Release v2.4.3

CMakeLists.txt

@@ -92,7 +92,7 @@ list(APPEND _deps "microcdr\;${_microcdr_version}")
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UCLIENT_SUPERBUILD)
-    project(microxrcedds_client VERSION "2.4.2" LANGUAGES C)
+    project(microxrcedds_client VERSION "2.4.3" LANGUAGES C)
 else()
     project(uclient_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
@@ -418,6 +418,8 @@ if(UCLIENT_BUILD_EXAMPLES)
     add_subdirectory(examples/PublishHelloWorldBestEffort)
     add_subdirectory(examples/SubscribeHelloWorldBestEffort)
     add_subdirectory(examples/BinaryEntityCreation)
+    add_subdirectory(examples/PublishBigHelloWorld)
+    add_subdirectory(examples/SubscribeBigHelloWorld)
 
     if(UCLIENT_PLATFORM_LINUX)
         add_subdirectory(examples/CustomTransports)

examples/PublishBigHelloWorld/BigHelloWorld.c

@@ -0,0 +1,59 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file BigHelloWorld.c
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#include "BigHelloWorld.h"
+
+#include <ucdr/microcdr.h>
+#include <string.h>
+
+bool BigHelloWorld_serialize_topic(
+        ucdrBuffer* writer,
+        const BigHelloWorld* topic)
+{
+    (void) ucdr_serialize_uint32_t(writer, topic->index);
+
+    (void) ucdr_serialize_string(writer, topic->message);
+
+    return !writer->error;
+}
+
+bool BigHelloWorld_deserialize_topic(
+        ucdrBuffer* reader,
+        BigHelloWorld* topic)
+{
+    (void) ucdr_deserialize_uint32_t(reader, &topic->index);
+
+    (void) ucdr_deserialize_string(reader, topic->message, sizeof(topic->message));
+
+    return !reader->error;
+}
+
+uint32_t BigHelloWorld_size_of_topic(
+        const BigHelloWorld* topic,
+        uint32_t size)
+{
+    uint32_t previousSize = size;
+    size += (uint32_t)(ucdr_alignment(size, 4) + 4);
+
+    size += (uint32_t)(ucdr_alignment(size, 4) + 4 + strlen(topic->message) + 1);
+
+    return size - previousSize;
+}

examples/PublishBigHelloWorld/BigHelloWorld.h

@@ -0,0 +1,63 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file BigHelloWorld.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _BigHelloWorld_H_
+#define _BigHelloWorld_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define BIG_HELLO_WORLD_STRING_SIZE 50000
+
+/*!
+ * @brief This struct represents the structure BigHelloWorld defined by the user in the IDL file.
+ * @ingroup BIGHELLOWORLD
+ */
+typedef struct BigHelloWorld
+{
+    uint32_t index;
+    char message[BIG_HELLO_WORLD_STRING_SIZE];
+
+} BigHelloWorld;
+
+struct ucdrBuffer;
+
+bool BigHelloWorld_serialize_topic(
+        struct ucdrBuffer* writer,
+        const BigHelloWorld* topic);
+bool BigHelloWorld_deserialize_topic(
+        struct ucdrBuffer* reader,
+        BigHelloWorld* topic);
+uint32_t BigHelloWorld_size_of_topic(
+        const BigHelloWorld* topic,
+        uint32_t size);
+
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif // _BigHelloWorld_H_

