HelloWorld_publisher.c

RTI Connext Publication Example

The publication example generated by rtiddsgen. The example has been modified slightly to update the sample value.

HelloWorld_publisher.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_publisher.c

A publication of data of type HelloWorld

This file is derived from code automatically generated by the rtiddsgen 
command:

rtiddsgen -language C -example <arch> HelloWorld.idl

Example publication of type HelloWorld automatically generated by 
'rtiddsgen'. To test it, follow these steps:

(1) Compile this file and the example subscription.

(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"

/* Delete all entities */
static int publisher_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 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 = DDS_DomainParticipantFactory_finalize_instance();
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "finalize_instance error %d\n", retcode);
        status = -1;
    }
    */

    return status;
}

int publisher_main(int domainId, int sample_count)
{
    DDS_DomainParticipant *participant = NULL;
    DDS_Publisher *publisher = NULL;
    DDS_Topic *topic = NULL;
    DDS_DataWriter *writer = NULL;
    HelloWorldDataWriter *HelloWorld_writer = NULL;
    HelloWorld *instance = NULL;
    DDS_ReturnCode_t retcode;
    DDS_InstanceHandle_t instance_handle = DDS_HANDLE_NIL;
    const char *type_name = NULL;
    int count = 0;  
    struct DDS_Duration_t send_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");
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize publisher QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    publisher = DDS_DomainParticipant_create_publisher(
        participant, &DDS_PUBLISHER_QOS_DEFAULT, NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (publisher == NULL) {
        fprintf(stderr, "create_publisher error\n");
        publisher_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);
        publisher_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");
        publisher_shutdown(participant);
        return -1;
    }

    /* To customize data writer QoS, use 
    the configuration file USER_QOS_PROFILES.xml */
    writer = DDS_Publisher_create_datawriter(
        publisher, topic,
        &DDS_DATAWRITER_QOS_DEFAULT, NULL /* listener */, DDS_STATUS_MASK_NONE);
    if (writer == NULL) {
        fprintf(stderr, "create_datawriter error\n");
        publisher_shutdown(participant);
        return -1;
    }
    HelloWorld_writer = HelloWorldDataWriter_narrow(writer);
    if (HelloWorld_writer == NULL) {
        fprintf(stderr, "DataWriter narrow error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* Create data sample for writing */
    instance = HelloWorldTypeSupport_create_data_ex(DDS_BOOLEAN_TRUE);
    if (instance == NULL) {
        fprintf(stderr, "HelloWorldTypeSupport_create_data error\n");
        publisher_shutdown(participant);
        return -1;
    }

    /* For a data type that has a key, if the same instance is going to be
    written multiple times, initialize the key here
    and register the keyed instance prior to writing */
    /*
    instance_handle = HelloWorldDataWriter_register_instance(
        HelloWorld_writer, instance);
    */
    /* Main loop */
    for (count=0; (sample_count == 0) || (count < sample_count); ++count) {

        printf("Writing HelloWorld, count %d\n", count);

        /* Modify the data to be written here */

        /* Write data */
        retcode = HelloWorldDataWriter_write(
            HelloWorld_writer, instance, &instance_handle);
        if (retcode != DDS_RETCODE_OK) {
            fprintf(stderr, "write error %d\n", retcode);
        }

        NDDS_Utility_sleep(&send_period);

    }

    /*
    retcode = HelloWorldDataWriter_unregister_instance(
        HelloWorld_writer, instance, &instance_handle);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "unregister instance error %d\n", retcode);
    }
    */
    /* Delete data sample */
    retcode = HelloWorldTypeSupport_delete_data_ex(instance, DDS_BOOLEAN_TRUE);
    if (retcode != DDS_RETCODE_OK) {
        fprintf(stderr, "HelloWorldTypeSupport_delete_data error %d\n", retcode);
    }
    /* Cleanup and delete delete all entities */         
    return publisher_shutdown(participant);
}

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 publisher_main(domain_id, sample_count);
}