2799 lines
107 KiB
C
2799 lines
107 KiB
C
/*
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* Copyright(c) 2006 to 2018 ADLINK Technology Limited and others
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*
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* This program and the accompanying materials are made available under the
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* terms of the Eclipse Public License v. 2.0 which is available at
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* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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* v. 1.0 which is available at
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* http://www.eclipse.org/org/documents/edl-v10.php.
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*
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* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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*/
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#ifndef MAIN
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#define MAIN main
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#endif
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#ifdef __APPLE__
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#define USE_EDITLINE 0
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#endif
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#define _ISOC99_SOURCE
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#include <time.h>
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#include <string.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <signal.h>
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#include <limits.h>
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#include <ctype.h>
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#include <sys/types.h>
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#if USE_EDITLINE
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#include <histedit.h>
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#endif
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#include "common.h"
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#include "testtype.h"
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#include "tglib.h"
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#include "porting.h"
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#include "os/os.h"
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//#define NUMSTR "0123456789"
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//#define HOSTNAMESTR "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ-." NUMSTR
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typedef int (*write_oper_t) (dds_entity_t wr, const void *d, const dds_time_t ts);
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enum topicsel { UNSPEC, KS, K32, K64, K128, K256, OU, ARB };
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enum readermode { MODE_PRINT, MODE_CHECK, MODE_ZEROLOAD, MODE_DUMP, MODE_NONE };
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#define PM_PID 1u
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#define PM_TOPIC 2u
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#define PM_TIME 4u
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#define PM_IHANDLE 8u
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#define PM_PHANDLE 16u
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#define PM_STIME 32u
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#define PM_DGEN 64u
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#define PM_NWGEN 128u
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#define PM_RANKS 256u
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#define PM_STATE 512u
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static volatile sig_atomic_t termflag = 0;
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static int pid;
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static dds_entity_t termcond;
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static unsigned nkeyvals = 1;
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static int once_mode = 0;
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static int wait_hist_data = 0;
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static dds_duration_t wait_hist_data_timeout = 0;
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static double dur = 0.0;
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//static int sigpipe[2]; // TODO signal handling support
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//static int termpipe[2];
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//static int fdin = 0; // TODO ARB type support
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static enum tgprint_mode printmode = TGPM_FIELDS;
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static unsigned print_metadata = PM_STATE;
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static int printtype = 0;
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#define T_SECOND ((int64_t) 1000000000)
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struct tstamp_t {
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int isabs;
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int64_t t;
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};
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struct readerspec {
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dds_entity_t rd;
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dds_entity_t sub;
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enum topicsel topicsel;
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struct tgtopic *tgtp;
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enum readermode mode;
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int use_take;
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dds_duration_t sleep_ns;
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int polling;
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uint32_t read_maxsamples;
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int print_match_pre_read;
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unsigned idx;
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};
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enum writermode {
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WRM_NONE,
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WRM_AUTO,
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WRM_INPUT
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};
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struct writerspec {
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dds_entity_t wr;
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dds_entity_t dupwr;
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dds_entity_t pub;
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enum topicsel topicsel;
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char *tpname;
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struct tgtopic *tgtp;
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double writerate;
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unsigned baggagesize;
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int register_instances;
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int duplicate_writer_flag;
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unsigned burstsize;
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enum writermode mode;
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};
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static const struct readerspec def_readerspec = {
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.rd = 0,
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.sub = 0,
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.topicsel = UNSPEC,
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.tgtp = NULL,
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.mode = MODE_PRINT,
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.use_take = 1,
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.sleep_ns = 0,
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.polling = 0,
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.read_maxsamples = INT16_MAX,
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.print_match_pre_read = 0
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};
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static const struct writerspec def_writerspec = {
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.wr = 0,
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.dupwr = 0,
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.pub = 0,
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.topicsel = UNSPEC,
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.tpname = NULL,
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.tgtp = NULL,
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.writerate = 0.0,
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.baggagesize = 0,
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.register_instances = 0,
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.duplicate_writer_flag = 0,
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.burstsize = 1,
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.mode = WRM_INPUT
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};
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struct wrspeclist {
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struct writerspec *spec;
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struct wrspeclist *prev, *next; /* circular */
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};
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static os_mutex output_mutex;
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static void terminate(void) {
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// const char c = 0;
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termflag = 1;
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// os_write(termpipe[1], &c, 1); // TODO: signal handling support; for abstraction layer
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dds_waitset_set_trigger(termcond, true);
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}
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static void usage(const char *argv0) {
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fprintf (stderr, "\
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usage: %s [OPTIONS] PARTITION...\n\
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\n\
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OPTIONS:\n\
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-T TOPIC set topic name to TOPIC\n\
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specifying a topic name when one has already been given\n\
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introduces a new reader/writer pair\n\
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-K TYPE select type (KS is default),\n\
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(default topic name in parenthesis):\n\
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KS - key, seq, octet sequence (PubSub)\n\
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K32,K64,K128,K256 - key, seq, octet array (PubSub<N>)\n\
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OU - one ulong, keyless (PubSubOU)\n\
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specifying a type when one has already been given introduces\n\
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a new reader/writer pair\n\
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-q FS:QOS set QoS for entities indicated by FS, which must be one or\n\
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more of: t (topic), p (publisher), s (subscriber),\n\
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w (writer), r (reader), or a (all of them). For QoS syntax,\n\
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see below. Inapplicable QoS's are ignored.\n\
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-m [0|p[p]|c[p][:N]|z|d[p]] no reader, print values, check sequence numbers\n\
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(expecting N keys), \"zero-load\" mode or \"dump\" mode (which\n\
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is differs from \"print\" primarily because it uses a data-\n\
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available trigger and reads all samples in read-mode(default:\n\
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p; pp, cp, dp are polling modes); set per-reader\n\
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-D DUR run for DUR seconds\n\
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-n N limit take/read to N samples\n\
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-O take/read once then exit 0 if samples present, or 1 if not\n\
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-P MODES printing control (prefixing with \"no\" disables):\n\
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meta enable printing of all metadata\n\
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trad pid, time, phandle, stime, state\n\
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pid process id of pubsub\n\
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topic which topic (topic is def. for multi-topic)\n\
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time read time relative to program start\n\
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phandle publication handle\n\
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ihandle instance handle\n\
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stime source timestamp\n\
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rtime reception timestamp\n\
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dgen disposed generation count\n\
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nwgen no-writers generation count\n\
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ranks sample, generation, absolute generation ranks\n\
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state instance/sample/view states\n\
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additionally, the following have effect for sample data values:\n\
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dense no additional white space, no field names\n\
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fields field names, some white space\n\
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multiline field names, one field per line\n\
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default is \"nometa,state,fields\".\n\
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For K* types, the .baggage field is omitted from the data output\n\
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-r register instances (-wN mode only)\n\
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-R use 'read' instead of 'take'\n\
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-s MS sleep MS ms after each read/take (default: 0)\n\
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-w F writer mode/input selection, F:\n\
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- stdin (default)\n\
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N cycle through N keys as fast as possible\n\
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N:R*B cycle through N keys at R bursts/second, each burst\n\
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consisting of B samples\n\
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N:R as above, B=1\n\
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no writer is created if -w0 and no writer listener\n\
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automatic specifications can be given per writer; final\n\
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interactive specification determines input used for non-\n\
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automatic ones\n\
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-S EVENTS monitor status events (comma separated; default: none)\n\
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reader (abbreviated and full form):\n\
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pr pre-read (virtual event)\n\
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sl sample-lost\n\
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sr sample-rejected\n\
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lc liveliness-changed\n\
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sm subscription-matched\n\
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riq requested-incompatible-qos\n\
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rdm requested-deadline-missed\n\
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writer:\n\
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ll liveliness-lost\n\
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pm publication-matched\n\
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oiq offered-incompatible-qos\n\
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odm offered-deadline-missed\n\
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-z N topic size (affects KeyedSeq only)\n\
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-@ echo everything on duplicate writer (only for interactive)\n\
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-* N sleep for N seconds just before returning from main()\n\
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\n\
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%s\n\
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Note: defaults above are overridden as follows:\n\
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r:k=all,R=10000/inf/inf\n\
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w:k=all,R=100/inf/inf\n\
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\n\
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Input format is a white-space separated sequence (K* and OU, newline\n\
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separated for ARB) of:\n\
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N write next sample, key value N\n\
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wN synonym for plain N; w@T N same with timestamp of T\n\
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T is absolute of prefixed with \"=\", T currently in seconds\n\
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dN dispose, key value N; d@T N as above\n\
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DN write dispose, key value N; D@T N as above\n\
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uN unregister, key value N; u@T N as above\n\
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rN register, key value N; u@T N as above\n\
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sN sleep for N seconds\n\
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zN set topic size to N (affects KeyedSeq only)\n\
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Note: for K*, OU types, in the above N is always a decimal\n\
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integer (possibly negative); because the OneULong type has no key\n\
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the actual key value is irrelevant. For ARB types, N must be a\n\
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valid initializer. X must always be a list of names.\n\
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\n\
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PARTITION:\n\
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If partition name contains spaces, then wrap it inside quotation marks.\n\
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Use \"\" for default partition.\n",
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argv0, qos_arg_usagestr);
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exit (1);
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}
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static void expand_append(char **dst, size_t *sz,size_t *pos, char c) {
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if (*pos == *sz) {
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*sz += 1024;
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*dst = dds_realloc(*dst, *sz);