examples/PublishBigHelloWorld/CMakeLists.txt

@@ -0,0 +1,49 @@
+# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 2.8.12)
+if (${CMAKE_VERSION} VERSION_GREATER 3.0)
+    cmake_policy(SET CMP0048 NEW)
+endif()
+
+project(PublishBigHelloWorldClient C)
+
+if(NOT UCLIENT_BUILD_EXAMPLES)
+    find_package(microxrcedds_client REQUIRED)
+endif()
+
+if(NOT UCLIENT_PROFILE_UDP)
+    message(WARNING "Can not compile example: The UCLIENT_PROFILE_UDP must be enabled.")
+else()
+    add_executable(${PROJECT_NAME} main.c BigHelloWorld.c)
+    if(MSVC OR MSVC_IDE)
+        target_compile_options(${PROJECT_NAME} PRIVATE /wd4996)
+    endif()
+
+    set_target_properties(${PROJECT_NAME} PROPERTIES
+        C_STANDARD 99
+        C_STANDARD_REQUIRED YES
+        )
+
+    target_link_libraries(${PROJECT_NAME} microxrcedds_client $<$<C_COMPILER_ID:GNU>:-Wl,--gc-section,--no-export-dynamic>)
+
+    if(UCLIENT_INSTALL_EXAMPLES)
+        install(
+            TARGETS
+                ${PROJECT_NAME}
+            RUNTIME DESTINATION
+                ${BIN_INSTALL_DIR}
+            )
+    endif()
+endif()

examples/PublishBigHelloWorld/README.md

@@ -0,0 +1,20 @@
+# PublishBigHelloWorld example
+
+This example will show how to send big data (up to 64 kB) to the DDS World creating a client publisher.
+In order to compile this example, the following profiles should be enabled:
+
+- `UCLIENT_PROFILE_UDP`
+
+## Usage
+1. Run an agent in a certain port, for example, *2018*: `MicroXRCEAgent udp4 -p 2018`.
+2. Run the *SubscriberBigHelloWorld* example or some subscriber that can read the *BigHelloWorld* topic.
+3. Run the *PublisherBigHelloWorld* example.
+   The example expects first and second argument to be IP address and port where the Micro XRCE-DDS Agent is running. It can also be parameterized with the number of topics that will be sent.
+
+   If no number is given, the subscriber will listen indefinitely.
+
+## Considerations
+
+- Notice that `BUFFER_SIZE` shall be big enough to store the whole message.
+- Notice that `STREAM_HISTORY` shall power of two.
+

