HelloWorld_publisher.c

RTI Connext Publication Example

The publication example generated by rtiddsgen. The example has been modified slightly to update the sample value.

HelloWorld_publisher.c

/* HelloWorld_publisher.c

   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_c.h"
#include "HelloWorld.h"
#include "HelloWorldSupport.h"

/* Delete all entities */
static int publisher_shutdown(
    DDS_DomainParticipant *participant)
{
    DDS_ReturnCode_t retcode;
    int status = 0;

    if (participant != NULL) {
        retcode = DDS_DomainParticipant_delete_contained_entities(participant);
        if (retcode != DDS_RETCODE_OK) {
            printf("delete_contained_entities error %d\n", retcode);
            status = -1;
        }

        retcode = DDS_DomainParticipantFactory_delete_participant(
            DDS_TheParticipantFactory, 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 = DDS_DomainParticipantFactory_finalize_instance();
    if (retcode != DDS_RETCODE_OK) {
        printf("finalize_instance error %d\n", retcode);
        status = -1;
    }
*/

    return status;
}

int publisher_main(int domainId, int sample_count)
{
    DDS_DomainParticipant *participant = NULL;
    DDS_Publisher *publisher = NULL;
    DDS_Topic *topic = NULL;
    DDS_DataWriter *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 
       DDS_DomainParticipantFactory_get_default_participant_qos()
       instead */
    participant = DDS_DomainParticipantFactory_create_participant(
        DDS_TheParticipantFactory, 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
       DDS_DomainParticipant_get_default_publisher_qos() instead */
    publisher = DDS_DomainParticipant_create_publisher(
        participant, &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
       DDS_DomainParticipant_get_default_topic_qos() instead */
    topic = DDS_DomainParticipant_create_topic(
        participant, "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
       DDS_Publisher_get_default_datawriter_qos() instead */
    writer = DDS_Publisher_create_datawriter(
        publisher, 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_ex(DDS_BOOLEAN_TRUE);
    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 = HelloWorldDataWriter_register_instance(
        HelloWorld_writer, instance);
*/

    /* Main loop */
    for (count=0; (sample_count == 0) || (count < sample_count); ++count) {

        printf("Writing HelloWorld, count %d\n", count);

        /* Modify the instance to be written here */
        sprintf(instance->msg, "Hello World! (%d)", count);

        /* Write data */
        retcode = HelloWorldDataWriter_write(
            HelloWorld_writer, instance, &instance_handle);
        if (retcode != DDS_RETCODE_OK) {
            printf("write error %d\n", retcode);
        }

        NDDS_Utility_sleep(&send_period);
    }

/*
    retcode = HelloWorldDataWriter_unregister_instance(
        HelloWorld_writer, instance, &instance_handle);
    if (retcode != DDS_RETCODE_OK) {
        printf("unregister instance error %d\n", retcode);
    }
*/

    /* Delete data sample */
    retcode = HelloWorldTypeSupport_delete_data_ex(instance, DDS_BOOLEAN_TRUE);
    if (retcode != DDS_RETCODE_OK) {
        printf("HelloWorldTypeSupport_delete_data error %d\n", retcode);
    }

    /* Cleanup and delete 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
    NDDS_Config_Logger_set_verbosity_by_category(
                    NDDS_Config_Logger_get_instance(),
                    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
    NDDS_Config_Logger_set_verbosity_by_category(
                    NDDS_Config_Logger_get_instance(),
                    NDDS_CONFIG_LOG_CATEGORY_API, 
                    NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
    */
        
    return publisher_main(domainId, sample_count);
}
#endif