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}
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(*dst)[*pos] = c;
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(*pos)++;
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}
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static char *expand_envvars(const char *src0);
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static char *expand_env(const char *name, char op, const char *alt) {
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const char *env = os_getenv(name);
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switch (op) {
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case 0:
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return dds_string_dup(env ? env : "");
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case '-':
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return env ? dds_string_dup(env) : expand_envvars(alt);
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case '?':
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if (env)
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return dds_string_dup(env);
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else {
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char *altx = expand_envvars(alt);
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error_exit("%s: %s\n", name, altx);
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dds_free(altx);
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return NULL;
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}
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case '+':
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return env ? expand_envvars(alt) : dds_string_dup("");
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default:
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exit(2);
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}
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}
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static char *expand_envbrace(const char **src) {
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const char *start = *src + 1;
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char *name, *x;
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assert(**src == '{');
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(*src)++;
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while (**src && **src != ':' && **src != '}')
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(*src)++;
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if (**src == 0)
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goto err;
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name = dds_alloc((size_t) (*src - start) + 1);
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memcpy(name, start, (size_t) (*src - start));
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name[*src - start] = 0;
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if (**src == '}') {
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(*src)++;
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x = expand_env(name, 0, NULL);
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dds_free(name);
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return x;
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} else {
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const char *altstart;
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char *alt;
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char op;
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assert(**src == ':');
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(*src)++;
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switch (**src) {
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case '-': case '+': case '?':
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op = **src;
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(*src)++;
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break;
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default:
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goto err;
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}
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altstart = *src;
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while (**src && **src != '}') {
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if (**src == '\\') {
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(*src)++;
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if (**src == 0)
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goto err;
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}
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(*src)++;
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}
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if (**src == 0)
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goto err;
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assert(**src == '}');
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alt = dds_alloc((size_t) (*src - altstart) + 1);
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memcpy(alt, altstart, (size_t) (*src - altstart));
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alt[*src - altstart] = 0;
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(*src)++;
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x = expand_env(name, op, alt);
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dds_free(alt);
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dds_free(name);
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return x;
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}
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err:
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error_exit("%*.*s: invalid expansion\n", (int) (*src - start), (int) (*src - start), start);
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return NULL;
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}
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static char *expand_envsimple(const char **src) {
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const char *start = *src;
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char *name, *x;
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while (**src && (isalnum((unsigned char)**src) || **src == '_'))
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(*src)++;
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assert(*src > start);
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name = dds_alloc((size_t) (*src - start) + 1);
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memcpy(name, start, (size_t) (*src - start));
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name[*src - start] = 0;
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x = expand_env(name, 0, NULL);
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dds_free(name);
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return x;
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}
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static char *expand_envchar(const char **src) {
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char name[2];
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assert(**src);
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name[0] = **src;
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name[1] = 0;
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(*src)++;
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return expand_env(name, 0, NULL);
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}
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static char *expand_envvars(const char *src0) {
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/* Expands $X, ${X}, ${X:-Y}, ${X:+Y}, ${X:?Y} forms */
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const char *src = src0;
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size_t sz = strlen(src) + 1, pos = 0;
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char *dst = dds_alloc(sz);
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while (*src) {
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if (*src == '\\') {
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src++;
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if (*src == 0)
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error_exit("%s: incomplete escape at end of string\n", src0);
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expand_append(&dst, &sz, &pos, *src++);
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} else if (*src == '$') {
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char *x, *xp;
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src++;
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if (*src == 0) {
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error_exit("%s: incomplete variable expansion at end of string\n", src0);
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return NULL;
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} else if (*src == '{') {
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x = expand_envbrace(&src);
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} else if (isalnum((unsigned char)*src) || *src == '_') {
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x = expand_envsimple(&src);
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} else {
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x = expand_envchar(&src);
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}
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xp = x;
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while (*xp)
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expand_append(&dst, &sz, &pos, *xp++);
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dds_free(x);
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} else {
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expand_append(&dst, &sz, &pos, *src++);
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}
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}
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expand_append(&dst, &sz, &pos, 0);
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return dst;
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}
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static unsigned split_partitions(const char ***p_ps, char **p_bufcopy, const char *buf) {
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const char *b;
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const char **ps;
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char *bufcopy, *bc;
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unsigned i, nps;
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nps = 1;
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for (b = buf; *b; b++) {
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nps += (*b == ',');
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}
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ps = dds_alloc(nps * sizeof(*ps));
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bufcopy = expand_envvars(buf);
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i = 0; bc = bufcopy;
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while (1) {
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ps[i++] = bc;
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while (*bc && *bc != ',') bc++;
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if (*bc == 0) break;
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*bc++ = 0;
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}
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assert(i == nps);
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*p_ps = ps;
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*p_bufcopy = bufcopy;
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return nps;
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}
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static int set_pub_partition(dds_entity_t pub, const char *buf) {
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const char **ps;
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char *bufcopy;
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unsigned nps = split_partitions(&ps, &bufcopy, buf);
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dds_return_t rc = change_publisher_partitions(pub, nps, ps);
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error_report(rc, "set_pub_partition failed: ");
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dds_free(bufcopy);
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dds_free((char **)ps);
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return 0;
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}
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#if 0
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static int set_sub_partition(dds_entity_t sub, const char *buf) {
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const char **ps;
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char *bufcopy;
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unsigned nps = split_partitions(&ps, &bufcopy, buf);
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dds_return_t rc = change_subscriber_partitions(sub, nps, ps);
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error_report(rc, "set_partition failed: %s (%d)\n");
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dds_free(bufcopy);
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dds_free(ps);
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return 0;
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}
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#endif
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|
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static int read_int(char *buf, int bufsize, int pos, int accept_minus) {
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int c = EOF;
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while (pos < bufsize-1 && (c = getc(stdin)) != EOF && (isdigit((unsigned char) c) || (c == '-' && accept_minus))) {
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accept_minus = 0;
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buf[pos++] = (char) c;
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}
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buf[pos] = 0;
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if (c == EOF || isspace((unsigned char) c)) {
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return (pos > 0);
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} else if (!isdigit((unsigned char) c)) {
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fprintf (stderr, "%c: unexpected character\n", c);
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return 0;
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} else if (pos == bufsize-1) {
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fprintf (stderr, "integer too long\n");
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return 0;
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}
|
|
return 1;
|
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}
|
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|
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static int read_int_w_tstamp(struct tstamp_t *tstamp, char *buf, int bufsize, int pos) {
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|
int c;
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|
assert(pos < bufsize - 2);
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|
c = getc(stdin);
|
|
if (c == EOF)
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|
return 0;
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|
else if (c == '@') {
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|
int posoff = 0;
|
|
c = getc(stdin);
|
|
if (c == EOF)
|
|
return 0;
|
|
else if (c == '=')
|
|
tstamp->isabs = 1;
|
|
else {
|
|
buf[pos] = (char) c;
|
|
posoff = 1;
|
|
}
|
|
if (read_int(buf, bufsize, pos + posoff, 1))
|
|
tstamp->t = atoi(buf + pos) * T_SECOND;
|
|
else
|
|
return 0;
|
|
while ((c = getc(stdin)) != EOF && isspace((unsigned char) c))
|
|
;
|
|
if (!isdigit((unsigned char) c))
|
|
return 0;
|
|
}
|
|
buf[pos++] = (char) c;
|
|
while (pos < bufsize-1 && (c = getc(stdin)) != EOF && isdigit((unsigned char) c))
|
|
buf[pos++] = (char) c;
|
|
buf[pos] = 0;
|
|
if (c == EOF || isspace((unsigned char) c))
|
|
return (pos > 0);
|
|
else if (!isdigit((unsigned char) c)) {
|
|
fprintf (stderr, "%c: unexpected character\n", c);
|
|
return 0;
|
|
} else if (pos == bufsize-1) {
|
|
fprintf (stderr, "integer too long\n");
|
|
return 0;
|
|
}
|
|
return 1;
|
|
}
|
|
|
|
static int read_value(char *command, int *key, struct tstamp_t *tstamp, char **arg) {
|
|
char buf[1024];
|
|
int c;
|
|
if (*arg) { dds_free(*arg); *arg = NULL; }
|
|
tstamp->isabs = 0;
|
|
tstamp->t = 0;
|
|
do {
|
|
while ((c = getc(stdin)) != EOF && isspace((unsigned char) c))
|
|
;
|
|
if (c == EOF)
|
|
return 0;
|
|
switch (c) {
|
|
case '-':
|
|
case '0': case '1': case '2': case '3': case '4':
|
|
case '5': case '6': case '7': case '8': case '9':
|
|
buf[0] = (char) c;
|
|
if (read_int(buf, sizeof(buf), 1, 0)) {
|
|
*command = 'w';
|
|
*key = atoi(buf);
|
|
return 1;
|
|
}
|
|
break;
|
|
case 'w': case 'd': case 'D': case 'u': case 'r':
|
|
*command = (char) c;
|
|
if (read_int_w_tstamp(tstamp, buf, sizeof(buf), 0)) {
|
|
*key = atoi(buf);
|
|
return 1;
|
|
}
|
|
break;
|
|
case 'z': case 's':
|
|
*command = (char) c;
|
|
if (read_int(buf, sizeof(buf), 0, 0)) {
|
|
*key = atoi(buf);
|
|
return 1;
|
|
}
|
|
break;
|
|
case 'p': case 'S': case ':': {
|
|
int i = 0;
|
|
*command = (char) c;
|
|
while ((c = getc(stdin)) != EOF && !isspace((unsigned char) c)) {
|
|
assert(i < (int) sizeof(buf) - 1);
|
|
buf[i++] = (char) c;
|
|
}
|
|
buf[i] = 0;
|
|
*arg = dds_string_dup(buf);
|
|
ungetc(c, stdin);
|
|
return 1;
|
|
}
|
|
case 'Y': case 'B': case 'E': case 'W':
|
|
*command = (char) c;
|
|
return 1;
|
|
default:
|
|
fprintf (stderr, "'%c': unexpected character\n", c);
|
|
break;
|
|
}
|
|
while ((c = getc(stdin)) != EOF && !isspace((unsigned char) c))
|
|
;
|
|
} while (c != EOF);
|
|
return 0;
|
|
}
|
|
|
|
// TODO Upon support for ARB types, resolve the declaration of fdin
|
|
//static void getl_init_simple(struct getl_arg *arg, int fd) {
|
|
// arg->use_editline = 0;
|
|
// arg->u.s.fd = fd;
|
|
// arg->u.s.lastline = NULL;
|
|
//}
|
|
//
|
|
//static char *getl_simple(int fd, int *count) {
|
|
// size_t sz = 0, n = 0;
|
|
// char *line;
|
|
// int c;
|
|
//
|
|
// if ((c = getc(stdin)) == EOF) {
|
|
// *count = 0;
|
|
// return NULL;
|
|
// }
|
|
//
|
|
// line = NULL;
|
|
// do {
|
|
// if (n == sz) line = dds_realloc(line, sz += 256);
|
|
// line[n++] = (char) c;
|
|
// } while ((c = getc(stdin)) != EOF && c != '\n');
|
|
// if (n == sz) line = dds_realloc(line, sz += 256);
|
|
// line[n++] = 0;
|
|
// *count = (int) (n-1);
|
|
// return line;
|
|
//}
|
|
//
|
|
//struct getl_arg {
|
|
// int use_editline;
|
|
// union {
|
|
//#if USE_EDITLINE
|
|
// struct {
|
|
// FILE *el_fp;
|
|
// EditLine *el;
|
|
// History *hist;
|
|
// HistEvent ev;
|
|
// } el;
|
|
//#endif
|
|
// struct {
|
|
// int fd;
|
|
// char *lastline;
|
|
// } s;
|
|
// } u;
|
|
//};
|
|
|
|
#if USE_EDITLINE
|
|
static int el_getc_wrapper(EditLine *el, char *c) {
|
|
void *fd;
|
|
int in;
|
|
el_get(el, EL_CLIENTDATA, &fd);
|
|
in = fd_getc(*(int *)fd);
|
|
if (in == EOF)
|
|
return 0;
|
|
else {
|
|
*c = (char) in;
|
|
return 1;
|
|
}
|
|
}
|
|
|
|
static const char *prompt(EditLine *el __attribute__ ((unused))) {
|
|
return "";
|
|
}
|
|
|
|
static void getl_init_editline(struct getl_arg *arg, int fd) {
|
|
if (isatty (fdin)) {
|
|
arg->use_editline = 1;
|
|
arg->u.el.el_fp = fdopen(fd, "r");
|
|
arg->u.el.hist = history_init();
|
|
history(arg->u.el.hist, &arg->u.el.ev, H_SETSIZE, 800);
|
|
arg->u.el.el = el_init("pubsub", arg->u.el.el_fp, stdout, stderr);
|
|
el_source(arg->u.el.el, NULL);
|
|
el_set(arg->u.el.el, EL_EDITOR, "emacs");
|
|
el_set(arg->u.el.el, EL_PROMPT, prompt);
|
|
el_set(arg->u.el.el, EL_SIGNAL, 1);
|
|
el_set(arg->u.el.el, EL_CLIENTDATA, &fdin);
|
|
el_set(arg->u.el.el, EL_GETCFN, el_getc_wrapper);
|
|
el_set(arg->u.el.el, EL_HIST, history, arg->u.el.hist);
|
|
} else {
|
|
