HelloWorld_subscriber.c

[$(HOME)/rti_workspace//examples/connext_dds/c/hello_world_dtls/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 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"

#ifdef RTI_STATIC
#include "transport_tls/transport_tls_plugin.h"
#endif

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) {
            HelloWorldTypeSupport_print_data(
                HelloWorldSeq_get_reference(&data_seq, i));
            fflush(stdout);
        }
    }

    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 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) {
        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};

    struct DDS_DomainParticipantQos participant_qos = 
        DDS_DomainParticipantQos_INITIALIZER;
 
    /* Get default participant QoS from participant factory */
    retcode = DDS_DomainParticipantFactory_get_default_participant_qos(
        DDS_TheParticipantFactory, &participant_qos);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "Failed to get default participant qos\n");
        subscriber_shutdown(participant);
        return -1;
    }

    /* Disable builtin transports */
    participant_qos.transport_builtin.mask = DDS_TRANSPORTBUILTIN_MASK_NONE;

    /* Set up property Qos to load plugin */
    retcode = DDS_PropertyQosPolicyHelper_add_property(
        &participant_qos.property, 
        "dds.transport.load_plugins", "dds.transport.DTLS.dtls1", 
        DDS_BOOLEAN_FALSE);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "Failed to add property dds.transport.load_plugins\n");
        subscriber_shutdown(participant);
    }

#ifdef RTI_STATIC
    /* create function ptr */
    retcode = DDS_PropertyQosPolicyHelper_add_pointer_property(
        &participant_qos.property,
        "dds.transport.DTLS.dtls1.create_function_ptr",
        NDDS_Transport_DTLS_create);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "Failed to add property dds.transport.DTLS.dtls1.create_function_ptr\n");
        subscriber_shutdown(participant);
    }
#else
    /* library */
    retcode = DDS_PropertyQosPolicyHelper_add_property(
        &participant_qos.property, 
        "dds.transport.DTLS.dtls1.library",
        "nddstransporttls", 
        DDS_BOOLEAN_FALSE);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "Failed to add property dds.transport.DTLS.dtls1.library\n");
        subscriber_shutdown(participant);
    }

    /* create function */
    retcode = DDS_PropertyQosPolicyHelper_add_property(
        &participant_qos.property,
        "dds.transport.DTLS.dtls1.create_function",
        "NDDS_Transport_DTLS_create",
        DDS_BOOLEAN_FALSE);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "Failed to add property dds.transport.DTLS.dtls1.create_function\n");
        subscriber_shutdown(participant);
    }
#endif

    /* certificate authority */
    retcode = DDS_PropertyQosPolicyHelper_add_property(
        &participant_qos.property, 
        "dds.transport.DTLS.dtls1.tls.verify.ca_file", "cacert.pem",
        DDS_BOOLEAN_FALSE);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "Failed to add property dds.transport.DTLS.dtls1.tls.verify.ca_file\n");
        subscriber_shutdown(participant);
    }

    /* certificate chain */
    retcode = DDS_PropertyQosPolicyHelper_add_property(
        &participant_qos.property, 
        "dds.transport.DTLS.dtls1.tls.identity.certificate_chain_file",
        "peer2.pem", DDS_BOOLEAN_FALSE);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "Failed to add property dds.transport.DTLS.dtls1.tls.identity.certificate_chain_file\n");
        subscriber_shutdown(participant);
    }

    participant = DDS_DomainParticipantFactory_create_participant(
        DDS_TheParticipantFactory, domainId, &participant_qos,
        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
       DDS_DomainParticipant_get_default_subscriber_qos() */
    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 type before creating 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
       DDS_DomainParticipant_get_default_topic_qos() */
    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;
    }

    /* Setup 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
       DDS_Subscriber_get_default_datareader_qos() */
    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 delete all entities */
    DDS_DomainParticipantQos_finalize(&participant_qos);
    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