9cf4b97f1a
* Move the project top-level CMakeLists.txt to the root of the project;
this allows building Cyclone as part of ROS2 without any special
tricks;
* Clean up the build options:
ENABLE_SSL: whether to check for and include OpenSSL support if a
library can be found (default = ON); this used to be
called DDSC_ENABLE_OPENSSL, the old name is deprecated
but still works
BUILD_DOCS: whether to build docs (default = OFF)
BUILD_TESTING: whether to build test (default = OFF)
* Collect all documentation into top-level "docs" directory;
* Move the examples to the top-level directory;
* Remove the unused and somewhat misleading pseudo-default
cyclonedds.xml;
* Remove unused cmake files
Signed-off-by: Erik Boasson <eb@ilities.com>
84 lines
2.4 KiB
C
84 lines
2.4 KiB
C
#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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#include <stdlib.h>
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/* An array of one message (aka sample in dds terms) will be used. */
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#define MAX_SAMPLES 1
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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 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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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 (
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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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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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fflush (stdout);
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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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{
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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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/* Print Message. */
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msg = (HelloWorldData_Msg*) samples[0];
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printf ("=== [Subscriber] Received : ");
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printf ("Message (%"PRId32", %s)\n", msg->userID, msg->message);
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fflush (stdout);
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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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/* 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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}
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