_entity_t reader, dds_entity_t readCond); static void finalize_dds(dds_entity_t participant, dds_entity_t reader, dds_entity_t readCond);
typedef struct ExampleTimeStats typedef struct ExampleTimeStats
@ -101,6 +101,12 @@ static double exampleGetMedianFromTimeStats (ExampleTimeStats *stats)
return median; return median;
} }
static dds_time_t exampleGet99PercentileFromTimeStats (ExampleTimeStats *stats)
{
qsort (stats->values, stats->valuesSize, sizeof (dds_time_t), exampleCompareul);
return stats->values[stats->valuesSize - stats->valuesSize / 100];
}
static dds_entity_t waitSet; static dds_entity_t waitSet;
#ifdef _WIN32 #ifdef _WIN32
@ -117,44 +123,124 @@ static void CtrlHandler (int fdwCtrlType)
} }
#endif #endif
static dds_entity_t writer;
static dds_entity_t reader;
static dds_entity_t participant;
static dds_entity_t readCond;
static ExampleTimeStats roundTrip;
static ExampleTimeStats writeAccess;
static ExampleTimeStats readAccess;
static ExampleTimeStats roundTripOverall;
static ExampleTimeStats writeAccessOverall;
static ExampleTimeStats readAccessOverall;
static RoundTripModule_DataType pub_data;
static RoundTripModule_DataType sub_data[MAX_SAMPLES];
static void *samples[MAX_SAMPLES];
static dds_sample_info_t info[MAX_SAMPLES];
static dds_time_t startTime;
static dds_time_t preWriteTime;
static dds_time_t postWriteTime;
static dds_time_t preTakeTime;
static dds_time_t postTakeTime;
static dds_time_t elapsed = 0;
static bool warmUp = true;
static void data_available(dds_entity_t reader, void *arg)
{
dds_time_t difference = 0;
int status;
(void)arg;
/* Take sample and check that it is valid */
preTakeTime = dds_time ();
status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
postTakeTime = dds_time ();
/* Update stats */
difference = (postWriteTime - preWriteTime)/DDS_NSECS_IN_USEC;
writeAccess = *exampleAddTimingToTimeStats (&writeAccess, difference);
writeAccessOverall = *exampleAddTimingToTimeStats (&writeAccessOverall, difference);
difference = (postTakeTime - preTakeTime)/DDS_NSECS_IN_USEC;
readAccess = *exampleAddTimingToTimeStats (&readAccess, difference);
readAccessOverall = *exampleAddTimingToTimeStats (&readAccessOverall, difference);
difference = (postTakeTime - info[0].source_timestamp)/DDS_NSECS_IN_USEC;
roundTrip = *exampleAddTimingToTimeStats (&roundTrip, difference);
roundTripOverall = *exampleAddTimingToTimeStats (&roundTripOverall, difference);
if (!warmUp) {
/* Print stats each second */
difference = (postTakeTime - startTime)/DDS_NSECS_IN_USEC;
if (difference > US_IN_ONE_SEC)
{
printf("%9" PRIi64 " %9lu %8.0f %8" PRIi64 " %8" PRIi64 " %8" PRIi64 " %10lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 "\n",
elapsed + 1,
roundTrip.count,
exampleGetMedianFromTimeStats (&roundTrip),
roundTrip.min,
exampleGet99PercentileFromTimeStats (&roundTrip),
roundTrip.max,
writeAccess.count,
exampleGetMedianFromTimeStats (&writeAccess),
writeAccess.min,
readAccess.count,
exampleGetMedianFromTimeStats (&readAccess),
readAccess.min);
exampleResetTimeStats (&roundTrip);
exampleResetTimeStats (&writeAccess);
exampleResetTimeStats (&readAccess);
startTime = dds_time ();
elapsed++;
}
}
preWriteTime = dds_time();
status = dds_write_ts (writer, &pub_data, preWriteTime);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
postWriteTime = dds_time();
}
static void usage(void)
{
printf ("Usage (parameters must be supplied in order):\n"
"./ping [-l] [payloadSize (bytes, 0 - 100M)] [numSamples (0 = infinite)] [timeOut (seconds, 0 = infinite)]\n"
"./ping quit - ping sends a quit signal to pong.\n"
"Defaults:\n"
"./ping 0 0 0\n");
exit(EXIT_FAILURE);
}
int main (int argc, char *argv[]) int main (int argc, char *argv[])