getl_init_simple(arg, fd);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// TODO ARB type support
|
|
//static void getl_fini(struct getl_arg *arg) {
|
|
// if (arg->use_editline) {
|
|
//#if USE_EDITLINE
|
|
// el_end(arg->u.el.el);
|
|
// history_end(arg->u.el.hist);
|
|
// fclose(arg->u.el.el_fp);
|
|
//#endif
|
|
// } else {
|
|
// dds_free(arg->u.s.lastline);
|
|
// }
|
|
//}
|
|
//
|
|
//static const char *getl(struct getl_arg *arg, int *count) {
|
|
// if (arg->use_editline) {
|
|
//#if USE_EDITLINE
|
|
// return el_gets(arg->u.el.el, count);
|
|
//#else
|
|
// abort();
|
|
// return NULL;
|
|
//#endif
|
|
// } else {
|
|
// dds_free(arg->u.s.lastline);
|
|
// return arg->u.s.lastline = getl_simple(arg->u.s.fd, count);
|
|
// }
|
|
//}
|
|
//
|
|
//static void getl_enter_hist(struct getl_arg *arg, const char *line) {
|
|
//#if USE_EDITLINE
|
|
// if (arg->use_editline)
|
|
// history(arg->u.el.hist, &arg->u.el.ev, H_ENTER, line);
|
|
//#endif
|
|
//}
|
|
//
|
|
//static char *skipspaces(const char *s) {
|
|
// while (*s && isspace((unsigned char) *s))
|
|
// s++;
|
|
// return (char *) s;
|
|
//}
|
|
|
|
static char si2isc(const dds_sample_info_t *si) {
|
|
switch (si->instance_state) {
|
|
case DDS_IST_ALIVE: return 'A';
|
|
case DDS_IST_NOT_ALIVE_DISPOSED: return 'D';
|
|
case DDS_IST_NOT_ALIVE_NO_WRITERS: return 'U';
|
|
default: return '?';
|
|
}
|
|
}
|
|
|
|
static char si2ssc(const dds_sample_info_t *si) {
|
|
switch (si->sample_state) {
|
|
case DDS_SST_READ: return 'R';
|
|
case DDS_SST_NOT_READ: return 'N';
|
|
default: return '?';
|
|
}
|
|
}
|
|
|
|
static char si2vsc(const dds_sample_info_t *si) {
|
|
switch (si->view_state) {
|
|
case DDS_VST_NEW: return 'N';
|
|
case DDS_VST_OLD: return 'O';
|
|
default: return '?';
|
|
}
|
|
}
|
|
|
|
static int getkeyval_KS(dds_entity_t rd, int32_t *key, dds_instance_handle_t ih) {
|
|
int result;
|
|
KeyedSeq d_key;
|
|
if ((result = dds_instance_get_key(rd, ih, &d_key)) == DDS_RETCODE_OK)
|
|
*key = d_key.keyval;
|
|
else
|
|
*key = 0;
|
|
return result;
|
|
}
|
|
|
|
static int getkeyval_K32(dds_entity_t rd, int32_t *key, dds_instance_handle_t ih) {
|
|
int result = 0;
|
|
Keyed32 d_key;
|
|
if ((result = dds_instance_get_key(rd, ih, &d_key)) == DDS_RETCODE_OK)
|
|
*key = d_key.keyval;
|
|
else
|
|
*key = 0;
|
|
return result;
|
|
}
|
|
|
|
static int getkeyval_K64(dds_entity_t rd, int32_t *key, dds_instance_handle_t ih) {
|
|
int result = 0;
|
|
Keyed64 d_key;
|
|
if ((result = dds_instance_get_key(rd, ih, &d_key)) == DDS_RETCODE_OK)
|
|
*key = d_key.keyval;
|
|
else
|
|
*key = 0;
|
|
return result;
|
|
}
|
|
|
|
static int getkeyval_K128(dds_entity_t rd, int32_t *key, dds_instance_handle_t ih) {
|
|
int result = 0;
|
|
Keyed128 d_key;
|
|
if ((result = dds_instance_get_key(rd, ih, &d_key)) == DDS_RETCODE_OK)
|
|
*key = d_key.keyval;
|
|
else
|
|
*key = 0;
|
|
return result;
|
|
}
|
|
|
|
static int getkeyval_K256(dds_entity_t rd, int32_t *key, dds_instance_handle_t ih) {
|
|
int result = 0;
|
|
Keyed256 d_key;
|
|
if ((result = dds_instance_get_key(rd, ih, &d_key)) == DDS_RETCODE_OK)
|
|
*key = d_key.keyval;
|
|
else
|
|
*key = 0;
|
|
return result;
|
|
}
|
|
|
|
// TODO Determine encoding of dds_instance_handle_t, and see what sort of value can be extracted from it, if any
|
|
//static void instancehandle_to_id(uint32_t *systemId, uint32_t *localId, dds_instance_handle_t h) {
|
|
// /* Undocumented and unsupported trick */
|
|
// union { struct { uint32_t systemId, localId; } s; dds_instance_handle_t h; } u;
|
|
// u.h = h;
|
|
// *systemId = u.s.systemId & ~0x80000000;
|
|
// *localId = u.s.localId;
|
|
//}
|
|
|
|
static void print_sampleinfo(dds_time_t *tstart, dds_time_t tnow, const dds_sample_info_t *si, const char *tag) {
|
|
dds_time_t relt;
|
|
// uint32_t phSystemId, phLocalId, ihSystemId, ihLocalId;
|
|
char isc = si2isc(si), ssc = si2ssc(si), vsc = si2vsc(si);
|
|
const char *sep;
|
|
int n = 0;
|
|
if (*tstart == 0) {
|
|
*tstart = tnow;
|
|
}
|
|
relt = tnow - *tstart;
|
|
// instancehandle_to_id(&ihSystemId, &ihLocalId, si->instance_handle);
|
|
// instancehandle_to_id(&phSystemId, &phLocalId, si->publication_handle);
|
|
if (print_metadata & PM_PID) {
|
|
n += printf ("%d", pid);
|
|
}
|
|
if (print_metadata & PM_TOPIC) {
|
|
n += printf ("%s", tag);
|
|
}
|
|
if (print_metadata & PM_TIME) {
|
|
n += printf ("%s%lld.%09lld", n > 0 ? " " : "", (relt / DDS_NSECS_IN_SEC), (relt % DDS_NSECS_IN_SEC));
|
|
}
|
|
sep = " : ";
|
|
if (print_metadata & PM_PHANDLE) {
|
|
n += printf ("%s%" PRIu64, n > 0 ? sep : "", si->publication_handle);
|
|
sep = " ";
|
|
}
|
|
if (print_metadata & PM_IHANDLE) {
|
|
n += printf ("%s%" PRIu64, n > 0 ? sep : "", si->instance_handle);
|
|
}
|
|
sep = " : ";
|
|
if (print_metadata & PM_STIME) {
|
|
n += printf ("%s%lld.%09lld", n > 0 ? sep : "", (si->source_timestamp/DDS_NSECS_IN_SEC), (si->source_timestamp%DDS_NSECS_IN_SEC));
|
|
}
|
|
sep = " : ";
|
|
if (print_metadata & PM_DGEN) {
|
|
n += printf ("%s%"PRIu32, n > 0 ? sep : "", si->disposed_generation_count);
|
|
sep = " ";
|
|
}
|
|
if (print_metadata & PM_NWGEN) {
|
|
n += printf ("%s%"PRIu32, n > 0 ? sep : "", si->no_writers_generation_count);
|
|
}
|
|
sep = " : ";
|
|
if (print_metadata & PM_RANKS) {
|
|
n += printf ("%s%"PRIu32" %"PRIu32" %"PRIu32, n > 0 ? sep : "", si->sample_rank, si->generation_rank, si->absolute_generation_rank);
|
|
}
|
|
sep = " : ";
|
|
if (print_metadata & PM_STATE) {
|
|
n += printf ("%s%c%c%c", n > 0 ? sep : "", isc, ssc, vsc);
|
|
}
|
|
if (n > 0) {
|
|
printf(" : ");
|
|
}
|
|
}
|
|
|
|
static void print_K(dds_time_t *tstart, dds_time_t tnow, dds_entity_t rd, const char *tag, const dds_sample_info_t *si, int32_t keyval, uint32_t seq, int (*getkeyval) (dds_entity_t rd, int32_t *key, dds_instance_handle_t ih)) {
|
|
int result;
|
|
os_mutexLock(&output_mutex);
|
|
print_sampleinfo(tstart, tnow, si, tag);
|
|
if (si->valid_data) {
|
|
if(printmode == TGPM_MULTILINE) {
|
|
printf ("{\n%*.*s.seq = %u,\n%*.*s.keyval = %d }\n", 4, 4, "", seq, 4, 4, "", keyval);
|
|
} else if(printmode == TGPM_DENSE) {
|
|
printf ("{%u,%d}\n", seq, keyval);
|
|
} else {
|
|
printf ("{ .seq = %u, .keyval = %d }\n", seq, keyval);
|
|
}
|
|
} else {
|
|
/* May not look at mseq->_buffer[i] but want the key value
|
|
nonetheless. Bummer. Actually this leads to an interesting
|
|
problem: if the instance is in the NOT_ALIVE state and the
|
|
middleware releases all resources related to the instance
|
|
after our taking the sample, get_key_value _will_ fail. So
|
|
the blanket statement "may not look at value" if valid_data
|
|
is not set means you can't really use take ... */
|
|
int32_t d_key;
|
|
if ((result = getkeyval(rd, &d_key, si->instance_handle)) == DDS_RETCODE_OK) {
|
|
if(printmode == TGPM_MULTILINE) {
|
|
printf ("{\n%*.*s.seq = NA,\n%*.*s.keyval = %d }\n", 4, 4, "", 4, 4, "", keyval);
|
|
} else if(printmode == TGPM_DENSE) {
|
|
printf ("{NA,%d}\n", keyval);
|
|
} else {
|
|
printf ("{ .seq = NA, .keyval = %d }\n", keyval);
|
|
}
|
|
} else
|
|
printf ("get_key_value: error (%s)\n", dds_err_str(result));
|
|
}
|
|
os_mutexUnlock(&output_mutex);
|
|
}
|
|
|
|
static void print_seq_KS(dds_time_t *tstart, dds_time_t tnow, dds_entity_t rd, const char *tag, const dds_sample_info_t *iseq, KeyedSeq **mseq, int count) {
|
|
int i;
|
|
for (i = 0; i < count; i++)
|
|
print_K(tstart, tnow, rd, tag, &iseq[i], mseq[i]->keyval, mseq[i]->seq, getkeyval_KS);
|
|
}
|
|
|
|
static void print_seq_K32(dds_time_t *tstart, dds_time_t tnow, dds_entity_t rd, const char *tag, const dds_sample_info_t *iseq, Keyed32 **mseq, int count) {
|
|
int i;
|
|
for (i = 0; i < count; i++)
|
|
print_K(tstart, tnow, rd, tag, &iseq[i], mseq[i]->keyval, mseq[i]->seq, getkeyval_K32);
|
|
}
|
|
|
|
static void print_seq_K64(dds_time_t *tstart, dds_time_t tnow, dds_entity_t rd, const char *tag, const dds_sample_info_t *iseq, Keyed64 **mseq, int count) {
|
|
int i;
|
|
for (i = 0; i < count; i++)
|
|
print_K(tstart, tnow, rd, tag, &iseq[i], mseq[i]->keyval, mseq[i]->seq, getkeyval_K64);
|
|
}
|
|
|
|
static void print_seq_K128(dds_time_t *tstart, dds_time_t tnow, dds_entity_t rd, const char *tag, const dds_sample_info_t *iseq, Keyed128 **mseq, int count) {
|
|
int i;
|
|
for (i = 0; i < count; i++)
|
|
print_K(tstart, tnow, rd, tag, &iseq[i], mseq[i]->keyval, mseq[i]->seq, getkeyval_K128);
|
|
}
|
|
|
|
static void print_seq_K256(dds_time_t *tstart, dds_time_t tnow, dds_entity_t rd, const char *tag, const dds_sample_info_t *iseq, Keyed256 **mseq, int count) {
|
|
int i;
|
|
for (i = 0; i < count; i++)
|
|
print_K(tstart, tnow, rd, tag, &iseq[i], mseq[i]->keyval, mseq[i]->seq, getkeyval_K256);
|
|
}
|
|
|
|
static void print_seq_OU(dds_time_t *tstart, dds_time_t tnow, dds_entity_t rd __attribute__ ((unused)), const char *tag, const dds_sample_info_t *si, const OneULong **mseq, int count) {
|
|
int i;
|
|
for (i = 0; i < count; i++)
|
|
{
|
|
os_mutexLock(&output_mutex);
|
|
print_sampleinfo(tstart, tnow, si, tag);
|
|
if (si->valid_data) {
|
|
if(printmode == TGPM_MULTILINE) {
|
|
printf ("{\n%*.*s.seq = %u }\n", 4, 4, "", mseq[i]->seq);
|
|
} else if(printmode == TGPM_DENSE) {
|
|
printf ("{%u}\n", mseq[i]->seq);
|
|
} else {
|
|
printf ("{ .seq = %u }\n", mseq[i]->seq);
|
|
}
|
|
} else {
|
|
printf ("NA\n");
|
|
}
|
|
os_mutexUnlock(&output_mutex);
|
|
}
|
|
}
|
|
|
|
static void print_seq_ARB(dds_time_t *tstart, dds_time_t tnow, dds_entity_t rd __attribute__ ((unused)), const char *tag, const dds_sample_info_t *iseq, const void **mseq, const struct tgtopic *tgtp) {
|
|
(void)tnow;
|
|
(void)tstart;
|
|
(void)tag;
|
|
(void)iseq;
|
|
(void)mseq;
|
|
(void)tgtp;
|
|
// TODO ARB type support
|
|
// unsigned i;
|
|
// for (i = 0; i < mseq->_length; i++)
|
|
// {
|
|
// dds_sample_info_t const * const si = &iseq->_buffer[i];
|
|
// flockfile(stdout);
|
|
// print_sampleinfo(tstart, tnow, si, tag);
|
|
// if (si->valid_data)
|
|
// tgprint(stdout, tgtp, (char *) mseq->_buffer + i * tgtp->size, printmode);
|
|
// else
|
|
// tgprintkey(stdout, tgtp, (char *) mseq->_buffer + i * tgtp->size, printmode);
|
|
// printf ("\n");
|
|
// funlockfile(stdout);
|
|
// }
|
|
}
|
|
|
|
static void rd_on_liveliness_changed(dds_entity_t rd __attribute__ ((unused)), const dds_liveliness_changed_status_t status, void* arg __attribute__ ((unused))) {
|
|
printf ("[liveliness-changed: alive=(%"PRIu32" change %"PRId32") not_alive=(%"PRIu32" change %"PRId32") handle=%"PRIu64"]\n",
|
|
status.alive_count, status.alive_count_change,
|
|
status.not_alive_count, status.not_alive_count_change,
|
|
status.last_publication_handle);
|
|
}
|
|
|
|
static void rd_on_sample_lost(dds_entity_t rd __attribute__ ((unused)), const dds_sample_lost_status_t status, void* arg __attribute__ ((unused))) {
|
|
printf ("[sample-lost: total=(%"PRIu32" change %"PRId32")]\n", status.total_count, status.total_count_change);
|
|
}
|
|
|
|
static void rd_on_sample_rejected(dds_entity_t rd __attribute__ ((unused)), const dds_sample_rejected_status_t status, void* arg __attribute__ ((unused))) {
|
|
const char *reasonstr = "?";
|
|
switch (status.last_reason) {
|
|
case DDS_NOT_REJECTED: reasonstr = "not_rejected"; break;
|
|
case DDS_REJECTED_BY_INSTANCES_LIMIT: reasonstr = "instances"; break;
|
|
case DDS_REJECTED_BY_SAMPLES_LIMIT: reasonstr = "samples"; break;
|
|
case DDS_REJECTED_BY_SAMPLES_PER_INSTANCE_LIMIT: reasonstr = "samples_per_instance"; break;
|
|
}
|
|
printf ("[sample-rejected: total=(%"PRIu32" change %"PRId32") reason=%s handle=%"PRIu64"]\n",
|
|
status.total_count, status.total_count_change,
|
|
reasonstr,
|
|
status.last_instance_handle);
|
|
}
|
|
|
|
static void rd_on_subscription_matched(dds_entity_t rd __attribute__((unused)), const dds_subscription_matched_status_t status, void* arg __attribute__((unused))) {
|
|
printf ("[subscription-matched: total=(%"PRIu32" change %"PRId32") current=(%"PRIu32" change %"PRId32") handle=%"PRIu64"]\n",
|
|
status.total_count, status.total_count_change,
|
|
status.current_count, status.current_count_change,
|
|
status.last_publication_handle);
|
|
}
|
|
|
|
static void rd_on_requested_deadline_missed(dds_entity_t rd __attribute__((unused)), const dds_requested_deadline_missed_status_t status, void* arg __attribute__ ((unused))) {
|
|
printf ("[requested-deadline-missed: total=(%"PRIu32" change %"PRId32") handle=%"PRIu64"]\n",
|
|
status.total_count, status.total_count_change,
|
|
status.last_instance_handle);
|
|
}
|
|
|
|
static const char *policystr(uint32_t id) {
|
|
switch (id) {
|
|
case DDS_USERDATA_QOS_POLICY_ID: return DDS_USERDATA_QOS_POLICY_NAME;
|
|
case DDS_DURABILITY_QOS_POLICY_ID: return DDS_DURABILITY_QOS_POLICY_NAME;
|
|
case DDS_PRESENTATION_QOS_POLICY_ID: return DDS_PRESENTATION_QOS_POLICY_NAME;
|
|
case DDS_DEADLINE_QOS_POLICY_ID: return DDS_DEADLINE_QOS_POLICY_NAME;
|
|
case DDS_LATENCYBUDGET_QOS_POLICY_ID: return DDS_LATENCYBUDGET_QOS_POLICY_NAME;
|
|
case DDS_OWNERSHIP_QOS_POLICY_ID: return DDS_OWNERSHIP_QOS_POLICY_NAME;
|
|
case DDS_OWNERSHIPSTRENGTH_QOS_POLICY_ID: return DDS_OWNERSHIPSTRENGTH_QOS_POLICY_NAME;
|
|
case DDS_LIVELINESS_QOS_POLICY_ID: return DDS_LIVELINESS_QOS_POLICY_NAME;
|
|
case DDS_TIMEBASEDFILTER_QOS_POLICY_ID: return DDS_TIMEBASEDFILTER_QOS_POLICY_NAME;
|
|
case DDS_PARTITION_QOS_POLICY_ID: return DDS_PARTITION_QOS_POLICY_NAME;
|
|
case DDS_RELIABILITY_QOS_POLICY_ID: return DDS_RELIABILITY_QOS_POLICY_NAME;
|
|
case DDS_DESTINATIONORDER_QOS_POLICY_ID: return DDS_DESTINATIONORDER_QOS_POLICY_NAME;
|
|
case DDS_HISTORY_QOS_POLICY_ID: return DDS_HISTORY_QOS_POLICY_NAME;
|
|
case DDS_RESOURCELIMITS_QOS_POLICY_ID: return DDS_RESOURCELIMITS_QOS_POLICY_NAME;
|
|
case DDS_ENTITYFACTORY_QOS_POLICY_ID: return DDS_ENTITYFACTORY_QOS_POLICY_NAME;
|
|
case DDS_WRITERDATALIFECYCLE_QOS_POLICY_ID: return DDS_WRITERDATALIFECYCLE_QOS_POLICY_NAME;
|
|
case DDS_READERDATALIFECYCLE_QOS_POLICY_ID: return DDS_READERDATALIFECYCLE_QOS_POLICY_NAME;
|
|
case DDS_TOPICDATA_QOS_POLICY_ID: return DDS_TOPICDATA_QOS_POLICY_NAME;
|
|
case DDS_GROUPDATA_QOS_POLICY_ID: return DDS_GROUPDATA_QOS_POLICY_NAME;
|
|
case DDS_TRANSPORTPRIORITY_QOS_POLICY_ID: return DDS_TRANSPORTPRIORITY_QOS_POLICY_NAME;
|
|
case DDS_LIFESPAN_QOS_POLICY_ID: return DDS_LIFESPAN_QOS_POLICY_NAME;
|
|
case DDS_DURABILITYSERVICE_QOS_POLICY_ID: return DDS_DURABILITYSERVICE_QOS_POLICY_NAME;
|
|
case DDS_SUBSCRIPTIONKEY_QOS_POLICY_ID: return DDS_SUBSCRIPTIONKEY_QOS_POLICY_NAME;
|
|
case DDS_VIEWKEY_QOS_POLICY_ID: return DDS_VIEWKEY_QOS_POLICY_NAME;
|
|
case DDS_READERLIFESPAN_QOS_POLICY_ID: return DDS_READERLIFESPAN_QOS_POLICY_NAME;
|
|
case DDS_SHARE_QOS_POLICY_ID: return DDS_SHARE_QOS_POLICY_NAME;
|
|
case DDS_SCHEDULING_QOS_POLICY_ID: return DDS_SCHEDULING_QOS_POLICY_NAME;
|
|
default: return "?";
|
|
}
|
|
}
|
|
|
|
// TODO Decide on whether to work around the lack of DDS_QosPolicyCount, or get rid of this bit.
|
|
//static void format_policies(char *polstr, size_t polsz, const DDS_QosPolicyCount *xs, unsigned nxs) {
|
|
// char *ps = polstr;
|
|
// unsigned i;
|
|
// for (i = 0; i < nxs && ps < polstr + polsz; i++)
|
|
// {
|
|
// const DDS_QosPolicyCount *x = &xs[i];
|
|
// int n = snprintf (ps, polstr + polsz - ps, "%s%s:%d", i == 0 ? "" : ", ", policystr(x->policy_id), x->count);
|
|
// ps += n;
|
|
// }
|
|
//}
|
|
|
|
static void rd_on_requested_incompatible_qos(dds_entity_t rd __attribute__((unused)), const dds_requested_incompatible_qos_status_t status, void* arg __attribute__((unused))) {
|
|
printf ("[requested-incompatible-qos: total=(%"PRIu32" change %"PRId32") last_policy=%s]\n",
|
|
status.total_count, status.total_count_change, policystr(status.last_policy_id));
|
|
}
|
|
|
|
static void wr_on_offered_incompatible_qos(dds_entity_t wr __attribute__((unused)), const dds_offered_incompatible_qos_status_t status, void* arg __attribute__((unused))) {
|
|
printf ("[offered-incompatible-qos: total=(%"PRIu32" change %"PRId32") last_policy=%s]\n",
|
|
status.total_count, status.total_count_change, policystr(status.last_policy_id));
|
|
}
|
|
|
|
static void wr_on_liveliness_lost(dds_entity_t wr __attribute__((unused)), const dds_liveliness_lost_status_t status, void* arg __attribute__ ((unused))) {
|
|
printf ("[liveliness-lost: total=(%"PRIu32" change %"PRId32")]\n",
|
|
status.total_count, status.total_count_change);
|
|
}
|
|
|
|
static void wr_on_offered_deadline_missed(dds_entity_t wr __attribute__((unused)), const dds_offered_deadline_missed_status_t status, void* arg __attribute__((unused))) {
|
|
printf ("[offered-deadline-missed: total=(%"PRIu32" change %"PRId32") handle=%"PRIu64"]\n",
|
|
status.total_count, status.total_count_change, status.last_instance_handle);
|
|
}
|
|
|
|
static void wr_on_publication_matched(dds_entity_t wr __attribute__((unused)), const dds_publication_matched_status_t status, void* arg __attribute__((unused))) {
|
|
printf ("[publication-matched: total=(%"PRIu32" change %"PRId32") current=(%"PRIu32" change %"PRId32") handle=%"PRIu64"]\n",
|
|
status.total_count, status.total_count_change,
|
|
status.current_count, status.current_count_change,
|
|
status.last_subscription_handle);
|
|
}
|
|
|
|
static int register_instance_wrapper(dds_entity_t wr, const void *d, const dds_time_t tstamp) {
|
|
dds_instance_handle_t handle;
|
|
(void)tstamp;
|
|
return dds_register_instance(wr, &handle, d);
|
|
}
|
|
|
|
static write_oper_t get_write_oper(char command) {
|
|
switch (command) {
|
|
case 'w': return dds_write_ts;
|
|
case 'd': return dds_dispose_ts;
|
|
case 'D': return dds_writedispose_ts;
|
|
case 'u': return dds_unregister_instance_ts;
|
|
case 'r': return register_instance_wrapper;
|
|
default: return 0;
|
|
}
|
|
}
|
|
|
|
static const char *get_write_operstr(char command) {
|
|
switch (command) {
|
|
case 'w': return "write";
|
|
case 'd': return "dispose";
|
|
case 'D': return "writedispose";
|
|
case 'u': return "unregister_instance";
|
|
case 'r': return "register_instance";
|
|
default: return 0;
|
|
}
|
|
}
|
|
|
|
static void non_data_operation(char command, dds_entity_t wr) {
|
|
dds_return_t rc = 0;
|
|
switch (command) {
|
|
case 'Y':
|
|
printf ("Dispose all: not supported\n");
|
|
// TODO Implement application side tracking of alive instances for use with a 'dispose all' function
|
|
// if ((result = DDS_Topic_dispose_all_data(DDS_DataWriter_get_topic(wr))) != DDS_RETCODE_OK)
|
|
// error ("DDS_Topic_dispose_all: error %d\n", (int) result);
|
|
break;
|
|
case 'B':
|
|
rc = dds_begin_coherent(wr);
|
|
error_report(rc, "dds_begin_coherent:");
|
|
break;
|
|
case 'E':
|
|
rc = dds_end_coherent(wr);
|
|
error_report(rc, "dds_end_coherent:");
|
|
break;
|
|
case 'W': {
|
|
dds_duration_t inf = DDS_INFINITY;
|
|
rc = dds_wait_for_acks(wr, inf);
|
|
error_report(rc, "dds_wait_for_acks:");
|
|
break;
|
|
}
|
|
default:
|
|
abort();
|
|
}
|
|
}
|
|
|
|
static int accept_error(char command, int retcode) {
|
|
if (retcode == DDS_RETCODE_TIMEOUT)
|
|
return 1;
|
|
if ((command == 'd' || command == 'u') && retcode == DDS_RETCODE_PRECONDITION_NOT_MET)
|
|
return 1;
|
|
return 0;
|
|
}
|
|
|
|
union data {
|
|
uint32_t seq;
|
|
struct { uint32_t seq; int32_t keyval; } seq_keyval;
|
|
KeyedSeq ks;
|
|
Keyed32 k32;
|
|
Keyed64 k64;
|
|
Keyed128 k128;
|
|
Keyed256 k256;
|
|
OneULong ou;
|
|
};
|
|
|
|
static void pub_do_auto(const struct writerspec *spec) {
|
|
int result;
|
|
dds_instance_handle_t *handle = (dds_instance_handle_t*) dds_alloc(sizeof(dds_instance_handle_t)*nkeyvals);
|
|
dds_time_t ntot = 0, tfirst, tlast, tprev, tfirst0, tstop;
|
|
struct hist *hist = hist_new(30, 1000, 0);
|
|
int k = 0;
|
|
union data d;
|
|
memset(&d, 0, sizeof(d));
|
|
|
|
switch (spec->topicsel) {
|
|
case UNSPEC:
|
|
assert(0);
|
|
case KS:
|
|
d.ks.baggage._maximum = d.ks.baggage._length = spec->baggagesize;
|
|
d.ks.baggage._buffer = (uint8_t *) dds_alloc(spec->baggagesize);
|
|
memset(d.ks.baggage._buffer, 0xee, spec->baggagesize);
|
|
break;
|
|
case K32:
|
|
memset(d.k32.baggage, 0xee, sizeof(d.k32.baggage));
|
|
break;
|
|
case K64:
|
|
memset(d.k64.baggage, 0xee, sizeof(d.k64.baggage));
|
|
break;
|
|
case K128:
|
|
memset(d.k128.baggage, 0xee, sizeof(d.k128.baggage));
|
|
break;
|
|
case K256:
|
|
memset(d.k256.baggage, 0xee, sizeof(d.k256.baggage));
|
|
break;
|
|
case OU:
|
|
break;
|
|
case ARB:
|
|
break;
|
|
}
|
|
|
|
for (k = 0; (uint32_t) k < nkeyvals; k++) {
|
|
d.seq_keyval.keyval = k;
|
|
if(spec->register_instances) {
|
|
dds_register_instance(spec->wr, &handle[k], &d);
|
|
}
|
|
}
|
|
|
|
dds_sleepfor(DDS_SECS(1)); // TODO is this sleep necessary?
