HelloWorld_subscriber.c

RTI Connext Subscription Example

The unmodified subscription example generated by rtiddsgen.

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 on the same domain used for RTI Data Distribution
Service  with the command
objs/<arch>/HelloWorld_subscriber <domain_id> <sample_count>

(3) Start the publication on the same domain used for RTI Data Distribution
Service 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>   

*/

#include <stdio.h>
#include <stdlib.h>
#include "ndds/ndds_c.h"
#include "HelloWorld.h"
#include "HelloWorldSupport.h"

#if defined(RTI_IOS)

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;
    struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
    DDS_ReturnCode_t retcode;
    int i;

    HelloWorld_reader = HelloWorldDataReader_narrow(reader);
    if (HelloWorld_reader == NULL) {
        fprintf(stderr, "DataReader narrow error\n");
        return;
    }

    retcode = HelloWorldDataReader_take(
        HelloWorld_reader,
        &data_seq, &info_seq, DDS_LENGTH_UNLIMITED,
        DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
    if (retcode == DDS_RETCODE_NO_DATA) {
        return;
    } else if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "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) {
            printf("Received data\n");
            HelloWorldTypeSupport_print_data(
                HelloWorldSeq_get_reference(&data_seq, i));
        }
    }

    retcode = HelloWorldDataReader_return_loan(
        HelloWorld_reader,
        &data_seq, &info_seq);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "return loan error %d\n", retcode);
    }
}

/* Delete all entities */
static int subscriber_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) {
            fprintf(stderr, "delete_contained_entities error %d\n", retcode);
            status = -1;
        }

        retcode = DDS_DomainParticipantFactory_delete_participant(
            DDS_TheParticipantFactory, participant);
        if (retcode != DDS_RETCODE_OK) {
            fprintf(stderr, "delete_participant error %d\n", retcode);
            status = -1;
        }
    }

    /* RTI Data Distribution Service 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) {
        fprintf(stderr, "finalize_instance error %d\n", retcode);
        status = -1;
    }
    */

    return status;
}

extern 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_DataReaderListener_INITIALIZER;
    DDS_DataReader *reader = NULL;
    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;
    struct DDS_Duration_t poll_period = {4,0};

    /* To customize participant QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    participant = DDS_DomainParticipantFactory_create_participant(
        DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
        NULL /* listener */, DDS_STATUS_MASK_NONE);
    if (participant == NULL) {
        fprintf(stderr, "create_participant error\n");
        subscriber_shutdown(participant);
        return -1;
    }

    /* To customize subscriber QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    subscriber = DDS_DomainParticipant_create_subscriber(
        participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (subscriber == NULL) {
        fprintf(stderr, "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) {
        fprintf(stderr, "register_type error %d\n", retcode);
        subscriber_shutdown(participant);
        return -1;
    }

    /* To customize topic QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    topic = DDS_DomainParticipant_create_topic(
        participant, "Example HelloWorld",
        type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        fprintf(stderr, "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;
    reader_listener.on_requested_incompatible_qos =
    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 data reader QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    reader = DDS_Subscriber_create_datareader(
        subscriber, DDS_Topic_as_topicdescription(topic),
        &DDS_DATAREADER_QOS_DEFAULT, &reader_listener, DDS_STATUS_MASK_ALL);
    if (reader == NULL) {
        fprintf(stderr, "create_datareader error\n");
        subscriber_shutdown(participant);
        return -1;
    }

    /* let the GCD infrastructure handle keeping alive */
    return DDS_RETCODE_OK;
}

#else //Not RTI_IOS

#if defined(RTI_ANDROID)
#include <stdarg.h>
#include <android/log.h>

typedef int (*RTIAndroidOnPrintfMethod)(const char *format, va_list ap);
static RTIAndroidOnPrintfMethod subscriber_onPrintf = NULL;