{ {
dds_entity_t writer;
dds_entity_t reader;
dds_entity_t participant;
dds_entity_t readCond;
ExampleTimeStats roundTrip;
ExampleTimeStats writeAccess;
ExampleTimeStats readAccess;
ExampleTimeStats roundTripOverall;
ExampleTimeStats writeAccessOverall;
ExampleTimeStats readAccessOverall;
unsigned long payloadSize = 0; unsigned long payloadSize = 0;
unsigned long long numSamples = 0; unsigned long long numSamples = 0;
bool invalidargs = false; bool invalidargs = false;
dds_time_t timeOut = 0; dds_time_t timeOut = 0;
dds_time_t startTime;
dds_time_t time; dds_time_t time;
dds_time_t preWriteTime;
dds_time_t postWriteTime;
dds_time_t preTakeTime;
dds_time_t postTakeTime;
dds_time_t difference = 0; dds_time_t difference = 0;
dds_time_t elapsed = 0;
RoundTripModule_DataType pub_data;
RoundTripModule_DataType sub_data[MAX_SAMPLES];
void *samples[MAX_SAMPLES];
dds_sample_info_t info[MAX_SAMPLES];
dds_attach_t wsresults[1]; dds_attach_t wsresults[1];
size_t wsresultsize = 1U; size_t wsresultsize = 1U;
dds_time_t waitTimeout = DDS_SECS (1); dds_time_t waitTimeout = DDS_SECS (1);
unsigned long i; unsigned long i;
int status; int status;
bool warmUp = true;
dds_listener_t *listener = NULL;
bool use_listener = false;
int argidx = 1;
/* poor man's getopt works even on Windows */
if (argc > argidx && strcmp(argv[argidx], "-l") == 0)
{
argidx++;
use_listener = true;
}
/* Register handler for Ctrl-C */ /* Register handler for Ctrl-C */
#ifdef _WIN32 #ifdef _WIN32
@ -182,11 +268,17 @@ int main (int argc, char *argv[])
samples[i] = &sub_data[i]; samples[i] = &sub_data[i];
} }
participant = prepare_dds(&writer, &reader, &readCond); participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
listener = dds_listener_create(NULL);
dds_lset_data_available(listener, data_available);
prepare_dds(&writer, &reader, &readCond, listener);
setvbuf(stdout, NULL, _IONBF, 0); setvbuf(stdout, NULL, _IONBF, 0);
if (argc == 2 && strcmp (argv[1], "quit") == 0) if (argc - argidx == 1 && strcmp (argv[argidx], "quit") == 0)
{ {
printf ("Sending termination request.\n"); printf ("Sending termination request.\n");
/* pong uses a waitset which is triggered by instance disposal, and /* pong uses a waitset which is triggered by instance disposal, and
@ -202,36 +294,29 @@ int main (int argc, char *argv[])
goto done; goto done;
} }
if (argc == 1) if (argc - argidx == 0)
{ {
invalidargs = true; invalidargs = true;
} }
if (argc >= 2) if (argc - argidx >= 1)
{ {
payloadSize = atol (argv[1]); payloadSize = atol (argv[argidx]);
if (payloadSize > 65536) if (payloadSize > 100 * 1048576)
{ {
invalidargs = true; invalidargs = true;
} }
} }
if (argc >= 3) if (argc - argidx >= 2)
{ {
numSamples = atol (argv[2]); numSamples = atol (argv[argidx+1]);
} }
if (argc >= 4) if (argc - argidx >= 3)
{ {
timeOut = atol (argv[3]); timeOut = atol (argv[argidx+2]);
}
if (invalidargs || (argc == 2 && (strcmp (argv[1], "-h") == 0 || strcmp (argv[1], "--help") == 0)))
{
printf ("Usage (parameters must be supplied in order):\n"
"./ping [payloadSize (bytes, 0 - 65536)] [numSamples (0 = infinite)] [timeOut (seconds, 0 = infinite)]\n"
"./ping quit - ping sends a quit signal to pong.\n"
"Defaults:\n"
"./ping 0 0 0\n");
return EXIT_FAILURE;
} }
if (invalidargs || (argc - argidx == 1 && (strcmp (argv[argidx], "-h") == 0 || strcmp (argv[argidx], "--help") == 0)))
usage();
printf ("# payloadSize: %lu | numSamples: %llu | timeOut: %" PRIi64 "\n\n", payloadSize, numSamples, timeOut); printf ("# payloadSize: %lu | numSamples: %llu | timeOut: %" PRIi64 "\n\n", payloadSize, numSamples, timeOut);
pub_data.payload._length = payloadSize; pub_data.payload._length = payloadSize;
