RTI Connext C API  Version 5.0.0
HelloWorld_subscriber.c

RTI Connext Subscription Example

The unmodified subscription example generated by rtiddsgen.

HelloWorld_subscriber.c

[$(NDDSHOME)/example/C/helloWorld/HelloWorld_subscriber.c]

/* HelloWorld_subscriber.c
A subscription example
This file is derived from code automatically generated by the rtiddsgen
command:
rtiddsgen -language C -example <arch> HelloWorld.idl
Example subscription of type HelloWorld automatically generated by
'rtiddsgen'. To test them, follow these steps:
(1) Compile this file and the example publication.
(2) Start the subscription with the command
objs/<arch>/HelloWorld_subscriber <domain_id> <sample_count>
(3) Start the publication with the command
objs/<arch>/HelloWorld_publisher <domain_id> <sample_count>
(4) [Optional] Specify the list of discovery initial peers and
multicast receive addresses via an environment variable or a file
(in the current working directory) called NDDS_DISCOVERY_PEERS.
You can run any number of publishers and subscribers programs, and can
add and remove them dynamically from the domain.
Example:
To run the example application on domain <domain_id>:
On UNIX systems:
objs/<arch>/HelloWorld_publisher <domain_id>
objs/<arch>/HelloWorld_subscriber <domain_id>
On Windows systems:
objs<arch>\HelloWorld_publisher <domain_id>
objs<arch>\HelloWorld_subscriber <domain_id>
modification history
------------ -------
*/
#include <stdio.h>
#include <stdlib.h>
#include "ndds/ndds_c.h"
#include "HelloWorld.h"
#include "HelloWorldSupport.h"
void HelloWorldListener_on_requested_deadline_missed(
void* listener_data,
DDS_DataReader* reader,
const struct DDS_RequestedDeadlineMissedStatus *status)
{
}
void HelloWorldListener_on_requested_incompatible_qos(
void* listener_data,
DDS_DataReader* reader,
const struct DDS_RequestedIncompatibleQosStatus *status)
{
}
void HelloWorldListener_on_sample_rejected(
void* listener_data,
DDS_DataReader* reader,
const struct DDS_SampleRejectedStatus *status)
{
}
void HelloWorldListener_on_liveliness_changed(
void* listener_data,
DDS_DataReader* reader,
const struct DDS_LivelinessChangedStatus *status)
{
}
void HelloWorldListener_on_sample_lost(
void* listener_data,
DDS_DataReader* reader,
const struct DDS_SampleLostStatus *status)
{
}
void HelloWorldListener_on_subscription_matched(
void* listener_data,
DDS_DataReader* reader,
const struct DDS_SubscriptionMatchedStatus *status)
{
}
void HelloWorldListener_on_data_available(
void* listener_data,
DDS_DataReader* reader)
{
HelloWorldDataReader *HelloWorld_reader = NULL;
struct HelloWorldSeq data_seq = DDS_SEQUENCE_INITIALIZER;
int i;
HelloWorld_reader = HelloWorldDataReader_narrow(reader);
if (HelloWorld_reader == NULL) {
printf("DataReader narrow error\n");
return;
}
retcode = HelloWorldDataReader_take(
HelloWorld_reader,
&data_seq, &info_seq, DDS_LENGTH_UNLIMITED,
if (retcode == DDS_RETCODE_NO_DATA) {
return;
} else if (retcode != DDS_RETCODE_OK) {
printf("take error %d\n", retcode);
return;
}
for (i = 0; i < HelloWorldSeq_get_length(&data_seq); ++i) {
if (DDS_SampleInfoSeq_get_reference(&info_seq, i)->valid_data) {
HelloWorldTypeSupport_print_data(
HelloWorldSeq_get_reference(&data_seq, i));
}
}
retcode = HelloWorldDataReader_return_loan(
HelloWorld_reader,
&data_seq, &info_seq);
if (retcode != DDS_RETCODE_OK) {
printf("return loan error %d\n", retcode);
}
}
/* Delete all entities */
static int subscriber_shutdown(
DDS_DomainParticipant *participant)
{
int status = 0;
if (participant != NULL) {
if (retcode != DDS_RETCODE_OK) {
printf("delete_contained_entities error %d\n", retcode);
status = -1;
}
if (retcode != DDS_RETCODE_OK) {
printf("delete_participant error %d\n", retcode);
status = -1;
}
}
/* RTI Connext provides the finalize_instance() method on
domain participant factory for users who want to release memory used
by the participant factory. Uncomment the following block of code for