examples/PublishBigHelloWorld/main.c

@@ -0,0 +1,146 @@
+// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "BigHelloWorld.h"
+
+#include <uxr/client/client.h>
+#include <ucdr/microcdr.h>
+
+#include <stdio.h> //printf
+#include <string.h> //strcmp
+#include <stdlib.h> //atoi
+#include <assert.h> //assert
+
+#define STREAM_HISTORY  128
+#define BUFFER_SIZE     UXR_CONFIG_UDP_TRANSPORT_MTU* STREAM_HISTORY
+
+int main(
+        int args,
+        char** argv)
+{
+    assert(BUFFER_SIZE > BIG_HELLO_WORLD_STRING_SIZE);
+
+    // CLI
+    if (3 > args || 0 == atoi(argv[2]))
+    {
+        printf("usage: program [-h | --help] | ip port [<max_topics>]\n");
+        return 0;
+    }
+
+    char* ip = argv[1];
+    char* port = argv[2];
+    uint32_t max_topics = (args == 4) ? (uint32_t)atoi(argv[3]) : UINT32_MAX;
+
+    // Transport
+    uxrUDPTransport transport;
+    if (!uxr_init_udp_transport(&transport, UXR_IPv4, ip, port))
+    {
+        printf("Error at create transport.\n");
+        return 1;
+    }
+
+    // Session
+    uxrSession session;
+    uxr_init_session(&session, &transport.comm, 0xAAAABBBB);
+    if (!uxr_create_session(&session))
+    {
+        printf("Error at create session.\n");
+        return 1;
+    }
+
+    // Streams
+    uint8_t output_reliable_stream_buffer[BUFFER_SIZE];
+    uxrStreamId reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream_buffer, BUFFER_SIZE,
+                    STREAM_HISTORY);
+
+    uint8_t input_reliable_stream_buffer[BUFFER_SIZE];
+    uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, BUFFER_SIZE, STREAM_HISTORY);
+
+    // Create entities
+    uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
+    const char* participant_xml = "<dds>"
+            "<participant>"
+            "<rtps>"
+            "<name>default_xrce_participant</name>"
+            "</rtps>"
+            "</participant>"
+            "</dds>";
+    uint16_t participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, 0,
+                    participant_xml, UXR_REPLACE);
+
+    uxrObjectId topic_id = uxr_object_id(0x01, UXR_TOPIC_ID);
+    const char* topic_xml = "<dds>"
+            "<topic>"
+            "<name>BigHelloWorldTopic</name>"
+            "<dataType>BigHelloWorld</dataType>"
+            "</topic>"
+            "</dds>";
+    uint16_t topic_req = uxr_buffer_create_topic_xml(&session, reliable_out, topic_id, participant_id, topic_xml,
+                    UXR_REPLACE);
+
+    uxrObjectId publisher_id = uxr_object_id(0x01, UXR_PUBLISHER_ID);
+    const char* publisher_xml = "";
+    uint16_t publisher_req = uxr_buffer_create_publisher_xml(&session, reliable_out, publisher_id, participant_id,
+                    publisher_xml, UXR_REPLACE);
+
+    uxrObjectId datawriter_id = uxr_object_id(0x01, UXR_DATAWRITER_ID);
+    const char* datawriter_xml = "<dds>"
+            "<data_writer>"
+            "<topic>"
+            "<kind>NO_KEY</kind>"
+            "<name>BigHelloWorldTopic</name>"
+            "<dataType>BigHelloWorld</dataType>"
+            "</topic>"
+            "</data_writer>"
+            "</dds>";
+    uint16_t datawriter_req = uxr_buffer_create_datawriter_xml(&session, reliable_out, datawriter_id, publisher_id,
+                    datawriter_xml, UXR_REPLACE);
+
+    // Send create entities message and wait its status
+    uint8_t status[4];
+    uint16_t requests[4] = {
+        participant_req, topic_req, publisher_req, datawriter_req
+    };
+    if (!uxr_run_session_until_all_status(&session, 1000, requests, status, 4))
+    {
+        printf("Error at create entities: participant: %i topic: %i publisher: %i datawriter: %i\n", status[0],
+                status[1], status[2], status[3]);
+        return 1;
+    }
+
+    // Write topics
+    bool connected = true;
+    uint32_t count = 0;
+    while (connected && count < max_topics)
+    {
+        BigHelloWorld topic;
+        topic.index = count++;
+        memset(topic.message, 'A', sizeof(topic.message) - 1);
+        topic.message[sizeof(topic.message) - 1] = '\0';
+
+        ucdrBuffer ub;
+        uint32_t topic_size = BigHelloWorld_size_of_topic(&topic, 0);
+        uxr_prepare_output_stream(&session, reliable_out, datawriter_id, &ub, topic_size);
+        BigHelloWorld_serialize_topic(&ub, &topic);
+
+        printf("Send topic with size %d, id: %d\n", (uint32_t)strlen(topic.message), topic.index);
+        connected = uxr_run_session_time(&session, 1000);
+    }
+
+    // Delete resources
+    uxr_delete_session(&session);
+    uxr_close_udp_transport(&transport);
+
+    return 0;
+}

examples/SubscribeBigHelloWorld/BigHelloWorld.c

@@ -0,0 +1,59 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file BigHelloWorld.c
+ * This source file contains the definition of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#include "BigHelloWorld.h"
+
+#include <ucdr/microcdr.h>
+#include <string.h>
+
+bool BigHelloWorld_serialize_topic(
+        ucdrBuffer* writer,
+        const BigHelloWorld* topic)
+{
+    (void) ucdr_serialize_uint32_t(writer, topic->index);
+
+    (void) ucdr_serialize_string(writer, topic->message);
+
+    return !writer->error;
+}
+
+bool BigHelloWorld_deserialize_topic(
+        ucdrBuffer* reader,
+        BigHelloWorld* topic)
+{
+    (void) ucdr_deserialize_uint32_t(reader, &topic->index);
+
+    (void) ucdr_deserialize_string(reader, topic->message, sizeof(topic->message));
+
+    return !reader->error;
+}
+
+uint32_t BigHelloWorld_size_of_topic(
+        const BigHelloWorld* topic,
+        uint32_t size)
+{
+    uint32_t previousSize = size;
+    size += (uint32_t)(ucdr_alignment(size, 4) + 4);
+
+    size += (uint32_t)(ucdr_alignment(size, 4) + 4 + strlen(topic->message) + 1);
+
+    return size - previousSize;
+}