@ -245,13 +330,12 @@ int main (int argc, char *argv[])
startTime = dds_time (); startTime = dds_time ();
printf ("# Waiting for startup jitter to stabilise\n"); printf ("# Waiting for startup jitter to stabilise\n");
/* Write a sample that pong can send back */
while (!dds_triggered (waitSet) && difference < DDS_SECS(5)) while (!dds_triggered (waitSet) && difference < DDS_SECS(5))
{ {
status = dds_write (writer, &pub_data);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout); status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
if (status > 0) /* data */ if (status > 0 && listener == NULL) /* data */
{ {
status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES); status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
@ -266,93 +350,26 @@ int main (int argc, char *argv[])
printf("# Warm up complete.\n\n"); printf("# Warm up complete.\n\n");
printf("# Round trip measurements (in us)\n"); printf("# Round trip measurements (in us)\n");
printf("# Round trip time [us] Write-access time [us] Read-access time [us]\n"); printf("# Round trip time [us] Write-access time [us] Read-access time [us]\n");
printf("# Seconds Count median min Count median min Count median min\n"); printf("# Seconds Count median min 99%% max Count median min Count median min\n");
} }
exampleResetTimeStats (&roundTrip);
exampleResetTimeStats (&writeAccess);
exampleResetTimeStats (&readAccess);
startTime = dds_time (); startTime = dds_time ();
/* Write a sample that pong can send back */
preWriteTime = dds_time ();
status = dds_write_ts (writer, &pub_data, preWriteTime);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
postWriteTime = dds_time ();
for (i = 0; !dds_triggered (waitSet) && (!numSamples || i < numSamples); i++) for (i = 0; !dds_triggered (waitSet) && (!numSamples || i < numSamples); i++)
{ {
/* Write a sample that pong can send back */
preWriteTime = dds_time ();
status = dds_write (writer, &pub_data);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
postWriteTime = dds_time ();
/* Wait for response from pong */
status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout); status = dds_waitset_wait (waitSet, wsresults, wsresultsize, waitTimeout);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
if (status != 0) if (status != 0 && listener == NULL) {
{ data_available(reader, NULL);
/* Take sample and check that it is valid */
preTakeTime = dds_time ();
status = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
postTakeTime = dds_time ();
if (!dds_triggered (waitSet))
{
if (status != 1)
{
fprintf (stdout, "%s%d%s", "ERROR: Ping received ", status,
" samples but was expecting 1. Are multiple pong applications running?\n");
goto done;
}
else if (!info[0].valid_data)
{
printf ("ERROR: Ping received an invalid sample. Has pong terminated already?\n");
goto done;
}
}
/* Update stats */
difference = (postWriteTime - preWriteTime)/DDS_NSECS_IN_USEC;
writeAccess = *exampleAddTimingToTimeStats (&writeAccess, difference);
writeAccessOverall = *exampleAddTimingToTimeStats (&writeAccessOverall, difference);
difference = (postTakeTime - preTakeTime)/DDS_NSECS_IN_USEC;
readAccess = *exampleAddTimingToTimeStats (&readAccess, difference);
readAccessOverall = *exampleAddTimingToTimeStats (&readAccessOverall, difference);
difference = (postTakeTime - preWriteTime)/DDS_NSECS_IN_USEC;
roundTrip = *exampleAddTimingToTimeStats (&roundTrip, difference);
roundTripOverall = *exampleAddTimingToTimeStats (&roundTripOverall, difference);
/* Print stats each second */
difference = (postTakeTime - startTime)/DDS_NSECS_IN_USEC;
if (difference > US_IN_ONE_SEC || (i && i == numSamples))
