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>
68 lines
1.9 KiB
C
68 lines
1.9 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 <stdlib.h>
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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 writer;
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dds_return_t rc;
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HelloWorldData_Msg msg;
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uint32_t status = 0;
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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 Writer. */
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writer = dds_create_writer (participant, topic, NULL, NULL);
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if (writer < 0)
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DDS_FATAL("dds_create_write: %s\n", dds_strretcode(-writer));
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printf("=== [Publisher] Waiting for a reader to be discovered ...\n");
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fflush (stdout);
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rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
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if (rc != DDS_RETCODE_OK)
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DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));
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while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
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{
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rc = dds_get_status_changes (writer, &status);
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if (rc != DDS_RETCODE_OK)
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DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));
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/* Polling sleep. */
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dds_sleepfor (DDS_MSECS (20));
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}
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/* Create a message to write. */
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msg.userID = 1;
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msg.message = "Hello World";
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printf ("=== [Publisher] Writing : ");
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printf ("Message (%"PRId32", %s)\n", msg.userID, msg.message);
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fflush (stdout);
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rc = dds_write (writer, &msg);
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if (rc != DDS_RETCODE_OK)
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DDS_FATAL("dds_write: %s\n", dds_strretcode(-rc));
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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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