examples/SubscribeBigHelloWorld/BigHelloWorld.h

@@ -0,0 +1,63 @@
+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file BigHelloWorld.h
+ * This header file contains the declaration of the described types in the IDL file.
+ *
+ * This file was generated by the tool gen.
+ */
+
+#ifndef _BigHelloWorld_H_
+#define _BigHelloWorld_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define BIG_HELLO_WORLD_STRING_SIZE 50000
+
+/*!
+ * @brief This struct represents the structure BigHelloWorld defined by the user in the IDL file.
+ * @ingroup BIGHELLOWORLD
+ */
+typedef struct BigHelloWorld
+{
+    uint32_t index;
+    char message[BIG_HELLO_WORLD_STRING_SIZE];
+
+} BigHelloWorld;
+
+struct ucdrBuffer;
+
+bool BigHelloWorld_serialize_topic(
+        struct ucdrBuffer* writer,
+        const BigHelloWorld* topic);
+bool BigHelloWorld_deserialize_topic(
+        struct ucdrBuffer* reader,
+        BigHelloWorld* topic);
+uint32_t BigHelloWorld_size_of_topic(
+        const BigHelloWorld* topic,
+        uint32_t size);
+
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif // _BigHelloWorld_H_

examples/SubscribeBigHelloWorld/CMakeLists.txt

@@ -0,0 +1,50 @@
+# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 2.8.12)
+if (${CMAKE_VERSION} VERSION_GREATER 3.0)
+    cmake_policy(SET CMP0048 NEW)
+endif()
+
+project(SubscribBigBigClient C)
+
+if(NOT UCLIENT_BUILD_EXAMPLES)
+    find_package(microxrcedds_client REQUIRED)
+endif()
+
+if(NOT UCLIENT_PROFILE_UDP)
+    message(WARNING "Can not compile example: The UCLIENT_PROFILE_UDP must be enabled.")
+else()
+    add_executable(${PROJECT_NAME} main.c BigHelloWorld.c)
+    if(MSVC OR MSVC_IDE)
+        target_compile_options(${PROJECT_NAME} PRIVATE /wd4996)
+    endif()
+
+    set_target_properties(${PROJECT_NAME} PROPERTIES
+        C_STANDARD 99
+        C_STANDARD_REQUIRED YES
+        )
+
+
+    target_link_libraries(${PROJECT_NAME} microxrcedds_client $<$<C_COMPILER_ID:GNU>:-Wl,--gc-section,--no-export-dynamic>)
+
+    if(UCLIENT_INSTALL_EXAMPLES)
+        install(
+            TARGETS
+                ${PROJECT_NAME}
+            RUNTIME DESTINATION
+                ${BIN_INSTALL_DIR}
+            )
+    endif()
+endif()

examples/SubscribeBigHelloWorld/README.md

@@ -0,0 +1,19 @@
+# SubscribeBigHelloWorld example
+
+This example will show how to receive big data (up to 64 kB) to the DDS World creating a client publisher.
+In order to compile this example, the following profiles should be enabled:
+
+- `UCLIENT_PROFILE_UDP`
+
+## Usage
+1. Run an agent in a certain port, for example, *2018*: `MicroXRCEAgent udp4 -p 2018`.
+2. Run the *PublisherBigHelloWorld* example or some publisher that can send the *BigHelloWorld* topic.
+3. Run the *SubscriberBigHelloWorld* example.
+   The example expects first and second argument to be IP address and port where the Micro XRCE-DDS Agent is running. It can also be parameterized with the amount of times that the topic will be listened.
+   If no number is given, the publisher will publish indefinitely.
+
+## Considerations
+
+- Notice that `BUFFER_SIZE` shall be big enough to store the whole message.
+- Notice that `STREAM_HISTORY` shall power of two.
+