{
printf
(
"%9" PRIi64 " %9lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 " %10lu %8.0f %8" PRIi64 "\n",
elapsed + 1,
roundTrip.count,
exampleGetMedianFromTimeStats (&roundTrip),
roundTrip.min,
writeAccess.count,
exampleGetMedianFromTimeStats (&writeAccess),
writeAccess.min,
readAccess.count,
exampleGetMedianFromTimeStats (&readAccess),
readAccess.min
);
exampleResetTimeStats (&roundTrip);
exampleResetTimeStats (&writeAccess);
exampleResetTimeStats (&readAccess);
startTime = dds_time ();
elapsed++;
}
}
else
{
elapsed += waitTimeout / DDS_NSECS_IN_SEC;
}
if (timeOut && elapsed == timeOut)
{
dds_waitset_set_trigger (waitSet, true);
} }
} }
@ -401,7 +418,7 @@ done:
return EXIT_SUCCESS; return EXIT_SUCCESS;
} }
static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond) static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond, dds_listener_t *listener)
{ {
dds_return_t status; dds_return_t status;
dds_entity_t topic; dds_entity_t topic;
@ -415,9 +432,6 @@ static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_
dds_qos_t *drQos; dds_qos_t *drQos;
dds_qos_t *subQos; dds_qos_t *subQos;
dds_entity_t participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
/* A DDS_Topic is created for our sample type on the domain participant. */ /* A DDS_Topic is created for our sample type on the domain participant. */
topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL); topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL);
DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (topic, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
@ -449,15 +463,18 @@ static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_
/* A DDS_DataReader is created on the Subscriber & Topic with a modified QoS. */ /* A DDS_DataReader is created on the Subscriber & Topic with a modified QoS. */
drQos = dds_qos_create (); drQos = dds_qos_create ();
dds_qset_reliability (drQos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10)); dds_qset_reliability (drQos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
*reader = dds_create_reader (subscriber, topic, drQos, NULL); *reader = dds_create_reader (subscriber, topic, drQos, listener);
DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
dds_qos_delete (drQos); dds_qos_delete (drQos);
waitSet = dds_create_waitset (participant); waitSet = dds_create_waitset (participant);
*readCond = dds_create_readcondition (*reader, DDS_ANY_STATE); if (listener == NULL) {
*readCond = dds_create_readcondition (*reader, DDS_ANY_STATE);
status = dds_waitset_attach (waitSet, *readCond, *reader); status = dds_waitset_attach (waitSet, *readCond, *reader);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
} else {
*readCond = 0;
}
status = dds_waitset_attach (waitSet, waitSet, waitSet); status = dds_waitset_attach (waitSet, waitSet, waitSet);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
@ -471,12 +488,10 @@ static void finalize_dds(dds_entity_t participant, dds_entity_t reader, dds_enti
/* Disable callbacks */ /* Disable callbacks */
dds_set_enabled_status (reader, 0); dds_set_enabled_status (reader, 0);
status = dds_waitset_detach (waitSet, readCond); (void) dds_waitset_detach (waitSet, readCond);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
status = dds_waitset_detach (waitSet, waitSet); status = dds_waitset_detach (waitSet, waitSet);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
status = dds_delete (readCond); (void) dds_delete (readCond);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
status = dds_delete (waitSet); status = dds_delete (waitSet);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