clean destruction of the singleton. */
/*
retcode = DDS_DomainParticipantFactory_finalize_instance();
if (retcode != DDS_RETCODE_OK) {
printf("finalize_instance error %d\n", retcode);
status = -1;
}
*/
return status;
}
static int subscriber_main(int domainId, int sample_count)
{
DDS_DomainParticipant *participant = NULL;
DDS_Subscriber *subscriber = NULL;
DDS_Topic *topic = NULL;
struct DDS_DataReaderListener reader_listener =
DDS_DataReader *reader = NULL;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t poll_period = {4,0};
/* To customize participant QoS, use
DDS_DomainParticipantFactory_get_default_participant_qos() */
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize subscriber QoS, use
DDS_DomainParticipant_get_default_subscriber_qos() */
participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
if (subscriber == NULL) {
printf("create_subscriber error\n");
subscriber_shutdown(participant);
return -1;
}
/* Register the type before creating the topic */
type_name = HelloWorldTypeSupport_get_type_name();
retcode = HelloWorldTypeSupport_register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
subscriber_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
DDS_DomainParticipant_get_default_topic_qos() */
participant, "Example HelloWorld",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
if (topic == NULL) {
printf("create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* Set up a data reader listener */
reader_listener.on_requested_deadline_missed =
HelloWorldListener_on_requested_deadline_missed;
HelloWorldListener_on_requested_incompatible_qos;
reader_listener.on_sample_rejected =
HelloWorldListener_on_sample_rejected;
reader_listener.on_liveliness_changed =
HelloWorldListener_on_liveliness_changed;
reader_listener.on_sample_lost =
HelloWorldListener_on_sample_lost;
reader_listener.on_subscription_matched =
HelloWorldListener_on_subscription_matched;
reader_listener.on_data_available =
HelloWorldListener_on_data_available;
/* To customize the data reader QoS, use
DDS_Subscriber_get_default_datareader_qos() */
subscriber, DDS_Topic_as_topicdescription(topic),
if (reader == NULL) {
printf("create_datareader error\n");
subscriber_shutdown(participant);
return -1;
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
printf("HelloWorld subscriber sleeping for %d sec...\n",
poll_period.sec);
NDDS_Utility_sleep(&poll_period);
}
/* Cleanup and delete all entities */
return subscriber_shutdown(participant);
}
#if defined(RTI_WINCE)
int wmain(int argc, wchar_t** argv)
{
int domainId = 0;
int sample_count = 0; /* infinite loop */
if (argc >= 2) {
domainId = _wtoi(argv[1]);
}
if (argc >= 3) {
sample_count = _wtoi(argv[2]);
}
/* Uncomment this to turn on additional logging
NDDS_Config_Logger_set_verbosity_by_category(
NDDS_Config_Logger_get_instance(),
NDDS_CONFIG_LOG_CATEGORY_API,
NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
*/
return subscriber_main(domainId, sample_count);
}
#elif !(defined(RTI_VXWORKS) && !defined(__RTP__)) && !defined(RTI_PSOS)
int main(int argc, char *argv[])
{
int domainId = 0;
int sample_count = 0; /* infinite loop */
if (argc >= 2) {
domainId = atoi(argv[1]);
}
if (argc >= 3) {
sample_count = atoi(argv[2]);
}
/* Uncomment this to turn on additional logging
NDDS_Config_Logger_set_verbosity_by_category(
NDDS_Config_Logger_get_instance(),
NDDS_CONFIG_LOG_CATEGORY_API,
NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
*/
return subscriber_main(domainId, sample_count);
}
#endif
#ifdef RTI_VX653
const unsigned char* __ctype = NULL;
void usrAppInit ()
{
#ifdef USER_APPL_INIT
USER_APPL_INIT; /* for backwards compatibility */
#endif
/* add application specific code here */
taskSpawn("sub", RTI_OSAPI_THREAD_PRIORITY_NORMAL, 0x8, 0x150000, (FUNCPTR)subscriber_main, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
}
#endif

RTI Connext C API Version 5.0.0 Copyright © Thu Aug 30 2012 Real-Time Innovations, Inc