examples/SubscribeBigHelloWorld/main.c

@@ -0,0 +1,171 @@
+// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "BigHelloWorld.h"
+
+#include <uxr/client/client.h>
+
+#include <stdio.h> //printf
+#include <string.h> //strcmp
+#include <stdlib.h> //atoi
+#include <assert.h> //assert
+
+#define STREAM_HISTORY  128
+#define BUFFER_SIZE     UXR_CONFIG_UDP_TRANSPORT_MTU* STREAM_HISTORY
+
+void on_topic(
+        uxrSession* session,
+        uxrObjectId object_id,
+        uint16_t request_id,
+        uxrStreamId stream_id,
+        struct ucdrBuffer* ub,
+        uint16_t length,
+        void* args)
+{
+    (void) session; (void) object_id; (void) request_id; (void) stream_id; (void) length;
+
+    BigHelloWorld topic;
+    BigHelloWorld_deserialize_topic(ub, &topic);
+
+    printf("Received topic with size %d, id: %i\n", (uint32_t)strlen(topic.message), topic.index);
+
+    // Print first 30 characters
+    char message[31];
+    memcpy(message, topic.message, 30);
+    message[30] = '\0';
+    printf("\tMessage: %s...\n", message);
+
+    uint32_t* count_ptr = (uint32_t*) args;
+    (*count_ptr)++;
+}
+
+int main(
+        int args,
+        char** argv)
+{
+    assert(BUFFER_SIZE > BIG_HELLO_WORLD_STRING_SIZE);
+
+    // CLI
+    if (3 > args || 0 == atoi(argv[2]))
+    {
+        printf("usage: program [-h | --help] | ip port [<max_topics>]\n");
+        return 0;
+    }
+
+    char* ip = argv[1];
+    char* port =  argv[2];
+    uint32_t max_topics = (args == 4) ? (uint32_t)atoi(argv[3]) : UINT32_MAX;
+
+    // State
+    uint32_t count = 0;
+
+    // Transport
+    uxrUDPTransport transport;
+    if (!uxr_init_udp_transport(&transport, UXR_IPv4, ip, port))
+    {
+        printf("Error at create transport.\n");
+        return 1;
+    }
+
+    // Session
+    uxrSession session;
+    uxr_init_session(&session, &transport.comm, 0xCCCCDDDD);
+    uxr_set_topic_callback(&session, on_topic, &count);
+    if (!uxr_create_session(&session))
+    {
+        printf("Error at create session.\n");
+        return 1;
+    }
+
+    // Streams
+    uint8_t output_reliable_stream_buffer[BUFFER_SIZE];
+    uxrStreamId reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream_buffer, BUFFER_SIZE,
+                    STREAM_HISTORY);
+
+    uint8_t input_reliable_stream_buffer[BUFFER_SIZE];
+    uxrStreamId reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, BUFFER_SIZE,
+                    STREAM_HISTORY);
+
+    // Create entities
+    uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
+    const char* participant_xml = "<dds>"
+            "<participant>"
+            "<rtps>"
+            "<name>default_xrce_participant</name>"
+            "</rtps>"
+            "</participant>"
+            "</dds>";
+    uint16_t participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, 0,
+                    participant_xml, UXR_REPLACE);
+
+    uxrObjectId topic_id = uxr_object_id(0x01, UXR_TOPIC_ID);
+    const char* topic_xml = "<dds>"
+            "<topic>"
+            "<name>BigHelloWorldTopic</name>"
+            "<dataType>BigHelloWorld</dataType>"
+            "</topic>"
+            "</dds>";
+    uint16_t topic_req = uxr_buffer_create_topic_xml(&session, reliable_out, topic_id, participant_id, topic_xml,
+                    UXR_REPLACE);
+
+    uxrObjectId subscriber_id = uxr_object_id(0x01, UXR_SUBSCRIBER_ID);
+    const char* subscriber_xml = "";
+    uint16_t subscriber_req = uxr_buffer_create_subscriber_xml(&session, reliable_out, subscriber_id, participant_id,
+                    subscriber_xml, UXR_REPLACE);
+
+    uxrObjectId datareader_id = uxr_object_id(0x01, UXR_DATAREADER_ID);
+    const char* datareader_xml = "<dds>"
+            "<data_reader>"
+            "<topic>"
+            "<kind>NO_KEY</kind>"
+            "<name>BigHelloWorldTopic</name>"
+            "<dataType>BigHelloWorld</dataType>"
+            "</topic>"
+            "</data_reader>"
+            "</dds>";
+    uint16_t datareader_req = uxr_buffer_create_datareader_xml(&session, reliable_out, datareader_id, subscriber_id,
+                    datareader_xml, UXR_REPLACE);
+
+    // Send create entities message and wait its status
+    uint8_t status[4];
+    uint16_t requests[4] = {
+        participant_req, topic_req, subscriber_req, datareader_req
+    };
+    if (!uxr_run_session_until_all_status(&session, 1000, requests, status, 4))
+    {
+        printf("Error at create entities: participant: %i topic: %i subscriber: %i datareader: %i\n", status[0],
+                status[1], status[2], status[3]);
+        return 1;
+    }
+
+    // Request topics
+    uxrDeliveryControl delivery_control = {
+        0
+    };
+    delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
+    uxr_buffer_request_data(&session, reliable_out, datareader_id, reliable_in, &delivery_control);
+
+    // Read topics
+    bool connected = true;
+    while (connected && count < max_topics)
+    {
+        connected = uxr_run_session_time(&session, 1000);
+    }
+
+    // Delete resources
+    uxr_delete_session(&session);
+    uxr_close_udp_transport(&transport);
+
+    return 0;
+}