|
|
d.seq_keyval.keyval = 0;
|
|
tfirst0 = tfirst = tprev = dds_time();
|
|
if (dur != 0.0) {
|
|
dds_duration_t dds_dur = 0;
|
|
(void) double_to_dds_duration(&dds_dur, dur);
|
|
tstop = tfirst0 + dds_dur;
|
|
} else
|
|
tstop = INT64_MAX;
|
|
|
|
if (nkeyvals == 0) {
|
|
while (!termflag && tprev < tstop) {
|
|
dds_sleepfor(DDS_MSECS(100));
|
|
}
|
|
} else if (spec->writerate <= 0) {
|
|
while (!termflag && tprev < tstop) {
|
|
if ((result = dds_write(spec->wr, &d)) != DDS_RETCODE_OK) {
|
|
printf ("write: error %d (%s)\n", (int) result, dds_err_str(result));
|
|
if (result != DDS_RETCODE_TIMEOUT)
|
|
break;
|
|
} else {
|
|
d.seq_keyval.keyval = (d.seq_keyval.keyval + 1) % (int32_t)nkeyvals;
|
|
d.seq++;
|
|
ntot++;
|
|
if ((d.seq % 16) == 0) {
|
|
dds_time_t t = dds_time();
|
|
hist_record(hist, (uint64_t)((t - tprev) / 16), 16);
|
|
if (t < tfirst + DDS_SECS(4)) {
|
|
tprev = t;
|
|
} else {
|
|
tlast = t;
|
|
hist_print(hist, tlast - tfirst, 1);
|
|
tfirst = tprev;
|
|
tprev = dds_time();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
} else {
|
|
unsigned bi = 0;
|
|
while (!termflag && tprev < tstop) {
|
|
if ((result = dds_write(spec->wr, &d)) != DDS_RETCODE_OK) {
|
|
printf ("write: error %d (%s)\n", (int) result, dds_err_str(result));
|
|
if (result != DDS_RETCODE_TIMEOUT)
|
|
break;
|
|
}
|
|
|
|
{
|
|
dds_time_t t = dds_time();
|
|
d.seq_keyval.keyval = (d.seq_keyval.keyval + 1) % (int32_t)nkeyvals;
|
|
d.seq++;
|
|
ntot++;
|
|
hist_record(hist, (uint64_t)(t - tprev), 1);
|
|
if (t >= tfirst + DDS_SECS(4)) {
|
|
tlast = t;
|
|
hist_print(hist, tlast - tfirst, 1);
|
|
tfirst = tprev;
|
|
t = dds_time();
|
|
}
|
|
if (++bi == spec->burstsize) {
|
|
while (((double)(ntot / spec->burstsize) / ((double)(t - tfirst0) / 1e9 + 5e-3)) > spec->writerate && !termflag) {
|
|
/* FIXME: only doing this manually because batching is not yet implemented properly */
|
|
dds_write_flush(spec->wr);
|
|
dds_sleepfor(DDS_MSECS(10));
|
|
t = dds_time();
|
|
}
|
|
bi = 0;
|
|
}
|
|
tprev = t;
|
|
}
|
|
}
|
|
}
|
|
tlast = dds_time();
|
|
hist_print(hist, tlast - tfirst, 0);
|
|
hist_free(hist);
|
|
printf ("total writes: %" PRId64 " (%e/s)\n", ntot, (double)ntot * 1e9 / (double)(tlast - tfirst0));
|
|
if (spec->topicsel == KS) {
|
|
dds_free(d.ks.baggage._buffer);
|
|
}
|
|
dds_free(handle);
|
|
}
|
|
|
|
static char *pub_do_nonarb(const struct writerspec *spec, uint32_t *seq) {
|
|
struct tstamp_t tstamp_spec = { .isabs = 0, .t = 0 };
|
|
int result;
|
|
union data d;
|
|
char command;
|
|
char *arg = NULL;
|
|
int k = 0;
|
|
memset(&d, 0, sizeof(d));
|
|
switch (spec->topicsel) {
|
|
case UNSPEC:
|
|
assert(0);
|
|
case KS:
|
|
d.ks.baggage._maximum = d.ks.baggage._length = spec->baggagesize;
|
|
d.ks.baggage._buffer = (uint8_t *) dds_alloc(spec->baggagesize);
|
|
memset(d.ks.baggage._buffer, 0xee, spec->baggagesize);
|
|
break;
|
|
case K32:
|
|
memset(d.k32.baggage, 0xee, sizeof(d.k32.baggage));
|
|
break;
|
|
case K64:
|
|
memset(d.k64.baggage, 0xee, sizeof(d.k64.baggage));
|
|
break;
|
|
case K128:
|
|
memset(d.k128.baggage, 0xee, sizeof(d.k128.baggage));
|
|
break;
|
|
case K256:
|
|
memset(d.k256.baggage, 0xee, sizeof(d.k256.baggage));
|
|
break;
|
|
case OU:
|
|
break;
|
|
case ARB:
|
|
break;
|
|
}
|
|
d.seq = *seq;
|
|
command = 0;
|
|
while (command != ':' && read_value(&command, &k, &tstamp_spec, &arg)) {
|
|
d.seq_keyval.keyval = k;
|
|
switch (command) {
|
|
case 'w': case 'd': case 'D': case 'u': case 'r': {
|
|
write_oper_t fn = get_write_oper(command);
|
|
dds_time_t tstamp = 0;
|
|
if (!tstamp_spec.isabs) {
|
|
tstamp = dds_time();
|
|
tstamp_spec.t += tstamp;
|
|
}
|
|
tstamp = (tstamp_spec.t % T_SECOND) + ((int) (tstamp_spec.t / T_SECOND) * DDS_NSECS_IN_SEC);
|
|
if ((result = fn(spec->wr, &d, tstamp)) != DDS_RETCODE_OK) {
|
|
printf ("%s %d: error %d (%s)\n", get_write_operstr(command), k, (int) result, dds_err_str(result));
|
|
if (!accept_error(command, result))
|
|
exit(1);
|
|
}
|
|
/* FIXME: only doing this manually because batching is not yet implemented properly */
|
|
dds_write_flush(spec->wr);
|
|
if (spec->dupwr && (result = fn(spec->dupwr, &d, tstamp)) != DDS_RETCODE_OK) {
|
|
printf ("%s %d(dup): error %d (%s)\n", get_write_operstr(command), k, (int) result, dds_err_str(result));
|
|
if (!accept_error(command, result))
|
|
exit(1);
|
|
}
|
|
if (spec->dupwr) {
|
|
/* FIXME: only doing this manually because batching is not yet implemented properly */
|
|
dds_write_flush(spec->wr);
|
|
}
|
|
d.seq++;
|
|
break;
|
|
}
|
|
case 'z':
|
|
if (spec->topicsel != KS)
|
|
printf ("payload size cannot be set for selected type\n");
|
|
else if (k < 12 && k != 0)
|
|
printf ("invalid payload size: %d\n", k);
|
|
else {
|
|
uint32_t baggagesize = (k != 0) ? (uint32_t) (k - 12) : 0;
|
|
if (d.ks.baggage._buffer)
|
|
dds_free (d.ks.baggage._buffer);
|
|
d.ks.baggage._maximum = d.ks.baggage._length = baggagesize;
|
|
d.ks.baggage._buffer = (uint8_t *) dds_alloc(baggagesize);
|
|
memset(d.ks.baggage._buffer, 0xee, d.ks.baggage._length);
|
|
}
|
|
break;
|
|
case 'p':
|
|
set_pub_partition(spec->pub, arg);
|
|
break;
|
|
case 's':
|
|
if (k < 0)
|
|
printf ("invalid sleep duration: %ds\n", k);
|
|
else {
|
|
dds_sleepfor(DDS_SECS(k));
|
|
}
|
|
break;
|
|
case 'Y': case 'B': case 'E': case 'W':
|
|
non_data_operation(command, spec->wr);
|
|
break;
|
|
case ':':
|
|
break;
|
|
default:
|
|
abort();
|
|
}
|
|
}
|
|
if (spec->topicsel == KS)
|
|
dds_free(d.ks.baggage._buffer);
|
|
*seq = d.seq;
|
|
if (command == ':')
|
|
return arg;
|
|
else {
|
|
dds_free(arg);
|
|
return NULL;
|
|
}
|
|
}
|
|
|
|
// TODO ARB type support
|
|
//static char *pub_do_arb_line(const struct writerspec *spec, const char *line) {
|
|
// int result;
|
|
// struct tstamp_t tstamp_spec;
|
|
// char *ret = NULL;
|
|
// char command;
|
|
// int k, pos;
|
|
// while (line && *(line = skipspaces(line)) != 0) {
|
|
// tstamp_spec.isabs = 0; tstamp_spec.t = 0;
|
|
// command = 'w';
|
|
// switch (*line) {
|
|
// case 'w': case 'd': case 'D': case 'u': case 'r':
|
|
// command = *line++;
|
|
// if (*line == '@') {
|
|
// if (*++line == '=') { ++line; tstamp_spec.isabs = 1; }
|
|
// tstamp_spec.t = T_SECOND * strtol(line, (char **) &line, 10);
|
|
// }
|
|
// case '{': {
|
|
// write_oper_t fn = get_write_oper(command);
|
|
// void *arb;
|
|
// char *endp;
|
|
// if ((arb = tgscan(spec->tgtp, line, &endp)) == NULL) {
|
|
// line = NULL;
|
|
// } else {
|
|
// dds_time_t tstamp;
|
|
// int diddodup = 0;
|
|
// if (!tstamp_spec.isabs) {
|
|
// DDS_DomainParticipant_get_current_time(dp, &tstamp);
|
|
// tstamp_spec.t += tstamp.sec * T_SECOND + tstamp.nanosec;
|
|
// }
|
|
// tstamp.sec = (int) (tstamp_spec.t / T_SECOND);
|
|
// tstamp.nanosec = (unsigned) (tstamp_spec.t % T_SECOND);
|
|
// line = endp;
|
|
// result = fn(spec->wr, arb, DDS_HANDLE_NIL, &tstamp);
|
|
// if (result == DDS_RETCODE_OK && spec->dupwr) {
|
|
// diddodup = 1;
|
|
// result = fn(spec->dupwr, arb, DDS_HANDLE_NIL, &tstamp);
|
|
// }
|
|
// tgfreedata(spec->tgtp, arb);
|
|
// if (result != DDS_RETCODE_OK) {
|
|
// printf ("%s%s: error %d (%s)\n", get_write_operstr(command), diddodup ? "(dup)" : "", (int) result, dds_err_str(result));
|
|
// if (!accept_error(command, result)) {
|
|
// line = NULL;
|
|
// if (!isatty(fdin))
|
|
// exit(1);
|
|
// break;
|
|
// }
|
|
// }
|
|
// }
|
|
// break;
|
|
// }
|
|
// case 'p':
|
|
// set_pub_partition(DDS_DataWriter_get_publisher(spec->wr), line+1);
|
|
// line = NULL;
|
|
// break;
|
|
// case 's':
|
|
// if (sscanf(line+1, "%d%n", &k, &pos) != 1 || k < 0) {
|
|
// printf ("invalid sleep duration: %ds\n", k);
|
|
// line = NULL;
|
|
// } else {
|
|
// sleep((unsigned) k);
|
|
// line += 1 + pos;
|
|
// }
|
|
// break;
|
|
// case 'Y': case 'B': case 'E': case 'W':
|
|
// non_data_operation(*line, spec->wr);
|
|
// break;
|
|
// case 'S':
|
|
// make_persistent_snapshot(line+1);
|
|
// line = NULL;
|
|
// break;
|
|
// case ':':
|
|
// ret = dds_string_dup(line+1);
|
|
// line = NULL;
|
|
// break;
|
|
// default:
|
|
// printf ("unrecognised command: %s\n", line);
|
|
// line = NULL;
|
|
// break;
|
|
// }
|
|
// }
|
|
// return ret;
|
|
//}
|
|
//
|
|
//static char *pub_do_arb(const struct writerspec *spec, struct getl_arg *getl_arg) {
|
|
// const char *orgline;
|
|
// char *ret = NULL;
|
|
// int count;
|
|
// while (ret == NULL && (orgline = getl(getl_arg, &count)) != NULL) {
|
|
// const char *line = skipspaces(orgline);
|
|
// if (*line) getl_enter_hist(getl_arg, orgline);
|
|
// ret = pub_do_arb_line(spec, line);
|
|
// }
|
|
// return ret;
|
|
//}
|
|
|
|
static uint32_t pubthread_auto(void *vspec) {
|
|
const struct writerspec *spec = vspec;
|
|
assert(spec->topicsel != UNSPEC && spec->topicsel != ARB);
|
|
pub_do_auto(spec);
|
|
return 0;
|
|
}
|
|
|
|
static uint32_t pubthread(void *vwrspecs) {
|
|
struct wrspeclist *wrspecs = vwrspecs;
|
|
uint32_t seq = 0;
|
|
// TODO Upon support for ARB types, resolve the declaration of fdin
|
|
// struct getl_arg getl_arg;
|
|
//#if USE_EDITLINE
|
|
// getl_init_editline(&getl_arg, fdin);
|
|
//#else
|
|
// getl_init_simple(&getl_arg, fdin);
|
|
//#endif
|
|
|
|
struct wrspeclist *cursor = wrspecs;
|
|
struct writerspec *spec = cursor->spec;
|
|
char *nextspec = NULL;
|
|
do {
|
|
if (spec->topicsel != ARB)
|
|
nextspec = pub_do_nonarb(spec, &seq);
|
|
// else
|
|
// nextspec = pub_do_arb(spec, &getl_arg);
|
|
if (nextspec == NULL)
|
|
spec = NULL;
|
|
else
|
|
{
|
|
int cnt, pos;
|
|
char *tmp = nextspec + strlen(nextspec);
|
|
while (tmp > nextspec && isspace((unsigned char)tmp[-1]))
|
|
*--tmp = 0;
|
|
if ((sscanf(nextspec, "+%d%n", &cnt, &pos) == 1 && nextspec[pos] == 0) || ((void)(cnt = 1), strcmp(nextspec, "+") == 0)) {
|
|
while (cnt--) cursor = cursor->next;
|
|
} else if ((sscanf(nextspec, "-%d%n", &cnt, &pos) == 1 && nextspec[pos] == 0) || ((void)(cnt = 1), strcmp(nextspec, "-") == 0)) {
|
|
while (cnt--) cursor = cursor->prev;
|
|
} else if (sscanf(nextspec, "%d%n", &cnt, &pos) == 1 && nextspec[pos] == 0) {
|
|
cursor = wrspecs; while (cnt--) cursor = cursor->next;
|
|
} else {
|
|
struct wrspeclist *endm = cursor, *cand = NULL;
|
|
do {
|
|
if (strncmp (cursor->spec->tpname, nextspec, strlen(nextspec)) == 0) {
|
|
if (cand == NULL)
|
|
cand = cursor;
|
|
else {
|
|
printf ("%s: ambiguous writer specification\n", nextspec);
|
|
break;
|
|
}
|
|
}
|
|
cursor = cursor->next;
|
|
} while (cursor != endm);
|
|
if (cand == NULL) {
|
|
printf ("%s: no matching writer specification\n", nextspec);
|
|
} else if (cursor != endm) { /* ambiguous case */
|
|
cursor = endm;
|
|
} else {
|
|
cursor = cand;
|
|
}
|
|
}
|
|
spec = cursor != NULL ? cursor->spec : NULL;
|
|
}
|
|
} while (spec);
|
|
|
|
return 0;
|
|
}
|
|
|
|
struct eseq_admin {
|
|
unsigned nkeys;
|
|
unsigned nph;
|
|
dds_instance_handle_t *ph;
|
|
unsigned **eseq;
|
|
};
|
|
|
|
static void init_eseq_admin(struct eseq_admin *ea, unsigned nkeys) {
|
|
ea->nkeys = nkeys;
|
|
ea->nph = 0;
|
|
ea->ph = NULL;
|
|
ea->eseq = NULL;
|
|
}
|
|
|
|
static void fini_eseq_admin(struct eseq_admin *ea) {
|
|
dds_free(ea->ph);
|
|
for (unsigned i = 0; i < ea->nph; i++)
|
|
dds_free(ea->eseq[i]);
|
|
dds_free(ea->eseq);
|
|
}
|
|
|
|
static int check_eseq(struct eseq_admin *ea, unsigned seq, unsigned keyval, const dds_instance_handle_t pubhandle) {
|
|
unsigned *eseq;
|
|
if (keyval >= ea->nkeys)
|
|
{
|
|
printf ("received key %u >= nkeys %u\n", keyval, ea->nkeys);
|
|
exit(2);