#define printf Android_printf

static int Android_printf(const char *format, ...) {

    int len;
    va_list ap;
    va_start(ap, format);

    if (subscriber_onPrintf!= NULL) {
        len = subscriber_onPrintf(format, ap);
    } else {
        len = __android_log_vprint(ANDROID_LOG_INFO, "RTIConnextLog", format, ap);
    }

    va_end(ap);

    return len;
}

void RTIAndroid_registerOnPrintf(RTIAndroidOnPrintfMethod onPrintf) {
    subscriber_onPrintf = onPrintf;
}

#endif /* RTI_ANDROID */

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;
    struct DDS_SampleInfoSeq info_seq = DDS_SEQUENCE_INITIALIZER;
    DDS_ReturnCode_t retcode;
    int i;

    HelloWorld_reader = HelloWorldDataReader_narrow(reader);
    if (HelloWorld_reader == NULL) {
        fprintf(stderr, "DataReader narrow error\n");
        return;
    }

    retcode = HelloWorldDataReader_take(
        HelloWorld_reader,
        &data_seq, &info_seq, DDS_LENGTH_UNLIMITED,
        DDS_ANY_SAMPLE_STATE, DDS_ANY_VIEW_STATE, DDS_ANY_INSTANCE_STATE);
    if (retcode == DDS_RETCODE_NO_DATA) {
        return;
    } else if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "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) {
            printf("Received data\n");
            HelloWorldTypeSupport_print_data(
                HelloWorldSeq_get_reference(&data_seq, i));
        }
    }

    retcode = HelloWorldDataReader_return_loan(
        HelloWorld_reader,
        &data_seq, &info_seq);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "return loan error %d\n", retcode);
    }
}

/* Delete all entities */
static int subscriber_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) {
            fprintf(stderr, "delete_contained_entities error %d\n", retcode);
            status = -1;
        }

        retcode = DDS_DomainParticipantFactory_delete_participant(
            DDS_TheParticipantFactory, participant);
        if (retcode != DDS_RETCODE_OK) {
            fprintf(stderr, "delete_participant error %d\n", retcode);
            status = -1;
        }
    }

    /* RTI Data Distribution Service 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) {
        fprintf(stderr, "finalize_instance error %d\n", retcode);
        status = -1;
    }
    */

    return status;
}

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_DataReaderListener_INITIALIZER;
    DDS_DataReader *reader = NULL;
    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;
    struct DDS_Duration_t poll_period = {4,0};

    /* To customize participant QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    participant = DDS_DomainParticipantFactory_create_participant(
        DDS_TheParticipantFactory, domainId, &DDS_PARTICIPANT_QOS_DEFAULT,
        NULL /* listener */, DDS_STATUS_MASK_NONE);
    if (participant == NULL) {
        fprintf(stderr, "create_participant error\n");
        subscriber_shutdown(participant);
        return -1;
    }

    /* To customize subscriber QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    subscriber = DDS_DomainParticipant_create_subscriber(
        participant, &DDS_SUBSCRIBER_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (subscriber == NULL) {
        fprintf(stderr, "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) {
        fprintf(stderr, "register_type error %d\n", retcode);
        subscriber_shutdown(participant);
        return -1;
    }

    /* To customize topic QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    topic = DDS_DomainParticipant_create_topic(
        participant, "Example HelloWorld",
        type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        fprintf(stderr, "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;
    reader_listener.on_requested_incompatible_qos =
    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 data reader QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    reader = DDS_Subscriber_create_datareader(
        subscriber, DDS_Topic_as_topicdescription(topic),
        &DDS_DATAREADER_QOS_DEFAULT, &reader_listener, DDS_STATUS_MASK_ALL);
    if (reader == NULL) {
        fprintf(stderr, "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);
        fflush(stdout);
        NDDS_Utility_sleep(&poll_period);
    }

    /* Cleanup and delete all entities */ 
    return subscriber_shutdown(participant);
}

#if (!defined(RTI_VXWORKS) || defined(__RTP__))
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
#endif /*RTI_IOS*/