examples/SubscribeHelloWorld/main.c

@@ -37,7 +37,7 @@ void on_topic(
     HelloWorld topic;
     HelloWorld_deserialize_topic(ub, &topic);
 
-    printf("Received topic: %s, id: %i\n", topic.message, topic.index);
+    printf("Received topic: %s, id: %d\n", topic.message, topic.index);
 
     uint32_t* count_ptr = (uint32_t*) args;
     (*count_ptr)++;

src/c/util/time.c

@@ -7,6 +7,8 @@
 #elif defined(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP)
 #include "FreeRTOS.h"
 #include "task.h"
+#elif defined(UCLIENT_PLATFORM_ZEPHYR)
+#include <version.h>
 #endif /* ifdef WIN32 */
 
 //==================================================================
@@ -53,7 +55,16 @@ int64_t uxr_nanos(
     return (( total_tick / (int64_t) portTICK_PERIOD_MS ) * 1000000 );
 #elif defined(UCLIENT_PLATFORM_ZEPHYR)
     struct timespec ts;
+
+    // From Zephyr version 3.5.99 the z_impl_clock_gettime function
+    // has been renamed to the clock_gettime function.
+    // This has been done to implement Zephyr's POSIX API as regular library functions
+    // https://github.com/zephyrproject-rtos/zephyr/commit/95a22b12174621aeba8ca3e0e61f7c66f03202bf
+    #if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3, 5, 99)
+    clock_gettime(CLOCK_REALTIME, &ts);
+    #else
     z_impl_clock_gettime(CLOCK_REALTIME, &ts);
+    #endif /* if ZEPHYR_VERSION_CODE >= ZEPHYR_VERSION(3, 5, 99) */
     return (((int64_t)ts.tv_sec) * 1000000000) + ts.tv_nsec;
 #else
     struct timespec ts;