|
|
}
|
|
for (unsigned i = 0; i < ea->nph; i++)
|
|
if (pubhandle == ea->ph[i])
|
|
{
|
|
unsigned e = ea->eseq[i][keyval];
|
|
ea->eseq[i][keyval] = seq + ea->nkeys;
|
|
return seq == e;
|
|
}
|
|
ea->ph = dds_realloc(ea->ph, (ea->nph + 1) * sizeof(*ea->ph));
|
|
ea->ph[ea->nph] = pubhandle;
|
|
ea->eseq = dds_realloc(ea->eseq, (ea->nph + 1) * sizeof(*ea->eseq));
|
|
ea->eseq[ea->nph] = dds_alloc(ea->nkeys * sizeof(*ea->eseq[ea->nph]));
|
|
eseq = ea->eseq[ea->nph];
|
|
for (unsigned i = 0; i < ea->nkeys; i++)
|
|
eseq[i] = seq + (i - keyval) + (i <= keyval ? ea->nkeys : 0);
|
|
ea->nph++;
|
|
return 1;
|
|
}
|
|
|
|
// TODO coherency - Reintroduce this into application logic where needed. dds.h has this, but returns UNSUPPORTED, so expect that for now
|
|
//static int subscriber_needs_access(dds_entity_t sub) {
|
|
// dds_qos_t *qos;
|
|
// int x;
|
|
// if ((qos = dds_create_qos()) == NULL)
|
|
// return DDS_RETCODE_OUT_OF_RESOURCES;
|
|
// dds_qos_get(sub, qos);
|
|
// if (qos == NULL)
|
|
// error ("DDS_Subscriber_get_qos: error\n");
|
|
//
|
|
// dds_presentation_access_scope_kind_t access_scope;
|
|
// bool coherent_access;
|
|
// bool ordered_access;
|
|
// dds_qget_presentation(qos, &access_scope, &coherent_access, &ordered_access);
|
|
// x = (access_scope == DDS_PRESENTATION_GROUP && coherent_access);
|
|
// dds_free(qos);
|
|
// return x;
|
|
//}
|
|
|
|
static uint32_t subthread(void *vspec) {
|
|
const struct readerspec *spec = vspec;
|
|
dds_entity_t rd = spec->rd;
|
|
// TODO coherency support
|
|
// dds_entity_t sub = spec->sub;
|
|
// const int need_access = subscriber_needs_access(sub);
|
|
dds_entity_t ws;
|
|
dds_entity_t rdcondA = 0, rdcondD = 0;
|
|
dds_entity_t stcond = 0;
|
|
dds_return_t rc;
|
|
uintptr_t exitcode = 0;
|
|
char tag[270];
|
|
char tn[256];
|
|
size_t nxs = 0;
|
|
|
|
rc = dds_get_name(dds_get_topic(rd), tn, sizeof(tn));
|
|
error_report(rc, "dds_get_name failed");
|
|
(void)snprintf(tag, sizeof(tag), "[%u:%s]", spec->idx, tn);
|
|
|
|
if (wait_hist_data) {
|
|
rc = dds_reader_wait_for_historical_data(rd, wait_hist_data_timeout);
|
|
error_report(rc, "dds_reader_wait_for_historical_data");
|
|
}
|
|
|
|
ws = dds_create_waitset(dp);
|
|
rc = dds_waitset_attach(ws, termcond, termcond);
|
|
error_abort(rc, "dds_waitset_attach(termcond)");
|
|
nxs++;
|
|
switch (spec->mode) {
|
|
case MODE_NONE:
|
|
case MODE_ZEROLOAD:
|
|
/* no triggers */
|
|
break;
|
|
case MODE_PRINT:
|
|
/* complicated triggers */
|
|
rdcondA = dds_create_readcondition(rd, spec->use_take ? (DDS_ANY_SAMPLE_STATE | DDS_ANY_VIEW_STATE | DDS_ALIVE_INSTANCE_STATE | DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE)
|
|
: (DDS_NOT_READ_SAMPLE_STATE | DDS_ANY_VIEW_STATE | DDS_ALIVE_INSTANCE_STATE | DDS_NOT_ALIVE_NO_WRITERS_INSTANCE_STATE));
|
|
error_abort(rdcondA, "dds_readcondition_create(rdcondA)");
|
|
|
|
rc = dds_waitset_attach(ws, rdcondA, rdcondA);
|
|
error_abort(rc, "dds_waitset_attach(rdcondA)");
|
|
nxs++;
|
|
|
|
rdcondD = dds_create_readcondition(rd, (DDS_ANY_SAMPLE_STATE | DDS_ANY_VIEW_STATE | DDS_NOT_ALIVE_DISPOSED_INSTANCE_STATE));
|
|
error_abort(rdcondD, "dds_readcondition_create(rdcondD)");
|
|
|
|
rc = dds_waitset_attach(ws, rdcondD, rdcondD);
|
|
error_abort(rc, "dds_waitset_attach(rdcondD)");
|
|
nxs++;
|
|
break;
|
|
case MODE_CHECK:
|
|
case MODE_DUMP:
|
|
if (!spec->polling) {
|
|
/* fastest trigger we have */
|
|
rc = dds_set_status_mask(rd, DDS_DATA_AVAILABLE_STATUS);
|
|
error_abort(rc, "dds_set_status_mask(stcond)");
|
|
rc = dds_waitset_attach(ws, rd, rd);
|
|
error_abort(rc, "dds_waitset_attach(rd)");
|
|
nxs++;
|
|
}
|
|
break;
|
|
}
|
|
|
|
{
|
|
void **mseq = (void **) dds_alloc(sizeof(void*) * (spec->read_maxsamples));
|
|
|
|
dds_sample_info_t *iseq = (dds_sample_info_t *) dds_alloc(sizeof(dds_sample_info_t) * spec->read_maxsamples);
|
|
dds_attach_t *xs = dds_alloc(sizeof(dds_attach_t) * nxs);
|
|
|
|
dds_time_t tstart = 0, tfirst = 0, tprint = 0;
|
|
long long out_of_seq = 0, nreceived = 0, last_nreceived = 0;
|
|
long long nreceived_bytes = 0, last_nreceived_bytes = 0;
|
|
struct eseq_admin eseq_admin;
|
|
init_eseq_admin(&eseq_admin, nkeyvals);
|
|
|
|
int ii = 0;
|
|
for(ii = 0; ii < (int32_t) spec->read_maxsamples; ii++) {
|
|
mseq[ii] = NULL;
|
|
}
|
|
|
|
while (!termflag && !once_mode) {
|
|
dds_time_t tnow;
|
|
unsigned gi;
|
|
|
|
if (spec->polling) {
|
|
dds_sleepfor(DDS_MSECS(1)); /* 1ms sleep interval, so a bit less than 1kHz poll freq */
|
|
} else {
|
|
rc = dds_waitset_wait(ws, xs, nxs, DDS_INFINITY);
|
|
if (rc < DDS_RETCODE_OK) {
|
|
printf ("wait: error %d\n", (int) rc);
|
|
break;
|
|
} else if (rc == DDS_RETCODE_OK) {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
tnow = dds_time();
|
|
for (gi = 0; gi < (spec->polling ? 1 : nxs); gi++) {
|
|
dds_entity_t cond = !spec->polling && xs[gi] != 0 ? (dds_entity_t) xs[gi] : 0;
|
|
dds_return_t nread;
|
|
int32_t i;
|
|
|
|
if (cond == termcond)
|
|
continue;
|
|
if (cond == 0 && !spec->polling) {
|
|
break;
|
|
}
|
|
|
|
if (spec->print_match_pre_read) {
|
|
dds_subscription_matched_status_t status;
|
|
rc = dds_get_subscription_matched_status(rd, &status);
|
|
error_report(rc, "dds_get_subscription_matched_status failed");
|
|
if (rc == DDS_SUCCESS) {
|
|
printf("[pre-read: subscription-matched: total=(%"PRIu32" change %d) current=(%"PRIu32" change %d) handle=%"PRIu64"]\n",
|
|
status.total_count, status.total_count_change,
|
|
status.current_count,
|
|
status.current_count_change,
|
|
status.last_publication_handle);
|
|
}
|
|
}
|
|
|
|
/* Always take NOT_ALIVE_DISPOSED data because it means the
|
|
instance has reached its end-of-life.
|
|
|
|
NO_WRITERS I usually don't care for (though there certainly
|
|
are situations in which it is useful information). But you
|
|
can't have a NO_WRITERS with invalid_data set:
|
|
|
|
- either the reader contains the instance without data in
|
|
the disposed state, but in that case it stays in the
|
|
NOT_ALIVED_DISPOSED state;
|
|
|
|
- or the reader doesn't have the instance yet, in which
|
|
case the unregister is silently discarded.
|
|
|
|
However, receiving an unregister doesn't turn the sample
|
|
into a NEW one, though. So HOW AM I TO TRIGGER ON IT
|
|
without triggering CONTINUOUSLY?
|
|
*/
|
|
// TODO coherency support
|
|
// if (need_access && (result = DDS_Subscriber_begin_access(sub)) != DDS_RETCODE_OK)
|
|
// error ("DDS_Subscriber_begin_access: %d (%s)\n", (int) result, dds_err_str(result));
|
|
|
|
if (spec->mode == MODE_CHECK || (spec->mode == MODE_DUMP && spec->use_take) || spec->polling) {
|
|
nread = dds_take_mask(rd, mseq, iseq, spec->read_maxsamples, spec->read_maxsamples, DDS_ANY_STATE);
|
|
} else if (spec->mode == MODE_DUMP) {
|
|
nread = dds_read_mask(rd, mseq, iseq, spec->read_maxsamples, spec->read_maxsamples, DDS_ANY_STATE);
|
|
} else if (spec->use_take || cond == rdcondD) {
|
|
nread = dds_take(cond, mseq, iseq, spec->read_maxsamples, spec->read_maxsamples);
|
|
} else {
|
|
nread = dds_read(cond, mseq, iseq, spec->read_maxsamples, spec->read_maxsamples);
|
|
}
|
|
|
|
if (nread < 1) {
|
|
if (spec->polling && nread == 0) {
|
|
; /* expected */
|
|
} else if (spec->mode == MODE_CHECK || spec->mode == MODE_DUMP || spec->polling) {
|
|
printf ("%s: %d (%s) on %s\n", (!spec->use_take && spec->mode == MODE_DUMP) ? "read" : "take", (int) nread, dds_err_str(nread), spec->polling ? "poll" : "stcond");
|
|
} else {
|
|
printf ("%s: %d (%s) on rdcond%s\n", spec->use_take ? "take" : "read", (int) nread, dds_err_str(nread), (cond == rdcondA) ? "A" : (cond == rdcondD) ? "D" : "?");
|
|
}
|
|
continue;
|
|
}
|
|
|
|
// TODO coherency support
|
|
// if (need_access && (result = DDS_Subscriber_end_access(sub)) != DDS_RETCODE_OK)
|
|
// error ("DDS_Subscriber_end_access: %d (%s)\n", (int) result, dds_err_str(result));
|
|
|
|
switch (spec->mode) {
|
|
case MODE_PRINT:
|
|
case MODE_DUMP:
|
|
switch (spec->topicsel) {
|
|
case UNSPEC: assert(0);
|
|
case KS: print_seq_KS(&tstart, tnow, rd, tag, iseq, (KeyedSeq **)mseq, nread); break;
|
|
case K32: print_seq_K32(&tstart, tnow, rd, tag, iseq, (Keyed32 **)mseq, nread); break;
|
|
case K64: print_seq_K64(&tstart, tnow, rd, tag, iseq, (Keyed64 **)mseq, nread); break;
|
|
case K128: print_seq_K128(&tstart, tnow, rd, tag, iseq, (Keyed128 **)mseq, nread); break;
|
|
case K256: print_seq_K256(&tstart, tnow, rd, tag, iseq, (Keyed256 **)mseq, nread); break;
|
|
case OU: print_seq_OU(&tstart, tnow, rd, tag, iseq, (const OneULong **)mseq, nread); break;
|
|
case ARB: print_seq_ARB(&tstart, tnow, rd, tag, iseq, (const void **)mseq, spec->tgtp); break;
|
|
}
|
|
break;
|
|
|
|
case MODE_CHECK:
|
|
for (i = 0; i < nread; i++) {
|
|
int keyval = 0;
|
|
unsigned seq = 0;
|
|
unsigned size = 0;
|
|
if (!iseq[i].valid_data)
|
|
continue;
|
|
switch (spec->topicsel) {
|
|
case UNSPEC: assert(0);
|
|
case KS: { KeyedSeq *d = (KeyedSeq *) mseq[i]; keyval = d->keyval; seq = d->seq; size = 12 + d->baggage._length; } break;
|
|
case K32: { Keyed32 *d = (Keyed32 *) mseq[i]; keyval = d->keyval; seq = d->seq; size = 32; } break;
|
|
case K64: { Keyed64 *d = (Keyed64 *) mseq[i]; keyval = d->keyval; seq = d->seq; size = 64; } break;
|
|
case K128: { Keyed128 *d = (Keyed128 *) mseq[i]; keyval = d->keyval; seq = d->seq; size = 128; } break;
|
|
case K256: { Keyed256 *d = (Keyed256 *) mseq[i]; keyval = d->keyval; seq = d->seq; size = 256; } break;
|
|
case OU: { OneULong *d = (OneULong *) mseq[i]; keyval = 0; seq = d->seq; size = 4; } break;
|
|
case ARB: assert(0); break; /* can't check what we don't know */
|
|
}
|
|
if (!check_eseq(&eseq_admin, seq, (unsigned)keyval, iseq[i].publication_handle))
|
|
out_of_seq++;
|
|
if (nreceived == 0) {
|
|
tfirst = tnow;
|
|
tprint = tfirst;
|
|
}
|
|
nreceived++;
|
|
nreceived_bytes += size;
|
|
if (tnow - tprint >= DDS_SECS(1)) {
|
|
const dds_time_t tdelta_ns = tnow - tfirst;
|
|
const dds_time_t tdelta_s = tdelta_ns / DDS_NSECS_IN_SEC;
|
|
const dds_time_t tdelta_ms = ((tdelta_ns % DDS_NSECS_IN_SEC) + 500000) / DDS_NSECS_IN_MSEC;
|
|
const long long ndelta = nreceived - last_nreceived;
|
|
const double rate_Mbps = (double)(nreceived_bytes - last_nreceived_bytes) * 8 / 1e6;
|
|
printf ("%"PRId64".%03"PRId64" ntot %lld nseq %lld ndelta %lld rate %.2f Mb/s\n",
|
|
tdelta_s, tdelta_ms, nreceived, out_of_seq, ndelta, rate_Mbps);
|
|
last_nreceived = nreceived;
|
|
last_nreceived_bytes = nreceived_bytes;
|
|
tprint = tnow;
|
|
}
|
|
}
|
|
break;
|
|
|
|
case MODE_NONE:
|
|
case MODE_ZEROLOAD:
|
|
break;
|
|
}
|
|
rc = dds_return_loan(rd, mseq, nread);
|
|
error_report(rc, "dds_return_loan failed");
|
|
if (spec->sleep_ns) {
|
|
dds_sleepfor(spec->sleep_ns);
|
|
}
|
|
}
|
|
}
|
|
dds_free(xs);
|
|
|
|
if (spec->mode == MODE_PRINT || spec->mode == MODE_DUMP || once_mode) {
|
|
// TODO coherency support
|
|
// if (need_access && (result = DDS_Subscriber_begin_access (sub)) != DDS_RETCODE_OK)
|
|
// error ("DDS_Subscriber_begin_access: %d (%s)\n", (int) result, dds_err_str (result));
|
|
|
|
/* This is the final Read/Take */
|
|
dds_return_t nread;
|
|
nread = dds_take_mask(rd, mseq, iseq, spec->read_maxsamples, spec->read_maxsamples, DDS_ANY_STATE);
|
|
if (nread == 0) {
|
|
if (!once_mode)
|
|
printf ("-- final take: data reader empty --\n");
|
|
else
|
|
exitcode = 1;
|
|
} else if (nread < DDS_SUCCESS) {
|
|
if (!once_mode) {
|
|
error_report(rc, "-- final take --\n");
|
|
} else {
|
|
error_report(rc, "read/take");
|
|
}
|
|
} else {
