HelloWorld_subscriber.c

RTI Connext Subscription Example

The unmodified subscription example generated by rtiddsgen.

HelloWorld_subscriber.c

/*
* (c) Copyright, Real-Time Innovations, 2012.  All rights reserved.
* RTI grants Licensee a license to use, modify, compile, and create derivative
* works of the software solely for use with RTI Connext DDS. Licensee may
* redistribute copies of the software provided that all such copies are subject
* to this license. The software is provided "as is", with no warranty of any
* type, including any warranty for fitness for any purpose. RTI is under no
* obligation to maintain or support the software. RTI shall not be liable for
* any incidental or consequential damages arising out of the use or inability
* to use the software.
*/

/* 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 it, follow these steps:

(1) Compile this file and the example publication.

(2) Start the subscription on the same domain used for RTI Connext

(3) Start the publication on the same domain used for RTI Connext

(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 publisher and subscriber programs, and can 
add and remove them dynamically from the domain.
*/

#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 domain_id = 0;
    int sample_count = 0; /* infinite loop */

    if (argc >= 2) {
        domain_id = 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(domain_id, 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*/