status = dds_delete (participant); status = dds_delete (participant);

113
src/examples/roundtrip/pong.c
View file

@ -10,7 +10,7 @@ static dds_entity_t waitSet;
#define MAX_SAMPLES 10 #define MAX_SAMPLES 10
/* Forward declarations */ /* Forward declarations */
static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond); static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond, dds_listener_t *listener);
static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundTripModule_DataType data[MAX_SAMPLES]); static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundTripModule_DataType data[MAX_SAMPLES]);
#ifdef _WIN32 #ifdef _WIN32
@ -27,21 +27,58 @@ static void CtrlHandler (int fdwCtrlType)
} }
#endif #endif
static RoundTripModule_DataType data[MAX_SAMPLES];
static void * samples[MAX_SAMPLES];
static dds_sample_info_t info[MAX_SAMPLES];
static dds_entity_t participant;
static dds_entity_t reader;
static dds_entity_t writer;
static dds_entity_t readCond;
static void data_available(dds_entity_t reader, void *arg)
{
int status, samplecount;
(void)arg;
samplecount = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES);
DDS_ERR_CHECK (samplecount, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
for (int j = 0; !dds_triggered (waitSet) && j < samplecount; j++)
{
/* If writer has been disposed terminate pong */
if (info[j].instance_state == DDS_IST_NOT_ALIVE_DISPOSED)
{
printf ("Received termination request. Terminating.\n");
dds_waitset_set_trigger (waitSet, true);
break;
}
else if (info[j].valid_data)
{
/* 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);
}
}
}
int main (int argc, char *argv[]) int main (int argc, char *argv[])
{ {
dds_duration_t waitTimeout = DDS_INFINITY; dds_duration_t waitTimeout = DDS_INFINITY;
unsigned int i; unsigned int i;
int status, samplecount, j; int status;
dds_attach_t wsresults[1]; dds_attach_t wsresults[1];
size_t wsresultsize = 1U; size_t wsresultsize = 1U;
dds_entity_t participant;
dds_entity_t reader;
dds_entity_t writer;
dds_entity_t readCond;
RoundTripModule_DataType data[MAX_SAMPLES]; dds_listener_t *listener = NULL;
void * samples[MAX_SAMPLES]; bool use_listener = false;
dds_sample_info_t info[MAX_SAMPLES]; int argidx = 1;
if (argc > argidx && strcmp(argv[argidx], "-l") == 0)
{
argidx++;
use_listener = true;
}
/* Register handler for Ctrl-C */ /* Register handler for Ctrl-C */
@ -55,8 +92,6 @@ int main (int argc, char *argv[])
sigaction (SIGINT, &sat, &oldAction); sigaction (SIGINT, &sat, &oldAction);
#endif #endif
participant = prepare_dds(&writer, &reader, &readCond);
/* Initialize sample data */ /* Initialize sample data */
memset (data, 0, sizeof (data)); memset (data, 0, sizeof (data));
for (i = 0; i < MAX_SAMPLES; i++) for (i = 0; i < MAX_SAMPLES; i++)
@ -64,6 +99,17 @@ int main (int argc, char *argv[])
samples[i] = &data[i]; samples[i] = &data[i];
} }
participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
if (use_listener)
{
listener = dds_listener_create(NULL);
dds_lset_data_available(listener, data_available);
}
(void)prepare_dds(&writer, &reader, &readCond, listener);
while (!dds_triggered (waitSet)) while (!dds_triggered (waitSet))
{ {
/* Wait for a sample from ping */ /* Wait for a sample from ping */
@ -72,25 +118,8 @@ int main (int argc, char *argv[])
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
/* Take samples */ /* Take samples */
samplecount = dds_take (reader, samples, info, MAX_SAMPLES, MAX_SAMPLES); if (listener == NULL) {
DDS_ERR_CHECK (samplecount, DDS_CHECK_REPORT | DDS_CHECK_EXIT); data_available (reader, 0);
for (j = 0; !dds_triggered (waitSet) && j < samplecount; j++)
{
/* If writer has been disposed terminate pong */