|
|
if (!once_mode)
|
|
printf ("-- final contents of data reader --\n");
|
|
if (spec->mode == MODE_PRINT || spec->mode == MODE_DUMP) {
|
|
switch (spec->topicsel) {
|
|
case UNSPEC: assert(0);
|
|
case KS: print_seq_KS(&tstart, dds_time(), rd, tag, iseq, (KeyedSeq **) mseq, nread); break;
|
|
case K32: print_seq_K32(&tstart, dds_time(), rd, tag, iseq, (Keyed32 **) mseq, nread); break;
|
|
case K64: print_seq_K64(&tstart, dds_time(), rd, tag, iseq, (Keyed64 **) mseq, nread); break;
|
|
case K128: print_seq_K128(&tstart, dds_time(), rd, tag, iseq, (Keyed128 **) mseq, nread); break;
|
|
case K256: print_seq_K256(&tstart, dds_time(), rd, tag, iseq, (Keyed256 **) mseq, nread); break;
|
|
case OU: print_seq_OU(&tstart, dds_time(), rd, tag, iseq, (const OneULong **) mseq, nread); break;
|
|
case ARB: print_seq_ARB(&tstart, dds_time(), rd, tag, iseq, (const void **) mseq, spec->tgtp); break;
|
|
}
|
|
}
|
|
}
|
|
// TODO coherency support
|
|
// if (need_access && (result = DDS_Subscriber_end_access(sub)) != DDS_RETCODE_OK)
|
|
// error ("DDS_Subscriber_end_access: %d (%s)\n", (int) result, dds_err_str(result));
|
|
rc = dds_return_loan(rd, mseq, nread);
|
|
error_report(rc, "dds_return_loan failed");
|
|
}
|
|
dds_free(iseq);
|
|
dds_free(mseq);
|
|
if (spec->mode == MODE_CHECK)
|
|
printf ("received: %lld, out of seq: %lld\n", nreceived, out_of_seq);
|
|
fini_eseq_admin(&eseq_admin);
|
|
}
|
|
|
|
switch (spec->mode) {
|
|
case MODE_NONE:
|
|
case MODE_ZEROLOAD:
|
|
break;
|
|
case MODE_PRINT:
|
|
dds_waitset_detach(ws, rdcondA);
|
|
dds_delete(rdcondA);
|
|
dds_waitset_detach(ws, rdcondD);
|
|
dds_delete(rdcondD);
|
|
break;
|
|
case MODE_CHECK:
|
|
case MODE_DUMP:
|
|
if (!spec->polling)
|
|
dds_waitset_detach(ws, stcond);
|
|
break;
|
|
}
|
|
|
|
// TODO Confirm that dds_delete(participant) takes care of this
|
|
// ret = dds_waitset_detach(ws, termcond);
|
|
// ret = dds_delete(ws);
|
|
|
|
if (once_mode) {
|
|
/* trigger EOF for writer side, so we actually do terminate */
|
|
terminate();
|
|
}
|
|
return (uint32_t)exitcode;
|
|
}
|
|
|
|
static uint32_t autotermthread(void *varg __attribute__((unused))) {
|
|
dds_time_t tstop, tnow;
|
|
dds_return_t rc;
|
|
dds_entity_t ws;
|
|
|
|
dds_attach_t wsresults[1];
|
|
size_t wsresultsize = 1u;
|
|
|
|
assert(dur > 0);
|
|
|
|
tnow = dds_time();
|
|
dds_duration_t dds_dur = 0;
|
|
(void) double_to_dds_duration(&dds_dur, dur);
|
|
tstop = tnow + dds_dur;
|
|
|
|
ws = dds_create_waitset(dp);
|
|
rc = dds_waitset_attach(ws, termcond, termcond);
|
|
error_abort(rc, "dds_waitset_attach(termcomd)");
|
|
|
|
tnow = dds_time();
|
|
while (!termflag && tnow < tstop) {
|
|
dds_time_t dt = tstop - tnow;
|
|
dds_duration_t timeout;
|
|
int64_t xsec = dt / DDS_NSECS_IN_SEC;
|
|
int64_t xnanosec = dt % DDS_NSECS_IN_SEC;
|
|
timeout = DDS_SECS(xsec)+xnanosec;
|
|
|
|
if ((rc = dds_waitset_wait(ws, wsresults, wsresultsize, timeout)) < DDS_RETCODE_OK) {
|
|
printf ("wait: error %s\n", dds_err_str(rc));
|
|
break;
|
|
}
|
|
tnow = dds_time();
|
|
}
|
|
|
|
dds_waitset_detach(ws, termcond);
|
|
dds_delete(ws);
|
|
return 0;
|
|
}
|
|
|
|
static const char *execname(int argc, char *argv[]) {
|
|
const char *p;
|
|
if (argc == 0 || argv[0] == NULL)
|
|
return "";
|
|
else if ((p = strrchr(argv[0], '/')) != NULL)
|
|
return p + 1;
|
|
else
|
|
return argv[0];
|
|
}
|
|
|
|
static char *read_line_from_textfile(FILE *fp) {
|
|
char *str = NULL;
|
|
size_t sz = 0, n = 0;
|
|
int c;
|
|
while ((c = fgetc(fp)) != EOF && c != '\n') {
|
|
if (n == sz) str = dds_realloc(str, sz += 256);
|
|
str[n++] = (char)c;
|
|
}
|
|
if (c != EOF || n > 0) {
|
|
if (n == sz) str = dds_realloc(str, sz += 1);
|
|
str[n] = 0;
|
|
} else if (ferror(fp)) {
|
|
error_exit("error reading file, errno = %d (%s)\n", os_getErrno(), os_strerror(os_getErrno()));
|
|
}
|
|
return str;
|
|
}
|
|
|
|
static int get_metadata(char **metadata, char **typename, char **keylist, const char *file) {
|
|
FILE *fp;
|
|
if ((fp = fopen(file, "r")) == NULL)
|
|
error_exit("%s: can't open for reading metadata\n", file);
|
|
*typename = read_line_from_textfile(fp);
|
|
*keylist = read_line_from_textfile(fp);
|
|
*metadata = read_line_from_textfile(fp);
|
|
if (*typename == NULL || *keylist == NULL || *typename == NULL)
|
|
error_exit("%s: invalid metadata file\n", file);
|
|
fclose(fp);
|
|
return 1;
|
|
}
|
|
|
|
static dds_entity_t find_topic(dds_entity_t dpFindTopic, const char *name, const dds_duration_t *timeout) {
|
|
dds_entity_t tp;
|
|
(void)timeout;
|
|
// TODO ARB type support
|
|
// int isbuiltin = 0;
|
|
|
|
/* A historical accident has caused subtle issues with a generic reader for the built-in topics included in the DDS spec. */
|
|
// if (strcmp(name, "DCPSParticipant") == 0 || strcmp(name, "DCPSTopic") == 0 ||
|
|
// strcmp(name, "DCPSSubscription") == 0 || strcmp(name, "DCPSPublication") == 0) {
|
|
// dds_entity_t sub;
|
|
// if ((sub = DDS_DomainParticipant_get_builtin_subscriber(dp)) == NULL)
|
|
// error("DDS_DomainParticipant_get_builtin_subscriber failed\n");
|
|
// if (DDS_Subscriber_lookup_datareader(sub, name) == NULL)
|
|
// error("DDS_Subscriber_lookup_datareader failed\n");
|
|
// if ((result = DDS_Subscriber_delete_contained_entities(sub)) != DDS_RETCODE_OK)
|
|
// error("DDS_Subscriber_delete_contained_entities failed: error %d (%s)\n", (int) result, dds_err_str(result));
|
|
// isbuiltin = 1;
|
|
// }
|
|
|
|
// TODO Note: the implementation for dds_topic_find blocks infinitely if the topic does not exist in the domain
|
|
if (!(tp = dds_find_topic(dpFindTopic, name)))
|
|
printf ("topic %s not found\n", name);
|
|
|
|
// if (!isbuiltin) {
|
|
// char *tn = DDS_Topic_get_type_name(tp);
|
|
// char *kl = DDS_Topic_get_keylist(tp);
|
|
// char *md = DDS_Topic_get_metadescription(tp);
|
|
// DDS_ReturnCode_t result;
|
|
// DDS_TypeSupport ts;
|
|
// if ((ts = DDS_TypeSupport__alloc(tn, kl ? kl : "", md)) == NULL)
|
|
// error("DDS_TypeSupport__alloc(%s) failed\n", tn);
|
|
// if ((result = DDS_TypeSupport_register_type(ts, dp, tn)) != DDS_RETCODE_OK)
|
|
// error("DDS_TypeSupport_register_type(%s) failed: %d (%s)\n", tn, (int) result, dds_err_str(result));
|
|
// DDS_free(md);
|
|
// DDS_free(kl);
|
|
// DDS_free(tn);
|
|
// DDS_free(ts);
|
|
//
|
|
// /* Work around a double-free-at-shutdown issue caused by a find_topic
|
|
// without a type support having been register */
|
|
// if ((result = DDS_DomainParticipant_delete_topic(dp, tp)) != DDS_RETCODE_OK) {
|
|
// error("DDS_DomainParticipant_find_topic failed: %d (%s)\n", (int) result, dds_err_str(result));
|
|
// }
|
|
// if ((tp = DDS_DomainParticipant_find_topic(dp, name, timeout)) == NULL) {
|
|
// error("DDS_DomainParticipant_find_topic(2) failed\n");
|
|
// }
|
|
// }
|
|
|
|
return tp;
|
|
}
|
|
|
|
static void set_systemid_env(void) {
|
|
// TODO Determine encoding of dds_instance_handle_t, and see what sort of value can be extracted from it, if any
|
|
// Unsupported
|
|
|
|
/*uint32_t systemId, localId;
|
|
char str[128];
|
|
instancehandle_to_id(&systemId, &localId, DDS_Entity_get_instance_handle(dp));
|
|
snprintf (str, sizeof(str), "%u", systemId);
|
|
setenv("SYSTEMID", str, 1);
|
|
snprintf (str, sizeof(str), "__NODE%08x BUILT-IN PARTITION__", systemId);
|
|
setenv("NODE_BUILTIN_PARTITION", str, 1);*/
|
|
}
|
|
|
|
struct spec {
|
|
dds_entity_t tp;
|
|
dds_entity_t cftp;
|
|
const char *topicname;
|
|
const char *cftp_expr;
|
|
char *metadata;
|
|
char *typename;
|
|
char *keylist;
|
|
dds_duration_t findtopic_timeout;
|
|
struct readerspec rd;
|
|
struct writerspec wr;
|
|
os_threadId rdtid;
|
|
os_threadId wrtid;
|
|
};
|
|
|
|
static void addspec(unsigned whatfor, unsigned *specsofar, unsigned *specidx, struct spec **spec, int want_reader) {
|
|
if (*specsofar & whatfor)
|
|
{
|
|
struct spec *s;
|
|
(*specidx)++;
|
|
*spec = dds_realloc(*spec, (*specidx + 1) * sizeof(**spec));
|
|
s = &(*spec)[*specidx];
|
|
s->tp = 0;
|
|
s->cftp = 0;
|
|
s->topicname = NULL;
|
|
s->cftp_expr = NULL;
|
|
s->metadata = NULL;
|
|
s->typename = NULL;
|
|
s->keylist = NULL;
|
|
s->findtopic_timeout = 10;
|
|
s->rd = def_readerspec;
|
|
s->wr = def_writerspec;
|
|
|
|
// TODO Upon support for ARB types, resolve the declaration of fdin
|
|
// if (fdin == -1 && fdservsock == -1)
|
|
// s->wr.mode = WRM_NONE;
|
|
if (!want_reader)
|
|
s->rd.mode = MODE_NONE;
|
|
*specsofar = 0;
|
|
}
|
|
*specsofar |= whatfor;
|
|
}
|
|
|
|
static void set_print_mode(const char *modestr) {
|
|
char *copy = dds_string_dup(modestr), *cursor = copy, *tok;
|
|
while ((tok = os_strsep(&cursor, ",")) != NULL) {
|
|
int enable;
|
|
if (strncmp(tok, "no", 2) == 0) {
|
|
enable = 0; tok += 2;
|
|
} else {
|
|
enable = 1;
|
|
}
|
|
if (strcmp(tok, "type") == 0)
|
|
printtype = enable;
|
|
else if (strcmp(tok, "dense") == 0)
|
|
printmode = TGPM_DENSE;
|
|
else if (strcmp(tok, "space") == 0)
|
|
printmode = TGPM_SPACE;
|
|
else if (strcmp(tok, "fields") == 0)
|
|
printmode = TGPM_FIELDS;
|
|
else if (strcmp(tok, "multiline") == 0)
|
|
printmode = TGPM_MULTILINE;
|
|
else
|
|
{
|
|
static struct { const char *name; unsigned flag; } tab[] = {
|
|
{ "meta", ~0u },
|
|
{ "trad", PM_PID | PM_TIME | PM_PHANDLE | PM_STIME | PM_STATE },
|
|
{ "pid", PM_PID },
|
|
{ "topic", PM_TOPIC },
|
|
{ "time", PM_TIME },
|
|
{ "phandle", PM_PHANDLE },
|
|
{ "ihandle", PM_IHANDLE },
|
|
{ "stime", PM_STIME },
|
|
{ "dgen", PM_DGEN },
|
|
{ "nwgen", PM_NWGEN },
|
|
{ "ranks", PM_RANKS },
|
|
{ "state", PM_STATE }
|
|
};
|
|
size_t i;
|
|
for (i = 0; i < sizeof(tab)/sizeof(tab[0]); i++)
|
|
if (strcmp(tok, tab[i].name) == 0)
|
|
break;
|
|
if (i < sizeof(tab)/sizeof(tab[0])) {
|
|
if (enable)
|
|
print_metadata |= tab[i].flag;
|
|
else
|
|
print_metadata &= ~tab[i].flag;
|
|
} else {
|
|
fprintf (stderr, "-P %s: invalid print mode\n", modestr);
|
|
exit(2);
|
|
}
|
|
}
|
|
}
|
|
dds_free(copy);
|
|
}
|
|
|
|
int MAIN(int argc, char *argv[]) {
|
|
dds_entity_t sub = 0;
|
|
dds_entity_t pub = 0;
|
|
dds_listener_t *rdlistener = dds_create_listener(NULL);
|
|
dds_listener_t *wrlistener = dds_create_listener(NULL);
|
|
|
|
dds_qos_t *qos;
|
|
const char **qtopic = (const char **) dds_alloc(sizeof(char *) * (unsigned)argc);
|
|
const char **qreader = (const char **) dds_alloc(sizeof(char *) * (2+(unsigned)argc));
|
|
const char **qwriter = (const char **) dds_alloc(sizeof(char *) * (2+(unsigned)argc));
|
|
const char **qpublisher = (const char **) dds_alloc(sizeof(char *) * (2+(unsigned)argc));
|
|
const char **qsubscriber = (const char **) dds_alloc(sizeof(char *) * (2+(unsigned)argc));
|
|
int nqtopic = 0, nqreader = 0, nqwriter = 0;
|
|
int nqpublisher = 0, nqsubscriber = 0;
|
|
int opt, pos;
|
|
uintptr_t exitcode = 0;
|
|
int want_reader = 1;
|
|
int want_writer = 1;
|
|
bool isWriterListenerSet = false;
|
|
// int disable_signal_handlers = 0; // TODO signal handler support
|
|
unsigned sleep_at_end = 0;
|
|
os_threadId sigtid;
|
|
os_threadId inptid;
|
|
#define SPEC_TOPICSEL 1
|
|
#define SPEC_TOPICNAME 2
|
|
unsigned spec_sofar = 0;
|
|
unsigned specidx = 0;
|
|
unsigned i;
|
|
double wait_for_matching_reader_timeout = 0.0;
|
|
const char *wait_for_matching_reader_arg = NULL;
|
|
struct spec *spec = NULL;
|
|
struct wrspeclist *wrspecs = NULL;
|
|
memset (&sigtid, 0, sizeof(sigtid));
|
|
memset (&inptid, 0, sizeof(inptid));
|
|
os_mutexInit(&output_mutex);
|
|
|
|
if (os_strcasecmp(execname(argc, argv), "sub") == 0)
|
|
want_writer = 0;
|
|
