HelloWorld_publisher.cxx

RTI Connext Publication Example

The publication example generated by rtiddsgen (see the Code Generator User's Manual for more information). The example has been modified slightly to update the sample value.

HelloWorld_publisher.cxx

/*
* (c) Copyright, Real-Time Innovations, 2020.  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.
*/

#include <iostream>
#include <stdio.h>
#include <stdlib.h>

#include "HelloWorld.h"
#include "HelloWorldSupport.h"
#include "ndds/ndds_cpp.h"
#include "application.h"

using namespace application;

static int shutdown_participant(
    DDSDomainParticipant *participant,
    const char *shutdown_message,
    int status);

int run_publisher_application(unsigned int domain_id, unsigned int sample_count)
{
    // Start communicating in a domain, usually one participant per application
    DDSDomainParticipant *participant =
    DDSTheParticipantFactory->create_participant(
        domain_id,
        DDS_PARTICIPANT_QOS_DEFAULT,
        NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (participant == NULL) {
        return shutdown_participant(participant, "create_participant error", EXIT_FAILURE);
    }

    // A Publisher allows an application to create one or more DataWriters
    DDSPublisher *publisher = participant->create_publisher(
        DDS_PUBLISHER_QOS_DEFAULT,
        NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (publisher == NULL) {
        return shutdown_participant(participant, "create_publisher error", EXIT_FAILURE);
    }

    // Register the datatype to use when creating the Topic
    const char *type_name = HelloWorldTypeSupport::get_type_name();
    DDS_ReturnCode_t retcode =
    HelloWorldTypeSupport::register_type(participant, type_name);
    if (retcode != DDS_RETCODE_OK) {
        return shutdown_participant(participant, "register_type error", EXIT_FAILURE);
    }

    // Create a Topic with a name and a datatype
    DDSTopic *topic = participant->create_topic(
        "Example HelloWorld",
        type_name,
        DDS_TOPIC_QOS_DEFAULT,
        NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (topic == NULL) {
        return shutdown_participant(participant, "create_topic error", EXIT_FAILURE);
    }

    // This DataWriter writes data on "Example HelloWorld" Topic
    DDSDataWriter *untyped_writer = publisher->create_datawriter(
        topic,
        DDS_DATAWRITER_QOS_DEFAULT,
        NULL /* listener */,
        DDS_STATUS_MASK_NONE);
    if (untyped_writer == NULL) {
        return shutdown_participant(participant, "create_datawriter error", EXIT_FAILURE);
    }

    // Narrow casts from an untyped DataWriter to a writer of your type 
    HelloWorldDataWriter *typed_writer =
    HelloWorldDataWriter::narrow(untyped_writer);
    if (typed_writer == NULL) {
        return shutdown_participant(participant, "DataWriter narrow error", EXIT_FAILURE);
    }

    // Create data for writing, allocating all members
    HelloWorld *data = HelloWorldTypeSupport::create_data();
    if (data == NULL) {
        return shutdown_participant(
            participant,
            "HelloWorldTypeSupport::create_data error",
            EXIT_FAILURE);
    }

    // Main loop, write data
    for (unsigned int samples_written = 0;
    !shutdown_requested && samples_written < sample_count;
    ++samples_written) {

        // Modify the data to be written here

        std::cout << "Writing HelloWorld, count " << samples_written 
        << std::endl;
        retcode = typed_writer->write(*data, DDS_HANDLE_NIL);
        if (retcode != DDS_RETCODE_OK) {
            std::cerr << "write error " << retcode << std::endl;
        }

        // Send once every second
        DDS_Duration_t send_period = { 1, 0 };
        NDDSUtility::sleep(send_period);
    }

    // Delete previously allocated HelloWorld, including all contained elements
    retcode = HelloWorldTypeSupport::delete_data(data);
    if (retcode != DDS_RETCODE_OK) {
        std::cerr << "HelloWorldTypeSupport::delete_data error " << retcode
        << std::endl;
    }

    // Delete all entities (DataWriter, Topic, Publisher, DomainParticipant)
    return shutdown_participant(participant, "Shutting down", EXIT_SUCCESS);
}

// Delete all entities
static int shutdown_participant(
    DDSDomainParticipant *participant,
    const char *shutdown_message,
    int status)
{
    DDS_ReturnCode_t retcode;

    std::cout << shutdown_message << std::endl;

    if (participant != NULL) {
        // Cleanup everything created by this Participant
        retcode = participant->delete_contained_entities();
        if (retcode != DDS_RETCODE_OK) {
            std::cerr << "delete_contained_entities error " << retcode
            << std::endl;
            status = EXIT_FAILURE;
        }

        retcode = DDSTheParticipantFactory->delete_participant(participant);
        if (retcode != DDS_RETCODE_OK) {
            std::cerr << "delete_participant error " << retcode << std::endl;
            status = EXIT_FAILURE;
        }
    }

    return status;
}

int main(int argc, char *argv[])
{

    // Parse arguments and handle control-C
    ApplicationArguments arguments;
    parse_arguments(arguments, argc, argv);
    if (arguments.parse_result == PARSE_RETURN_EXIT) {
        return EXIT_SUCCESS;
    } else if (arguments.parse_result == PARSE_RETURN_FAILURE) {
        return EXIT_FAILURE;
    }
    setup_signal_handlers();

    // Sets Connext verbosity to help debugging
    NDDSConfigLogger::get_instance()->set_verbosity(arguments.verbosity);

    int status = run_publisher_application(arguments.domain_id, arguments.sample_count);

    // Releases the memory used by the participant factory.  Optional at
    // application exit
    DDS_ReturnCode_t retcode = DDSDomainParticipantFactory::finalize_instance();
    if (retcode != DDS_RETCODE_OK) {
        std::cerr << "finalize_instance error " << retcode << std::endl;
        status = EXIT_FAILURE;
    }

    return status;
}