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HelloWorld_subscriber.cxx

[$(HOME)/rti_workspace//examples/connext_dds/c++/hello_world_wan/HelloWorld_subscriber.cxx]

/* HelloWorld_subscriber.cxx
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_cpp.h"
#include "HelloWorld.h"
#include "HelloWorldSupport.h"
/* set this to enable security using DTLS */
/*#define USE_SECURITY*/
/* set this value to the address of your WAN Rendezvous server */
#define WAN_SERVER "127.0.0.1"
/* your publisher and subscriber should have unique IDs */
#define WAN_ID "2"
class HelloWorldListener : public DDSDataReaderListener {
public:
virtual void on_requested_deadline_missed(
DDSDataReader* /*reader*/,
const DDS_RequestedDeadlineMissedStatus& /*status*/) {}
virtual void on_requested_incompatible_qos(
DDSDataReader* /*reader*/,
const DDS_RequestedIncompatibleQosStatus& /*status*/) {}
virtual void on_sample_rejected(
DDSDataReader* /*reader*/,
const DDS_SampleRejectedStatus& /*status*/) {}
virtual void on_liveliness_changed(
DDSDataReader* /*reader*/,
const DDS_LivelinessChangedStatus& /*status*/) {}
virtual void on_sample_lost(
DDSDataReader* /*reader*/,
const DDS_SampleLostStatus& /*status*/) {}
virtual void on_subscription_matched(
DDSDataReader* /*reader*/,
const DDS_SubscriptionMatchedStatus& /*status*/) {}
virtual void on_data_available(DDSDataReader* reader);
};
void HelloWorldListener::on_data_available(DDSDataReader* reader)
{
HelloWorldDataReader *HelloWorld_reader = NULL;
HelloWorldSeq data_seq;
int i;
HelloWorld_reader = HelloWorldDataReader::narrow(reader);
if (HelloWorld_reader == NULL) {
fprintf(stderr, "DataReader narrow error\n");
return;
}
retcode = HelloWorld_reader->take(
data_seq, info_seq, DDS_LENGTH_UNLIMITED,
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 < data_seq.length(); ++i) {
if (info_seq[i].valid_data) {
HelloWorldTypeSupport::print_data(&data_seq[i]);
fflush(stdout);
}
}
retcode = HelloWorld_reader->return_loan(data_seq, info_seq);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "return loan error %d\n", retcode);
}
}
/* Delete all entities */
static int subscriber_shutdown(
DDSDomainParticipant *participant)
{
int status = 0;
if (participant != NULL) {
retcode = participant->delete_contained_entities();
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "delete_contained_entities error %d\n", retcode);
status = -1;
}
retcode = DDSTheParticipantFactory->delete_participant(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 = DDSDomainParticipantFactory::finalize_instance();
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "finalize_instance error %d\n", retcode);
status = -1;
}
*/
return status;
}
extern "C" int subscriber_main(int domainId, int sample_count)
{
DDSDomainParticipant *participant = NULL;
DDSSubscriber *subscriber = NULL;
DDSTopic *topic = NULL;
HelloWorldListener *reader_listener = NULL;
DDSDataReader *reader = NULL;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t receive_period = {4,0};
int status = 0;
struct DDS_DomainParticipantQos participant_qos;
/* Get default participant QoS from participant factory */
retcode = DDSDomainParticipantFactory::get_instance()->get_default_participant_qos(
participant_qos);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to get default participant qos\n");
subscriber_shutdown(participant);
return -1;
}
/* Disable builtin transports */
/* Set up property Qos to load plugin */
retcode = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.load_plugins", "dds.transport.wan_plugin.wan",
DDS_BOOLEAN_FALSE);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to add property dds.transport.load_plugins\n");
subscriber_shutdown(participant);
}
/* library */
retcode = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.wan_plugin.wan.library",
"nddstransportwan",
DDS_BOOLEAN_FALSE);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to add property dds.transport.wan_plugin.wan.library\n");
subscriber_shutdown(participant);
}
/* create function */
retcode = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.wan_plugin.wan.create_function",
"NDDS_Transport_WAN_create",
DDS_BOOLEAN_FALSE);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to add property dds.transport.wan_plugin.wan.create_function\n");
subscriber_shutdown(participant);
}
/* plugin properties */
#ifdef USE_SECURITY
fprintf(stderr, "Enabling secure WAN transport\n");
retcode = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.wan_plugin.wan.enable_security", "1",
DDS_BOOLEAN_FALSE);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to add property dds.transport.wan_plugin.wan.enable_security\n");
subscriber_shutdown(participant);
}
retcode = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.wan_plugin.wan.tls.verify.ca_file", "cacert.pem",
DDS_BOOLEAN_FALSE);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to add property dds.transport.wan_plugin.wan.tls.verify.ca_file\n");
subscriber_shutdown(participant);
}
retcode = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.wan_plugin.wan.tls.identity.certificate_chain_file",
"peer2.pem", DDS_BOOLEAN_FALSE);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to add property dds.transport.wan_plugin.wan.tls.identity.certificate_chain_file\n");
subscriber_shutdown(participant);
}
#endif /* USE_SECURITY */
retcode = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.wan_plugin.wan.server", WAN_SERVER,
DDS_BOOLEAN_FALSE);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to add property dds.transport.wan_plugin.wan.server\n");
subscriber_shutdown(participant);
}
retcode = DDSPropertyQosPolicyHelper::add_property(
participant_qos.property,
"dds.transport.wan_plugin.wan.transport_instance_id", WAN_ID,
DDS_BOOLEAN_FALSE);
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "Failed to add property dds.transport.wan_plugin.wan.transport_instance_id\n");
subscriber_shutdown(participant);
}
participant = DDSTheParticipantFactory->create_participant(
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
participant->get_default_subscriber_qos() */
subscriber = participant->create_subscriber(
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
participant->get_default_topic_qos() */
topic = participant->create_topic(
"Example HelloWorld",
type_name, DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
if (topic == NULL) {
fprintf(stderr, "create_topic error\n");
subscriber_shutdown(participant);
return -1;
}
/* Create data reader listener */
reader_listener = new HelloWorldListener();
if (reader_listener == NULL) {
fprintf(stderr, "listener instantiation error\n");
subscriber_shutdown(participant);
return -1;
}
/* To customize data reader QoS, use
subscriber->get_default_datareader_qos() */
reader = subscriber->create_datareader(
topic, DDS_DATAREADER_QOS_DEFAULT, reader_listener,
if (reader == NULL) {
fprintf(stderr, "create_datareader error\n");
subscriber_shutdown(participant);
delete reader_listener;
return -1;
}
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
printf("HelloWorld subscriber sleeping for %d sec...\n",
receive_period.sec);
fflush(stdout);
NDDSUtility::sleep(receive_period);
}
/* Delete all entities */
status = subscriber_shutdown(participant);
delete reader_listener;
return status;
}
#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 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
NDDSConfigLogger::get_instance()->
set_verbosity_by_category(NDDS_CONFIG_LOG_CATEGORY_API,
NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
*/
return subscriber_main(domainId, sample_count);
}
#endif

RTI Secure Wan Transport Version 6.0.0 Copyright © Sun Mar 3 2019 Real-Time Innovations, Inc