RTI Connext C API  Version 5.3.0
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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 <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include "ndds/ndds_c.h"
#include "HelloWorld.h"
#include "HelloWorldSupport.h"
int RTI_SNPRINTF (
char *buffer,
size_t count,
const char *format, ...)
{
int length;
va_list ap;
va_start(ap, format);
#ifdef RTI_WIN32
length = _vsnprintf_s(buffer, count, count, format, ap);
#else
length = vsnprintf(buffer, count, format, ap);
#endif
va_end(ap);
return length;
}
/* Delete all entities */
static int publisher_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 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;
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 */
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 */
participant, &DDS_PUBLISHER_QOS_DEFAULT, NULL /* listener */,
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 */
participant, "Example HelloWorld",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
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 */
publisher, topic,
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);
fflush(stdout);
/* Modify the instance to be written here */
RTI_SNPRINTF(instance->msg, 128 , "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

RTI Connext C API Version 5.3.0 Copyright © Sun Jun 25 2017 Real-Time Innovations, Inc