131 lines
4.2 KiB
C
131 lines
4.2 KiB
C
// 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 <uxr/client/client.h>
|
|
#include <ucdr/microcdr.h>
|
|
|
|
#include <stdio.h> //printf
|
|
#include <string.h> //strcmp
|
|
#include <stdlib.h> //atoi
|
|
|
|
#define STREAM_HISTORY 4
|
|
#define BUFFER_SIZE 100 * STREAM_HISTORY
|
|
|
|
bool flush_session(
|
|
uxrSession* session,
|
|
void* args)
|
|
{
|
|
(void) args;
|
|
return uxr_run_session_until_confirm_delivery(session, 1000);
|
|
}
|
|
|
|
int main(
|
|
int args,
|
|
char** argv)
|
|
{
|
|
// CLI
|
|
if (3 > args || 0 == atoi(argv[2]))
|
|
{
|
|
printf("usage: program [-h | --help] | ip port\n");
|
|
return 0;
|
|
}
|
|
|
|
char* ip = argv[1];
|
|
char* port = argv[2];
|
|
|
|
// 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>";
|
|
uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, 0,
|
|
participant_xml, UXR_REPLACE);
|
|
uxr_run_session_until_confirm_delivery(&session, 100);
|
|
uxrObjectId topic_id = uxr_object_id(0x01, UXR_TOPIC_ID);
|
|
const char* topic_xml = "<dds>"
|
|
"<topic>"
|
|
"<name>HelloWorldTopic</name>"
|
|
"<dataType>HelloWorld</dataType>"
|
|
"</topic>"
|
|
"</dds>";
|
|
uxr_buffer_create_topic_xml(&session, reliable_out, topic_id, participant_id, topic_xml,
|
|
UXR_REPLACE);
|
|
uxr_run_session_until_confirm_delivery(&session, 100);
|
|
uxrObjectId publisher_id = uxr_object_id(0x01, UXR_PUBLISHER_ID);
|
|
const char* publisher_xml = "";
|
|
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>"
|
|
"<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>"
|
|
"<topic>"
|
|
"<kind>NO_KEY</kind>"
|
|
"<name>HelloWorldTopic</name>"
|
|
"<dataType>HelloWorld</dataType>"
|
|
"</topic>"
|
|
"</data_writer>"
|
|
"</dds>";
|
|
uxr_buffer_create_datawriter_xml(&session, reliable_out, datawriter_id, publisher_id,
|
|
datawriter_xml, UXR_REPLACE);
|
|
|
|
uxr_run_session_until_confirm_delivery(&session, 100);
|
|
|
|
// Write topic
|
|
char buf[20000];
|
|
memset(buf, 'A', sizeof(buf));
|
|
|
|
ucdrBuffer ub;
|
|
uxr_prepare_output_stream_fragmented(&session, reliable_out, datawriter_id, &ub, sizeof(buf), flush_session, NULL);
|
|
ucdr_serialize_array_char(&ub, buf, sizeof(buf));
|
|
|
|
uxr_run_session_until_confirm_delivery(&session, 1000);
|
|
|
|
// Delete resources
|
|
uxr_delete_session(&session);
|
|
uxr_close_udp_transport(&transport);
|
|
|
|
return 0;
|
|
}
|