93 lines
2.8 KiB
C
93 lines
2.8 KiB
C
// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "HelloWorld.h"
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#include <uxr/client/client.h>
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#include <ucdr/microcdr.h>
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#include <stdio.h>
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#include <string.h> //strcmp
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#include <stdlib.h> //atoi
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#define STREAM_HISTORY 8
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#define BUFFER_SIZE UXR_CONFIG_UDP_TRANSPORT_MTU* STREAM_HISTORY
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int main(
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int args,
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char** argv)
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{
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// Args
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if (args < 5 || 0 == strcmp("-h", argv[1]) || 0 == strcmp("--help", argv[1])
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|| 0 != strcmp("--key", argv[1]) || 0 != strcmp("--id", argv[3])
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|| 0 == atoi(argv[2]) || 0 == atoi(argv[4]))
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{
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printf("usage: program [-h | --help | --key <number> --id <datawriter-number>]\n");
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return 0;
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}
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// Transport
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uxrUDPTransport transport;
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if (!uxr_init_udp_transport(&transport, UXR_IPv4, "127.0.0.1", "2018"))
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{
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printf("Error at create transport.\n");
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return 1;
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}
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// Session
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uxrSession session;
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uxr_init_session(&session, &transport.comm, (uint32_t)atoi(argv[2]));
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if (!uxr_create_session(&session))
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{
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printf("Error at create session.\n");
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return 1;
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}
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// Streams
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uint8_t output_reliable_stream_buffer[BUFFER_SIZE];
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uxrStreamId reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream_buffer, BUFFER_SIZE,
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STREAM_HISTORY);
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uint8_t input_reliable_stream_buffer[BUFFER_SIZE];
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uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, BUFFER_SIZE, STREAM_HISTORY);
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uxrObjectId datawriter_id = uxr_object_id((uint16_t)atoi(argv[4]), UXR_DATAWRITER_ID);
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// Write topics
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bool connected = true;
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uint32_t count = 0;
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while (connected)
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{
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HelloWorld topic = {
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count++, "Hello DDS world!"
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};
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ucdrBuffer ub;
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uint32_t topic_size = HelloWorld_size_of_topic(&topic, 0);
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uxr_prepare_output_stream(&session, reliable_out, datawriter_id, &ub, topic_size);
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HelloWorld_serialize_topic(&ub, &topic);
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connected = uxr_run_session_time(&session, 1000);
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if (connected)
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{
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printf("Sent topic: %s, index: %i\n", topic.message, topic.index);
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}
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}
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// Delete resources
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uxr_close_udp_transport(&transport);
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return 0;
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}
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