else if(os_strcasecmp(execname(argc, argv), "pub") == 0)
|
|
want_reader = 0;
|
|
|
|
save_argv0 (argv[0]);
|
|
pid = (int) os_procIdSelf();
|
|
|
|
qreader[0] = "k=all";
|
|
qreader[1] = "R=10000/inf/inf";
|
|
nqreader = 2;
|
|
|
|
qwriter[0] = "k=all";
|
|
qwriter[1] = "R=100/inf/inf";
|
|
nqwriter = 2;
|
|
|
|
spec_sofar = SPEC_TOPICSEL;
|
|
specidx--;
|
|
addspec(SPEC_TOPICSEL, &spec_sofar, &specidx, &spec, want_reader);
|
|
spec_sofar = 0;
|
|
assert(specidx == 0);
|
|
|
|
while ((opt = os_getopt(argc, argv, "!@*:FK:T:D:q:m:M:n:OP:rRs:S:U:W:w:z:")) != EOF) {
|
|
switch (opt) {
|
|
case '!':
|
|
// disable_signal_handlers = 1; // TODO signal handler support
|
|
break;
|
|
case '@':
|
|
spec[specidx].wr.duplicate_writer_flag = 1;
|
|
break;
|
|
case '*':
|
|
sleep_at_end = (unsigned) os_atoll(os_get_optarg());
|
|
break;
|
|
case 'M':
|
|
if (sscanf(os_get_optarg(), "%lf:%n", &wait_for_matching_reader_timeout, &pos) != 1) {
|
|
fprintf (stderr, "-M %s: invalid timeout\n", os_get_optarg());
|
|
exit(2);
|
|
}
|
|
wait_for_matching_reader_arg = os_get_optarg() + pos;
|
|
break;
|
|
case 'F':
|
|
setvbuf(stdout, (char *) NULL, _IOLBF, 0);
|
|
break;
|
|
case 'K':
|
|
addspec(SPEC_TOPICSEL, &spec_sofar, &specidx, &spec, want_reader);
|
|
if (os_strcasecmp(os_get_optarg(), "KS") == 0)
|
|
spec[specidx].rd.topicsel = spec[specidx].wr.topicsel = KS;
|
|
else if (os_strcasecmp(os_get_optarg(), "K32") == 0)
|
|
spec[specidx].rd.topicsel = spec[specidx].wr.topicsel = K32;
|
|
else if (os_strcasecmp(os_get_optarg(), "K64") == 0)
|
|
spec[specidx].rd.topicsel = spec[specidx].wr.topicsel = K64;
|
|
else if (os_strcasecmp(os_get_optarg(), "K128") == 0)
|
|
spec[specidx].rd.topicsel = spec[specidx].wr.topicsel = K128;
|
|
else if (os_strcasecmp(os_get_optarg(), "K256") == 0)
|
|
spec[specidx].rd.topicsel = spec[specidx].wr.topicsel = K256;
|
|
else if (os_strcasecmp(os_get_optarg(), "OU") == 0)
|
|
spec[specidx].rd.topicsel = spec[specidx].wr.topicsel = OU;
|
|
else if (os_strcasecmp(os_get_optarg(), "ARB") == 0)
|
|
spec[specidx].rd.topicsel = spec[specidx].wr.topicsel = ARB;
|
|
else if (get_metadata(&spec[specidx].metadata, &spec[specidx].typename, &spec[specidx].keylist, os_get_optarg()))
|
|
spec[specidx].rd.topicsel = spec[specidx].wr.topicsel = ARB;
|
|
else {
|
|
fprintf (stderr, "-K %s: unknown type\n", os_get_optarg());
|
|
exit(2);
|
|
}
|
|
break;
|
|
case 'T': {
|
|
char *p;
|
|
addspec(SPEC_TOPICNAME, &spec_sofar, &specidx, &spec, want_reader);
|
|
spec[specidx].topicname = (const char *) dds_string_dup(os_get_optarg());
|
|
if ((p = strchr(spec[specidx].topicname, ':')) != NULL) {
|
|
double d;
|
|
int dpos, have_to = 0;
|
|
*p++ = 0;
|
|
if (strcmp (p, "inf") == 0 || strncmp (p, "inf:", 4) == 0) {
|
|
have_to = 1;
|
|
set_infinite_dds_duration(&spec[specidx].findtopic_timeout);
|
|
} else if (sscanf(p, "%lf%n", &d, &dpos) == 1 && (p[dpos] == 0 || p[dpos] == ':')) {
|
|
if (double_to_dds_duration(&spec[specidx].findtopic_timeout, d) < 0)
|
|
error_exit("-T %s: %s: duration invalid\n", os_get_optarg(), p);
|
|
have_to = 1;
|
|
} else {
|
|
/* assume content filter */
|
|
}
|
|
if (have_to && (p = strchr(p, ':')) != NULL) {
|
|
p++;
|
|
}
|
|
}
|
|
if (p != NULL) {
|
|
spec[specidx].cftp_expr = p;
|
|
}
|
|
break;
|
|
}
|
|
case 'q':
|
|
if (strncmp(os_get_optarg(), "provider=", 9) == 0) {
|
|
set_qosprovider(os_get_optarg()+9);
|
|
} else {
|
|
size_t n = strspn(os_get_optarg(), "atrwps");
|
|
const char *colon = strchr(os_get_optarg(), ':');
|
|
if (colon == NULL || n == 0 || n != (size_t) (colon - os_get_optarg())) {
|
|
fprintf (stderr, "-q %s: flags indicating to which entities QoS's apply must match regex \"[^atrwps]+:\"\n", os_get_optarg());
|
|
exit(2);
|
|
} else {
|
|
const char *q = colon+1;
|
|
for (const char *flag = os_get_optarg(); flag != colon; flag++)
|
|
switch (*flag) {
|
|
case 't': qtopic[nqtopic++] = q; break;
|
|
case 'r': qreader[nqreader++] = q; break;
|
|
case 'w': qwriter[nqwriter++] = q; break;
|
|
case 'p': qpublisher[nqpublisher++] = q; break;
|
|
case 's': qsubscriber[nqsubscriber++] = q; break;
|
|
case 'a':
|
|
qtopic[nqtopic++] = q;
|
|
qreader[nqreader++] = q;
|
|
qwriter[nqwriter++] = q;
|
|
qpublisher[nqpublisher++] = q;
|
|
qsubscriber[nqsubscriber++] = q;
|
|
break;
|
|
break;
|
|
default:
|
|
assert(0);
|
|
}
|
|
}
|
|
}
|
|
break;
|
|
case 'D':
|
|
dur = atof(os_get_optarg());
|
|
break;
|
|
case 'm':
|
|
spec[specidx].rd.polling = 0;
|
|
if (strcmp(os_get_optarg(), "0") == 0) {
|
|
spec[specidx].rd.mode = MODE_NONE;
|
|
} else if (strcmp(os_get_optarg(), "p") == 0) {
|
|
spec[specidx].rd.mode = MODE_PRINT;
|
|
} else if (strcmp(os_get_optarg(), "pp") == 0) {
|
|
spec[specidx].rd.mode = MODE_PRINT; spec[specidx].rd.polling = 1;
|
|
} else if (strcmp(os_get_optarg(), "c") == 0) {
|
|
spec[specidx].rd.mode = MODE_CHECK;
|
|
} else if (sscanf(os_get_optarg(), "c:%u%n", &nkeyvals, &pos) == 1 && os_get_optarg()[pos] == 0) {
|
|
spec[specidx].rd.mode = MODE_CHECK;
|
|
} else if (strcmp(os_get_optarg(), "cp") == 0) {
|
|
spec[specidx].rd.mode = MODE_CHECK; spec[specidx].rd.polling = 1;
|
|
} else if (sscanf(os_get_optarg(), "cp:%u%n", &nkeyvals, &pos) == 1 && os_get_optarg()[pos] == 0) {
|
|
spec[specidx].rd.mode = MODE_CHECK; spec[specidx].rd.polling = 1;
|
|
} else if (strcmp(os_get_optarg(), "z") == 0) {
|
|
spec[specidx].rd.mode = MODE_ZEROLOAD;
|
|
} else if (strcmp(os_get_optarg(), "d") == 0) {
|
|
spec[specidx].rd.mode = MODE_DUMP;
|
|
} else if (strcmp(os_get_optarg(), "dp") == 0) {
|
|
spec[specidx].rd.mode = MODE_DUMP; spec[specidx].rd.polling = 1;
|
|
} else {
|
|
fprintf (stderr, "-m %s: invalid mode\n", os_get_optarg());
|
|
exit(2);
|
|
}
|
|
break;
|
|
case 'w': {
|
|
int port;
|
|
spec[specidx].wr.writerate = 0.0;
|
|
spec[specidx].wr.burstsize = 1;
|
|
if (strcmp(os_get_optarg(), "-") == 0) {
|
|
spec[specidx].wr.mode = WRM_INPUT;
|
|
} else if (sscanf(os_get_optarg(), "%u%n", &nkeyvals, &pos) == 1 && os_get_optarg()[pos] == 0) {
|
|
spec[specidx].wr.mode = (nkeyvals == 0) ? WRM_NONE : WRM_AUTO;
|
|
} else if (sscanf(os_get_optarg(), "%u:%lf*%u%n", &nkeyvals, &spec[specidx].wr.writerate, &spec[specidx].wr.burstsize, &pos) == 3
|
|
&& os_get_optarg()[pos] == 0) {
|
|
spec[specidx].wr.mode = (nkeyvals == 0) ? WRM_NONE : WRM_AUTO;
|
|
} else if (sscanf(os_get_optarg(), "%u:%lf%n", &nkeyvals, &spec[specidx].wr.writerate, &pos) == 2
|
|
&& os_get_optarg()[pos] == 0) {
|
|
spec[specidx].wr.mode = (nkeyvals == 0) ? WRM_NONE : WRM_AUTO;
|
|
} else if (sscanf(os_get_optarg(), ":%d%n", &port, &pos) == 1 && os_get_optarg()[pos] == 0) {
|
|
fprintf (stderr, "listen on TCP port P: not supported\n");
|
|
exit(1);
|
|
} else {
|
|
spec[specidx].wr.mode = WRM_INPUT;
|
|
fprintf (stderr, "%s: can't open\n", os_get_optarg());
|
|
exit(1);
|
|
}
|
|
break;
|
|
}
|
|
case 'n':
|
|
spec[specidx].rd.read_maxsamples = (uint32_t)atoi(os_get_optarg());
|
|
break;
|
|
case 'O':
|
|
once_mode = 1;
|
|
break;
|
|
case 'P':
|
|
set_print_mode(os_get_optarg());
|
|
break;
|
|
case 'R':
|
|
spec[specidx].rd.use_take = 0;
|
|
break;
|
|
case 'r':
|
|
spec[specidx].wr.register_instances = 1;
|
|
break;
|
|
case 's':
|
|
spec[specidx].rd.sleep_ns = DDS_MSECS((int64_t) atoi(os_get_optarg()));
|
|
break;
|
|
case 'W': {
|
|
double t;
|
|
wait_hist_data = 1;
|
|
if (strcmp(os_get_optarg(), "inf") == 0)
|
|
set_infinite_dds_duration(&wait_hist_data_timeout);
|
|
else if (sscanf(os_get_optarg(), "%lf%n", &t, &pos) == 1 && os_get_optarg()[pos] == 0 && t >= 0)
|
|
double_to_dds_duration(&wait_hist_data_timeout, t);
|
|
else {
|
|
fprintf (stderr, "-W %s: invalid duration\n", os_get_optarg());
|
|
exit(2);
|
|
}
|
|
}
|
|
break;
|
|
case 'S': {
|
|
char *copy = dds_string_dup(os_get_optarg()), *tok, *lasts;
|
|
if (copy == NULL)
|
|
abort();
|
|
tok = os_strtok_r(copy, ",", &lasts);
|
|
while (tok) {
|
|
if (strcmp(tok, "pr") == 0 || strcmp(tok, "pre-read") == 0)
|
|
spec[specidx].rd.print_match_pre_read = 1;
|
|
else if (strcmp(tok, "sl") == 0 || strcmp(tok, "sample-lost") == 0)
|
|
dds_lset_sample_lost(rdlistener, rd_on_sample_lost);
|
|
else if (strcmp(tok, "sr") == 0 || strcmp(tok, "sample-rejected") == 0)
|
|
dds_lset_sample_rejected(rdlistener, rd_on_sample_rejected);
|
|
else if (strcmp(tok, "lc") == 0 || strcmp(tok, "liveliness-changed") == 0)
|
|
dds_lset_liveliness_changed(rdlistener, rd_on_liveliness_changed);
|
|
else if (strcmp(tok, "sm") == 0 || strcmp(tok, "subscription-matched") == 0)
|
|
dds_lset_subscription_matched(rdlistener, rd_on_subscription_matched);
|
|
else if (strcmp(tok, "ll") == 0 || strcmp(tok, "liveliness-lost") == 0) {
|
|
dds_lset_liveliness_lost(wrlistener, wr_on_liveliness_lost);
|
|
isWriterListenerSet = true;
|
|
} else if (strcmp(tok, "odm") == 0 || strcmp(tok, "offered-deadline-missed") == 0) {
|
|
dds_lset_offered_deadline_missed(wrlistener, wr_on_offered_deadline_missed);
|
|
isWriterListenerSet = true;
|
|
} else if (strcmp(tok, "pm") == 0 || strcmp(tok, "publication-matched") == 0) {
|
|
dds_lset_publication_matched(wrlistener, wr_on_publication_matched);
|
|
isWriterListenerSet = true;
|
|
} else if (strcmp(tok, "rdm") == 0 || strcmp(tok, "requested-deadline-missed") == 0)
|
|
dds_lset_requested_deadline_missed(rdlistener, rd_on_requested_deadline_missed);
|
|
else if (strcmp(tok, "riq") == 0 || strcmp(tok, "requested-incompatible-qos") == 0)
|
|
dds_lset_requested_incompatible_qos(rdlistener, rd_on_requested_incompatible_qos);
|
|
else if (strcmp(tok, "oiq") == 0 || strcmp(tok, "offered-incompatible-qos") == 0) {
|
|
dds_lset_offered_incompatible_qos(wrlistener, wr_on_offered_incompatible_qos);
|
|
isWriterListenerSet = true;
|
|
} else {
|
|
fprintf (stderr, "-S %s: invalid event\n", tok);
|
|
exit(2);
|
|
}
|
|
tok = os_strtok_r(NULL, ",", &lasts);
|
|
}
|
|
dds_free(copy);
|
|
}
|
|
break;
|
|
case 'z': {
|
|
/* payload is int32 int32 seq<octet>, which we count as 16+N,
|
|
for a 4 byte sequence length */
|
|
int tmp = atoi(os_get_optarg());
|
|
if (tmp != 0 && tmp < 12) {
|
|
fprintf (stderr, "-z %s: minimum is 12\n", os_get_optarg());
|
|
exit(1);
|
|
} else if (tmp == 0)
|
|
spec[specidx].wr.baggagesize = 0;
|
|
else
|
|
spec[specidx].wr.baggagesize = (unsigned) (tmp - 12);
|
|
break;
|
|
}
|
|
default:
|
|
usage(argv[0]);
|
|
}
|
|
}
|
|
|
|
if (argc - os_get_optind() < 1) {
|
|
usage(argv[0]);
|
|
}
|
|
|
|
for (i = 0; i <= specidx; i++) {
|
|
assert(spec[i].rd.topicsel == spec[i].wr.topicsel);
|
|
|
|
if (spec[i].rd.topicsel == UNSPEC)
|
|
spec[i].rd.topicsel = spec[i].wr.topicsel = KS;
|
|
|
|
if (spec[i].topicname == NULL) {
|
|
switch (spec[i].rd.topicsel) {
|
|
case UNSPEC: assert(0);
|
|
case KS: spec[i].topicname = dds_string_dup("PubSub"); break;
|
|
case K32: spec[i].topicname = dds_string_dup("PubSub32"); break;
|
|
case K64: spec[i].topicname = dds_string_dup("PubSub64"); break;
|
|
case K128: spec[i].topicname = dds_string_dup("PubSub128"); break;
|
|
case K256: spec[i].topicname = dds_string_dup("PubSub256"); break;
|
|
case OU: spec[i].topicname = dds_string_dup("PubSubOU"); break;
|
|
case ARB: error_exit("-K ARB requires specifying a topic name\n"); break;
|
|
}
|
|
assert(spec[i].topicname != NULL);
|
|
}
|
|
assert(spec[i].rd.topicsel != UNSPEC && spec[i].rd.topicsel == spec[i].wr.topicsel);
|
|
}
|
|
|
|
if (!isWriterListenerSet) {
|
|
want_writer = 0;
|
|
want_reader = 0;
|
|
for (i = 0; i <= specidx; i++) {
|
|
if (spec[i].rd.mode != MODE_NONE)
|
|
want_reader = 1;
|
|
switch(spec[i].wr.mode) {
