/* HelloWorld_publisher.cxx A publication of data of type HelloWorld This file is derived from code automatically generated by the rtiddsgen command: rtiddsgen -language C++ -example <arch> HelloWorld.idl Example publication of type HelloWorld automatically generated by 'rtiddsgen'. To test them follow these steps: (1) Compile this file and the example subscription. (2) Start the subscription on the same domain used for RTI Connext with the command objs/<arch>/HelloWorld_subscriber <domain_id> <sample_count> (3) Start the publication on the same domain used for RTI Connext 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: objs/<arch>/HelloWorld_publisher <domain_id> objs/<arch>/HelloWorld_subscriber <domain_id> On Windows: objs<arch>\HelloWorld_publisher <domain_id> objs<arch>\HelloWorld_subscriber <domain_id> modification history ------------ ------- */ #include <stdio.h> #include <stdlib.h> #include "ndds/ndds_cpp.h" #include "HelloWorld.h" #include "HelloWorldSupport.h" /* Delete all entities */ static int publisher_shutdown( DDSDomainParticipant *participant) { DDS_ReturnCode_t retcode; int status = 0; if (participant != NULL) { retcode = participant->delete_contained_entities(); if (retcode != DDS_RETCODE_OK) { printf("delete_contained_entities error %d\n", retcode); status = -1; } retcode = DDSTheParticipantFactory->delete_participant(participant); if (retcode != DDS_RETCODE_OK) { printf("delete_participant error %d\n", retcode); status = -1; } } /* RTI Connext provides finalize_instance() method on domain participant factory for people who want to release memory used by the participant factory singleton. Uncomment the following block of code for clean destruction of the singleton. */ /* retcode = DDSDomainParticipantFactory::finalize_instance(); if (retcode != DDS_RETCODE_OK) { printf("finalize_instance error %d\n", retcode); status = -1; } */ return status; } extern "C" int publisher_main(int domainId, int sample_count) { DDSDomainParticipant *participant = NULL; DDSPublisher *publisher = NULL; DDSTopic *topic = NULL; DDSDataWriter *writer = NULL; HelloWorldDataWriter *HelloWorld_writer = NULL; HelloWorld *instance = NULL; DDS_ReturnCode_t retcode; DDS_InstanceHandle_t instance_handle = DDS_HANDLE_NIL; const char *type_name = NULL; int count = 0; struct DDS_Duration_t send_period = {4,0}; /* To customize participant QoS, use DDSTheParticipantFactory->get_default_participant_qos() instead */ participant = DDSTheParticipantFactory->create_participant( domainId, DDS_PARTICIPANT_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE); if (participant == NULL) { printf("create_participant error\n"); publisher_shutdown(participant); return -1; } /* To customize publisher QoS, use participant->get_default_publisher_qos() instead */ publisher = participant->create_publisher( DDS_PUBLISHER_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE); if (publisher == NULL) { printf("create_publisher error\n"); publisher_shutdown(participant); return -1; } /* Register type before creating 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); publisher_shutdown(participant); return -1; } /* To customize topic QoS, use participant->get_default_topic_qos() instead */ topic = participant->create_topic( "Example HelloWorld", type_name, DDS_TOPIC_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE); if (topic == NULL) { printf("create_topic error\n"); publisher_shutdown(participant); return -1; } /* To customize data writer QoS, use publisher->get_default_datawriter_qos() instead */ writer = publisher->create_datawriter( topic, DDS_DATAWRITER_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE); if (writer == NULL) { printf("create_datawriter error\n"); publisher_shutdown(participant); return -1; } HelloWorld_writer = HelloWorldDataWriter::narrow(writer); if (HelloWorld_writer == NULL) { printf("DataWriter narrow error\n"); publisher_shutdown(participant); return -1; } /* Create data sample for writing */ instance = HelloWorldTypeSupport::create_data(); if (instance == NULL) { printf("HelloWorldTypeSupport::create_data error\n"); publisher_shutdown(participant); return -1; } /* For data type that has key, if the same instance is going to be written multiple times, initialize the key here and register the keyed instance prior to writing */ /* instance_handle = HelloWorld_writer->register_instance(*instance); */ /* Main loop */ for (count=0; (sample_count == 0) || (count < sample_count); ++count) { printf("Writing HelloWorld, count %d\n", count); /* Modify the data to be sent here */ sprintf(instance->msg, "Hello World! (%d)", count); retcode = HelloWorld_writer->write(*instance, instance_handle); if (retcode != DDS_RETCODE_OK) { printf("write error %d\n", retcode); } NDDSUtility::sleep(send_period); } /* retcode = HelloWorld_writer->unregister_instance( *instance, instance_handle); if (retcode != DDS_RETCODE_OK) { printf("unregister instance error %d\n", retcode); } */ /* Delete data sample */ retcode = HelloWorldTypeSupport::delete_data(instance); if (retcode != DDS_RETCODE_OK) { printf("HelloWorldTypeSupport::delete_data error %d\n", retcode); } /* Delete all entities */ return publisher_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 NDDSConfigLogger::get_instance()-> set_verbosity_by_category(NDDS_CONFIG_LOG_CATEGORY_API, NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL); */ return publisher_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 NDDSConfigLogger::get_instance()-> set_verbosity_by_category(NDDS_CONFIG_LOG_CATEGORY_API, NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL); */ return publisher_main(domainId, sample_count); } #endif