RTI Connext C API Version 7.1.0
HelloWorld_publisher.c

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.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)
{
int status = 0;
if (participant != NULL) {
if (retcode != DDS_RETCODE_OK) {
fprintf(stderr, "delete_contained_entities error %d\n", retcode);
status = -1;
}
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;
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 */
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 */
participant, &DDS_PUBLISHER_QOS_DEFAULT, NULL /* listener */,
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 */
participant, "Example HelloWorld",
type_name, &DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
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 */
publisher, topic,
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);
}
#define DDS_BOOLEAN_TRUE
Defines "true" value of DDS_Boolean data type.
Definition: dds_c.1.0/interface/common.ifc:290
#define DDS_TheParticipantFactory
Can be used as an alias for the singleton factory returned by the operation DDS_DomainParticipantFact...
Definition: domain.ifc:2844
const struct DDS_DomainParticipantQos DDS_PARTICIPANT_QOS_DEFAULT
Special value for creating a DomainParticipant with default QoS.
DDS_ReturnCode_t DDS_DomainParticipantFactory_delete_participant(DDS_DomainParticipantFactory *self, DDS_DomainParticipant *a_participant)
Deletes an existing DDS_DomainParticipant.
DDS_DomainParticipant * DDS_DomainParticipantFactory_create_participant(DDS_DomainParticipantFactory *self, DDS_DomainId_t domainId, const struct DDS_DomainParticipantQos *qos, const struct DDS_DomainParticipantListener *listener, DDS_StatusMask mask)
Creates a new DDS_DomainParticipant object.
struct DDS_DomainParticipantImpl DDS_DomainParticipant
<<interface>> Container for all DDS_DomainEntity objects.
Definition: infrastructure.ifc:9423
const struct DDS_TopicQos DDS_TOPIC_QOS_DEFAULT
Special value for creating a DDS_Topic with default QoS.
DDS_Publisher * DDS_DomainParticipant_create_publisher(DDS_DomainParticipant *self, const struct DDS_PublisherQos *qos, const struct DDS_PublisherListener *listener, DDS_StatusMask mask)
Creates a DDS_Publisher with the desired QoS policies and attaches to it the specified DDS_PublisherL...
DDS_Topic * DDS_DomainParticipant_create_topic(DDS_DomainParticipant *self, const char *topic_name, const char *type_name, const struct DDS_TopicQos *qos, const struct DDS_TopicListener *listener, DDS_StatusMask mask)
Creates a DDS_Topic with the desired QoS policies and attaches to it the specified DDS_TopicListener.
const struct DDS_PublisherQos DDS_PUBLISHER_QOS_DEFAULT
Special value for creating a DDS_Publisher with default QoS.
DDS_ReturnCode_t DDS_DomainParticipant_delete_contained_entities(DDS_DomainParticipant *self)
Delete all the entities that were created by means of the "create" operations on the DDS_DomainPartic...
struct DDS_PublisherImpl DDS_Publisher
<<interface>> A publisher is the object responsible for the actual dissemination of publications.
Definition: publication.ifc:182
const struct DDS_DataWriterQos DDS_DATAWRITER_QOS_DEFAULT
Special value for creating DDS_DataWriter with default QoS.
DDS_DataWriter * DDS_Publisher_create_datawriter(DDS_Publisher *self, DDS_Topic *topic, const struct DDS_DataWriterQos *qos, const struct DDS_DataWriterListener *listener, DDS_StatusMask mask)
Creates a DDS_DataWriter that will be attached and belong to the DDS_Publisher.
DDS_ReturnCode_t
Type for return codes.
Definition: infrastructure.ifc:1336
@ DDS_RETCODE_OK
Successful return.
Definition: infrastructure.ifc:1339
#define DDS_STATUS_MASK_NONE
No bits are set.
Definition: infrastructure.ifc:1410
struct DDS_TopicWrapperI DDS_Topic
<<interface>> The most basic description of the data to be published and subscribed.
Definition: topic.ifc:515
DDS_HANDLE_TYPE_NATIVE DDS_InstanceHandle_t
Type definition for an instance handle.
Definition: infrastructure.ifc:843
const DDS_InstanceHandle_t DDS_HANDLE_NIL
The NIL instance handle.
struct DDS_DataWriterImpl DDS_DataWriter
<<interface>> Allows an application to set the value of the data to be published under a given DDS_To...
Definition: publication.ifc:174
void NDDS_Utility_sleep(const struct DDS_Duration_t *durationIn)
Block the calling thread for the specified duration.
Type for duration representation.
Definition: infrastructure.ifc:642