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// $Id$
#include "ace/OS_main.h"
#include "ace/Get_Opt.h"
#include "ace/OS_NS_unistd.h"
#include "ace/OS_NS_string.h"
#include "ace/OS_NS_stdlib.h"
#include "ace/Date_Time.h"
#include "ace/SString.h"
#include <ndds/ndds_namespace_cpp.h>
/* By default DDS::String type manage strings up to 1k */
#define MAX_STRING_SIZE 1024
bool shutdown_flag = false;
long num_samples = 0;
long received_samples = 0;
/* The listener of events and data from the middleware */
class HelloListener: public ::DDS::DataReaderListener {
public:
void on_data_available(::DDS::DataReader *reader);
};
int ACE_TMAIN(int argc, ACE_TCHAR** argv) {
HelloListener listener;
int main_result = 1; /* error by default */
::DDS::Topic * topic = 0;
::DDS::DataReader *data_reader = 0;
if (argc == 2)
{
char *end = 0;
num_samples = ACE_OS::strtol (argv[1], &end, 10);
if (end == argv[1] && num_samples < 0)
{
ACE_ERROR ((LM_ERROR, "Error: provided argument not a valid integer over zero\n"));
return -1;
}
}
/* Create the domain participant on domain ID 0 */
::DDS::DomainParticipant *participant = ::DDS::DomainParticipantFactory::get_instance()->
create_participant(
0, /* Domain ID */
DDS_PARTICIPANT_QOS_DEFAULT, /* QoS */
0, /* Listener */
DDS_STATUS_MASK_NONE);
if (!participant) {
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Unable to create domain participant.\n")));
goto clean_exit;
}
/* Create the topic "Hello, World" for the String type */
topic = participant->create_topic(
"Hello, World", /* Topic name*/
::DDS::StringTypeSupport::get_type_name(), /* Type name */
DDS_TOPIC_QOS_DEFAULT, /* Topic QoS */
0, /* Listener */
DDS_STATUS_MASK_NONE);
if (!topic) {
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Unable to create topic.\n")));
goto clean_exit;
}
/* Create the data writer using the default publisher */
data_reader = participant->create_datareader(
topic,
DDS_DATAREADER_QOS_DEFAULT, /* QoS */
&listener, /* Listener */
DDS_DATA_AVAILABLE_STATUS);
if (!data_reader) {
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Unable to create data reader.\n")));
goto clean_exit;
}
/* --- Sleep During Asynchronous Reception ---------------------------- */
/* This thread sleeps forever. When a sample is received, RTI Data
* Distribution Service will call the on_data_available_callback function.
*/
ACE_DEBUG ((LM_DEBUG, ACE_TEXT ("Ready to read data.\n")));
for (;;) {
ACE_OS::sleep (1);
if(shutdown_flag){
break;
}
}
/* --- Clean Up ------------------------------------------------------- */
main_result = 0;
clean_exit:
::DDS::ReturnCode_t retcode;
ACE_DEBUG ((LM_DEBUG, ACE_TEXT ("Exiting.")));
if (participant) {
retcode = participant->delete_contained_entities();
if (retcode != DDS_RETCODE_OK) {
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Deletion failed.\n")));
main_result = 1;
}
retcode = ::DDS::DomainParticipantFactory::get_instance()->
delete_participant(participant);
if (retcode != DDS_RETCODE_OK) {
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Deletion failed.\n")));
main_result = 1;
}
}
return main_result;
}
/* This method gets called back by DDS when one or more data samples have been
* received.
*/
void HelloListener::on_data_available(::DDS::DataReader *reader) {
/* Perform a safe type-cast from a generic data reader into a
* specific data reader for the type "DDS::String"
*/
::DDS::StringDataReader * string_reader = ::DDS::StringDataReader::narrow(reader);
if (!string_reader) {
/* In this specific case, this will never fail */
ACE_ERROR ((LM_ERROR, ACE_TEXT ("::DDS::StringDataReader::narrow failed.\n")));
return;
}
/* Loop until there are messages available in the queue */
char sample[MAX_STRING_SIZE];
char *ptr_sample = &sample[0];
for(;;) {
::DDS::SampleInfo info;
::DDS::ReturnCode_t retcode = string_reader->take_next_sample(
ptr_sample,
info);
if (retcode == DDS_RETCODE_NO_DATA) {
/* No more samples */
break;
} else if (retcode != DDS_RETCODE_OK) {
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Unable to take data from data reader, error %d.\n"), retcode));
return;
}
if (info.valid_data) {
// Valid (this isn't just a lifecycle sample): print it
++received_samples;
ACE_CString rec (sample);
ACE_Date_Time now;
int sec_rec = ACE_OS::atoi (rec.substr (0, 2).c_str() );
if (sec_rec > 0)
{
int usec_rec = ACE_OS::atoi (rec.substr (3, 6).c_str ());
if (sec_rec != now.second ())
usec_rec += 10000000;
ACE_DEBUG ((LM_DEBUG, ACE_TEXT("%C dur <%d>\n"), sample, now.microsec () - usec_rec));
}
else
{
ACE_DEBUG ((LM_DEBUG, ACE_TEXT("%C\n"), sample));
}
if(received_samples == num_samples || ACE_OS::strlen(sample) == 0){
shutdown_flag = true;
}
}
}
}
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