if (info[j].instance_state == DDS_IST_NOT_ALIVE_DISPOSED)
{
printf ("Received termination request. Terminating.\n");
dds_waitset_set_trigger (waitSet, true);
break;
}
else if (info[j].valid_data)
{
/* If sample is valid, send it back to ping */
RoundTripModule_DataType * valid_sample = &data[j];
status = dds_write (writer, valid_sample);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
}
} }
} }
@ -108,12 +137,11 @@ int main (int argc, char *argv[])
static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundTripModule_DataType data[MAX_SAMPLES]) static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundTripModule_DataType data[MAX_SAMPLES])
{ {
dds_return_t status = dds_waitset_detach (waitSet, readCond); dds_return_t status;
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); (void)dds_waitset_detach (waitSet, readCond);
status = dds_waitset_detach (waitSet, waitSet); status = dds_waitset_detach (waitSet, waitSet);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
status = dds_delete (readCond); (void)dds_delete (readCond);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
status = dds_delete (waitSet); status = dds_delete (waitSet);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
status = dds_delete (participant); status = dds_delete (participant);
@ -125,7 +153,7 @@ static void finalize_dds(dds_entity_t participant, dds_entity_t readCond, RoundT
} }
} }
static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond) static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_entity_t *readCond, dds_listener_t *listener)
{ {
const char *pubPartitions[] = { "pong" }; const char *pubPartitions[] = { "pong" };
const char *subPartitions[] = { "ping" }; const char *subPartitions[] = { "ping" };
@ -135,9 +163,6 @@ static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_
dds_entity_t topic; dds_entity_t topic;
dds_return_t status; dds_return_t status;
dds_entity_t participant = dds_create_participant (DDS_DOMAIN_DEFAULT, NULL, NULL);
DDS_ERR_CHECK (participant, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
/* A DDS Topic is created for our sample type on the domain participant. */ /* A DDS Topic is created for our sample type on the domain participant. */
topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL); topic = dds_create_topic (participant, &RoundTripModule_DataType_desc, "RoundTrip", NULL, NULL);
@ -174,14 +199,18 @@ static dds_entity_t prepare_dds(dds_entity_t *writer, dds_entity_t *reader, dds_
qos = dds_qos_create (); qos = dds_qos_create ();
dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10)); dds_qset_reliability (qos, DDS_RELIABILITY_RELIABLE, DDS_SECS(10));
*reader = dds_create_reader (subscriber, topic, qos, NULL); *reader = dds_create_reader (subscriber, topic, qos, listener);
DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (*reader, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
dds_qos_delete (qos); dds_qos_delete (qos);
waitSet = dds_create_waitset (participant); waitSet = dds_create_waitset (participant);
*readCond = dds_create_readcondition (*reader, DDS_ANY_STATE); if (listener == NULL) {
status = dds_waitset_attach (waitSet, *readCond, *reader); *readCond = dds_create_readcondition (*reader, DDS_ANY_STATE);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); status = dds_waitset_attach (waitSet, *readCond, *reader);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);
} else {
*readCond = 0;
}
status = dds_waitset_attach (waitSet, waitSet, waitSet); status = dds_waitset_attach (waitSet, waitSet, waitSet);
DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT); DDS_ERR_CHECK (status, DDS_CHECK_REPORT | DDS_CHECK_EXIT);