RTI Connext Traditional C++ API  Version 6.0.1
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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:
DDSDataReader* /*reader*/,
const DDS_RequestedDeadlineMissedStatus& /*status*/) {}
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*/) {}
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) {
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)
{
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;
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(
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(
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 */,
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,
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:
DDSDataReader* /*reader*/,
const DDS_RequestedDeadlineMissedStatus& /*status*/) {}
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*/) {}
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) {
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)
{
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;
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(
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(
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 */,
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,
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*/

RTI Connext Traditional C++ API Version 6.0.1 Copyright © Sat Nov 23 2019 Real-Time Innovations, Inc