cd6742ee12
- 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>
66 lines
1.9 KiB
C
66 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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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 (%d, %s)\n", msg.userID, msg.message);
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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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