|
|
case WRM_NONE:
|
|
break;
|
|
case WRM_AUTO:
|
|
want_writer = 1;
|
|
if (spec[i].wr.topicsel == ARB)
|
|
error_exit("auto-write mode requires non-ARB topic\n");
|
|
break;
|
|
case WRM_INPUT:
|
|
want_writer = 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
for (i = 0; i <= specidx; i++) {
|
|
if (spec[i].rd.topicsel == OU) {
|
|
/* by definition only 1 instance for OneULong type */
|
|
nkeyvals = 1;
|
|
if (spec[i].rd.topicsel == ARB) {
|
|
// TODO ARB type support
|
|
// if (((spec[i].rd.mode != MODE_PRINT || spec[i].rd.mode != MODE_DUMP) && spec[i].rd.mode != MODE_NONE) || (fdin == -1 && fdservsock == -1))
|
|
// error("-K ARB requires readers in PRINT or DUMP mode and writers in interactive mode\n");
|
|
// if (nqtopic != 0 && spec[i].metadata == NULL)
|
|
// error("-K ARB disallows specifying topic QoS when using find_topic\n");
|
|
}
|
|
}
|
|
if (spec[i].rd.mode == MODE_ZEROLOAD)
|
|
{
|
|
/* need to change to keep-last-1 (unless overridden by user) */
|
|
qreader[0] = "k=1";
|
|
}
|
|
}
|
|
|
|
common_init(argv[0]);
|
|
set_systemid_env();
|
|
dds_write_set_batch(true); // FIXME: hack (the global batching flag is a hack anyway)
|
|
|
|
{
|
|
char **ps = (char **) dds_alloc(sizeof(char *) * (uint32_t)(argc - os_get_optind()));
|
|
for (i = 0; i < (unsigned) (argc - os_get_optind()); i++)
|
|
ps[i] = expand_envvars(argv[(unsigned) os_get_optind() + i]);
|
|
if (want_reader) {
|
|
qos = dds_create_qos();
|
|
setqos_from_args(DDS_KIND_SUBSCRIBER, qos, nqsubscriber, qsubscriber);
|
|
sub = new_subscriber(qos, (unsigned) (argc - os_get_optind()), (const char **) ps);
|
|
dds_delete_qos(qos);
|
|
}
|
|
if (want_writer) {
|
|
qos = dds_create_qos();
|
|
setqos_from_args(DDS_KIND_PUBLISHER, qos, nqpublisher, qpublisher);
|
|
pub = new_publisher(qos, (unsigned) (argc - os_get_optind()), (const char **) ps);
|
|
dds_delete_qos(qos);
|
|
}
|
|
for (i = 0; i < (unsigned) (argc - os_get_optind()); i++)
|
|
dds_free(ps[i]);
|
|
dds_free(ps);
|
|
}
|
|
|
|
|
|
for (i = 0; i <= specidx; i++) {
|
|
qos = new_tqos();
|
|
setqos_from_args(DDS_KIND_TOPIC, qos, nqtopic, qtopic);
|
|
switch (spec[i].rd.topicsel) {
|
|
case UNSPEC: assert(0); break;
|
|
case KS: spec[i].tp = new_topic(spec[i].topicname, ts_KeyedSeq, qos); break;
|
|
case K32: spec[i].tp = new_topic(spec[i].topicname, ts_Keyed32, qos); break;
|
|
case K64: spec[i].tp = new_topic(spec[i].topicname, ts_Keyed64, qos); break;
|
|
case K128: spec[i].tp = new_topic(spec[i].topicname, ts_Keyed128, qos); break;
|
|
case K256: spec[i].tp = new_topic(spec[i].topicname, ts_Keyed256, qos); break;
|
|
case OU: spec[i].tp = new_topic(spec[i].topicname, ts_OneULong, qos); break;
|
|
case ARB:
|
|
// TODO ARB type support
|
|
error_exit("Currently doesn't support ARB type\n");
|
|
if (spec[i].metadata == NULL) {
|
|
if (!(spec[i].tp = find_topic(dp, spec[i].topicname, &spec[i].findtopic_timeout)))
|
|
error_exit("topic %s not found\n", spec[i].topicname);
|
|
} else {
|
|
// const dds_topic_descriptor_t* ts = dds_topic_descriptor_create(spec[i].typename, spec[i].keylist, spec[i].metadata); //Todo: Not available in cham dds.h
|
|
const dds_topic_descriptor_t* ts = NULL;
|
|
if(ts == NULL)
|
|
error_exit("dds_topic_descriptor_create(%s) failed\n",spec[i].typename);
|
|
spec[i].tp = new_topic(spec[i].topicname, ts, qos);
|
|
// dds_topic_descriptor_delete((dds_topic_descriptor_t*) ts);
|
|
}
|
|
// spec[i].rd.tgtp = spec[i].wr.tgtp = tgnew(spec[i].tp, printtype);
|
|
break;
|
|
}
|
|
assert(spec[i].tp);
|
|
// assert(spec[i].rd.topicsel != ARB || spec[i].rd.tgtp != NULL);
|
|
// assert(spec[i].wr.topicsel != ARB || spec[i].wr.tgtp != NULL);
|
|
dds_delete_qos(qos);
|
|
|
|
if (spec[i].cftp_expr == NULL)
|
|
spec[i].cftp = spec[i].tp;
|
|
else {
|
|
fprintf (stderr,"C99 API doesn't support the creation of content filtered topic.\n");
|
|
spec[i].cftp = spec[i].tp;
|
|
// TODO Content Filtered Topic support
|
|
// char name[40], *expr = expand_envvars(spec[i].cftp_expr);
|
|
// DDS_StringSeq *params = DDS_StringSeq__alloc();
|
|
// snprintf (name, sizeof (name), "cft%u", i);
|
|
// if ((spec[i].cftp = DDS_DomainParticipant_create_contentfilteredtopic(dp, name, spec[i].tp, expr, params)) == NULL)
|
|
// error("DDS_DomainParticipant_create_contentfiltered_topic failed\n");
|
|
// DDS_free(params);
|
|
// free(expr);
|
|
}
|
|
|
|
if (spec[i].rd.mode != MODE_NONE) {
|
|
qos = new_rdqos(spec[i].cftp);
|
|
setqos_from_args(DDS_KIND_READER, qos, nqreader, qreader);
|
|
spec[i].rd.rd = new_datareader_listener(sub, spec[i].cftp, qos, rdlistener);
|
|
spec[i].rd.sub = sub;
|
|
dds_delete_qos(qos);
|
|
}
|
|
|
|
if (spec[i].wr.mode != WRM_NONE) {
|
|
qos = new_wrqos(spec[i].tp);
|
|
setqos_from_args(DDS_KIND_WRITER, qos, nqwriter, qwriter);
|
|
spec[i].wr.wr = new_datawriter_listener(pub, spec[i].tp, qos, wrlistener);
|
|
spec[i].wr.pub = pub;
|
|
if (spec[i].wr.duplicate_writer_flag) {
|
|
spec[i].wr.dupwr = dds_create_writer(pub, spec[i].tp, qos, NULL);
|
|
error_abort(spec[i].wr.dupwr, "dds_writer_create failed");
|
|
}
|
|
dds_delete_qos(qos);
|
|
}
|
|
}
|
|
|
|
if (want_writer && wait_for_matching_reader_arg) {
|
|
printf("Wait for matching reader: unsupported\n");
|
|
// TODO Reimplement wait_for_matching_reader functionality via wait on status subscription matched
|
|
// struct qos *q = NULL;
|
|
// uint64_t tnow = dds_time();
|
|
// uint64_t tend = tnow + (uint64_t) (wait_for_matching_reader_timeout >= 0 ? (wait_for_matching_reader_timeout * 1e9 + 0.5) : 0);
|
|
// DDS_InstanceHandleSeq *sh = DDS_InstanceHandleSeq__alloc();
|
|
// dds_instance_handle_t pphandle;
|
|
// DDS_ReturnCode_t ret;
|
|
// DDS_ParticipantBuiltinTopicData *ppdata = DDS_ParticipantBuiltinTopicData__alloc();
|
|
// const DDS_UserDataQosPolicy *udqos;
|
|
// unsigned m;
|
|
// if ((pphandle = DDS_DomainParticipant_get_instance_handle(dp)) == 0)
|
|
// error("DDS_DomainParticipant_get_instance_handle failed\n");
|
|
// if ((ret = DDS_DomainParticipant_get_discovered_participant_data(dp, ppdata, pphandle)) != DDS_RETCODE_OK)
|
|
// error("DDS_DomainParticipant_get_discovered_participant_data failed: %d (%s)\n", (int) ret, dds_err_str(ret));
|
|
// q = new_wrqos(pub, spec[0].tp);
|
|
// qos_user_data(q, wait_for_matching_reader_arg);
|
|
// udqos = &qos_datawriter(q)->user_data;
|
|
// do {
|
|
// for (i = 0, m = specidx + 1; i <= specidx; i++) {
|
|
// if (spec[i].wr.mode == WM_NONE)
|
|
// --m;
|
|
// else if ((ret = DDS_DataWriter_get_matched_subscriptions(spec[i].wr.wr, sh)) != DDS_RETCODE_OK)
|
|
// error("DDS_DataWriter_get_matched_subscriptions failed: %d (%s)\n", (int) ret, dds_err_str(ret));
|
|
// else {
|
|
// unsigned j;
|
|
// for(j = 0; j < sh->_length; j++) {
|
|
// DDS_SubscriptionBuiltinTopicData *d = DDS_SubscriptionBuiltinTopicData__alloc();
|
|
// if ((ret = DDS_DataWriter_get_matched_subscription_data(spec[i].wr.wr, d, sh->_buffer[j])) != DDS_RETCODE_OK)
|
|
// error("DDS_DataWriter_get_matched_subscription_data(wr %u ih %llx) failed: %d (%s)\n", specidx, sh->_buffer[j], (int) ret, dds_err_str(ret));
|
|
// if (memcmp(d->participant_key, ppdata->key, sizeof(ppdata->key)) != 0 &&
|
|
// d->user_data.value._length == udqos->value._length &&
|
|
// (d->user_data.value._length == 0 || memcmp(d->user_data.value._buffer, udqos->value._buffer, udqos->value._length) == 0)) {
|
|
// --m;
|
|
// DDS_free(d);
|
|
// break;
|
|
// }
|
|
// DDS_free(d);
|
|
// }
|
|
// }
|
|
// }
|
|
// tnow = dds_time();
|
|
// if (m != 0 && tnow < tend) {
|
|
// uint64_t tdelta = (tend-tnow) < T_SECOND/10 ? tend-tnow : T_SECOND/10;
|
|
// os_time delay = { (os_timeSec) (tdelta / T_SECOND), (os_int32) (tdelta % T_SECOND)};
|
|
// os_nanoSleep(delay);
|
|
// tnow = dds_time();
|
|
// }
|
|
// } while(m != 0 && tnow < tend);
|
|
// free_qos(q);
|
|
// DDS_free(ppdata);
|
|
// DDS_free(sh);
|
|
// if (m != 0)
|
|
// error("timed out waiting for matching subscriptions\n");
|
|
}
|
|
|
|
termcond = dds_create_waitset(dp); // Waitset serves as GuardCondition here.
|
|
error_abort(termcond, "dds_create_waitset failed");
|
|
|
|
os_threadAttr attr;
|
|
os_threadAttrInit(&attr);
|
|
os_result osres;
|
|
|
|
if (want_writer) {
|
|
for (i = 0; i <= specidx; i++) {
|
|
struct wrspeclist *wsl;
|
|
switch (spec[i].wr.mode) {
|
|
case WRM_NONE:
|
|
break;
|
|
case WRM_AUTO:
|
|
osres = os_threadCreate(&spec[i].wrtid, "pubthread_auto", &attr, pubthread_auto, &spec[i].wr);
|
|
os_error_exit(osres, "Error: cannot create thread pubthread_auto");
|
|
break;
|
|
case WRM_INPUT:
|
|
wsl = dds_alloc(sizeof(*wsl));
|
|
spec[i].wr.tpname = dds_string_dup(spec[i].topicname);
|
|
wsl->spec = &spec[i].wr;
|
|
if (wrspecs) {
|
|
wsl->next = wrspecs->next;
|
|
wrspecs->next = wsl;
|
|
} else {
|
|
wsl->next = wsl;
|
|
}
|
|
wrspecs = wsl;
|
|
break;
|
|
}
|
|
}
|
|
if (wrspecs) { /* start with first wrspec */
|
|
wrspecs = wrspecs->next;
|
|
osres = os_threadCreate(&inptid, "pubthread", &attr, pubthread, wrspecs);
|
|
os_error_exit(osres, "Error: cannot create thread pubthread");
|
|
}
|
|
} else if (dur > 0) { /* note: abusing inptid */
|
|
osres = os_threadCreate(&inptid, "autotermthread", &attr, autotermthread, NULL);
|
|
os_error_exit(osres, "Error: cannot create thread autotermthread");
|
|
}
|
|
|
|
for (i = 0; i <= specidx; i++) {
|
|
if (spec[i].rd.mode != MODE_NONE) {
|
|
spec[i].rd.idx = i;
|
|
osres = os_threadCreate(&spec[i].rdtid, "subthread", &attr, subthread, &spec[i].rd);
|
|
os_error_exit(osres, "Error: cannot create thread subthread");
|
|
}
|
|
}
|
|
|
|
if (want_writer || dur > 0) {
|
|
int term_called = 0;
|
|
if (!want_writer || wrspecs) {
|
|
(void)os_threadWaitExit(inptid, NULL);
|
|
term_called = 1;
|
|
terminate();
|
|
}
|
|
for (i = 0; i <= specidx; i++) {
|
|
if (spec[i].wr.mode == WRM_AUTO)
|
|
(void)os_threadWaitExit(spec[i].wrtid, NULL);
|
|
}
|
|
if (!term_called)
|
|
terminate();
|
|
}
|
|
|
|
if (want_reader) {
|
|
uint32_t ret;
|
|
exitcode = 0;
|
|
for (i = 0; i <= specidx; i++) {
|
|
if (spec[i].rd.mode != MODE_NONE) {
|
|
(void)os_threadWaitExit(spec[i].rdtid, &ret);
|
|
if ((uintptr_t) ret > exitcode)
|
|
exitcode = (uintptr_t) ret;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (wrspecs) {
|
|
struct wrspeclist *m;
|
|
m = wrspecs->next;
|
|
wrspecs->next = NULL;
|
|
wrspecs = m;
|
|
while ((m = wrspecs) != NULL) {
|
|
wrspecs = wrspecs->next;
|
|
dds_free(m);
|
|
}
|
|
}
|
|
|
|
dds_delete_listener(wrlistener);
|
|
dds_delete_listener(rdlistener);
|
|
|
|
dds_free((char **) qtopic);
|
|
dds_free((char **) qpublisher);
|
|
dds_free((char **) qsubscriber);
|
|
dds_free((char **) qreader);
|
|
dds_free((char **) qwriter);
|
|
|
|
for (i = 0; i <= specidx; i++) {
|
|
if(spec[i].topicname) dds_free((char *)spec[i].topicname);
|
|
if(spec[i].cftp_expr) dds_free((char *)spec[i].cftp_expr);
|
|
if(spec[i].metadata) dds_free(spec[i].metadata);
|
|
if(spec[i].typename) dds_free(spec[i].typename);
|
|
if(spec[i].keylist) dds_free(spec[i].keylist);
|
|
assert(spec[i].wr.tgtp == spec[i].rd.tgtp); /* so no need to free both */
|
|
// TODO ARB type support
|
|
// if (spec[i].rd.tgtp)
|
|
// tgfree(spec[i].rd.tgtp);
|
|
// if (spec[i].wr.tgtp)
|
|
// tgfree(spec[i].wr.tgtp);
|
|
if (spec[i].wr.tpname)
|
|
dds_string_free(spec[i].wr.tpname);
|
|
}
|
|
dds_free(spec);
|
|
|
|
// dds_delete(termcond);
|
|
common_fini ();
|
|
if (sleep_at_end) {
|
|
dds_sleepfor(DDS_SECS(sleep_at_end));
|
|
}
|
|
os_mutexDestroy(&output_mutex);
|
|
return (int) exitcode;
|
|
}
|