HelloWorld_subscriber.cxx

RTI Connext Subscription Example

The unmodified subscription example generated by rtiddsgen.

HelloWorld_subscriber.cxx

/*
* (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.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 it, follow these steps:

(1) Compile this file and the example publication.

(2) Start the subscription

(3) Start the publication

(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>

#if defined(RTI_IOS)

#include "HelloWorld_subscriber.h"

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;
    DDS_SampleInfoSeq info_seq;
    DDS_ReturnCode_t retcode;
    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,
        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 < data_seq.length(); ++i) {
        if (info_seq[i].valid_data) {
            printf("Received data\n");
            HelloWorldTypeSupport::print_data(&data_seq[i]);
        }
    }

    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 */
extern "C" int subscriber_shutdown(
    DDSDomainParticipant *participant)
{
    DDS_ReturnCode_t retcode;
    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 the finalize_instance() method on
    domain participant factory for people who want to release memory used
    by the participant factory. 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;
    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;
    DDS_Duration_t receive_period = {4,0};
    int status = 0;

    /* To customize the participant QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    participant = DDSTheParticipantFactory->create_participant(
        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 the subscriber QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    subscriber = participant->create_subscriber(
        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 the topic QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    topic = participant->create_topic(
        "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;
    }

    /* Create a data reader listener */
    reader_listener = new HelloWorldListener();

    /* To customize the data reader QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    reader = subscriber->create_datareader(
        topic, DDS_DATAREADER_QOS_DEFAULT, reader_listener,
        DDS_STATUS_MASK_ALL);
    if (reader == NULL) {
        fprintf(stderr, "create_datareader error\n");
        subscriber_shutdown(participant);
        delete reader_listener;
        return -1;
    }

    return status;
}

#else //Not RTI_IOS

#ifdef RTI_VX653
#include <vThreadsData.h>
#endif
#include "HelloWorld.h"
#include "HelloWorldSupport.h"
#include "ndds/ndds_cpp.h"

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

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

#define printf Android_printf

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

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

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

    va_end(ap);

    return len;
}

extern "C" void RTIAndroid_registerOnPrintf(RTIAndroidOnPrintfMethod onPrintf) {
    publisher_onPrintf = onPrintf;
}

#endif /* RTI_ANDROID */

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;
    DDS_SampleInfoSeq info_seq;
    DDS_ReturnCode_t retcode;
    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,
        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 < data_seq.length(); ++i) {
        if (info_seq[i].valid_data) {
            printf("Received data\n");
            HelloWorldTypeSupport::print_data(&data_seq[i]);
        }
    }

    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)
{
    DDS_ReturnCode_t retcode;
    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 the finalize_instance() method on
    domain participant factory for people who want to release memory used
    by the participant factory. 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;
    DDS_ReturnCode_t retcode;
    const char *type_name = NULL;
    int count = 0;
    DDS_Duration_t receive_period = {4,0};
    int status = 0;

    /* To customize the participant QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    participant = DDSTheParticipantFactory->create_participant(
        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 the subscriber QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    subscriber = participant->create_subscriber(
        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 the topic QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    topic = participant->create_topic(
        "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;
    }

    /* Create a data reader listener */
    reader_listener = new HelloWorldListener();

    /* To customize the data reader QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    reader = subscriber->create_datareader(
        topic, DDS_DATAREADER_QOS_DEFAULT, reader_listener,
        DDS_STATUS_MASK_ALL);
    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_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
    NDDSConfigLogger::get_instance()->
    set_verbosity_by_category(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 = *(__ctypePtrGet());

extern "C" 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*/