126 lines
4.3 KiB
C
126 lines
4.3 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> //printf
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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_CAN_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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// CLI
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if (3 > args || 0 == strtoul(argv[2], NULL, 16))
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{
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printf("usage: program [-h | --help] | device can_id(hex) [<max_topics>]\n");
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return 0;
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}
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char* dev = argv[1];
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uint32_t port = strtoul(argv[2], NULL, 16);
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uint32_t max_topics = (args == 4) ? (uint32_t)atoi(argv[3]) : UINT32_MAX;
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// Transport
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uxrCANTransport transport;
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if (!uxr_init_can_transport(&transport, dev, port))
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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, 0xAAAABBBB);
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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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// Create entities
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uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
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uint16_t participant_req =
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uxr_buffer_create_participant_bin(&session, reliable_out, participant_id, 0, "default_xrce_participant",
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UXR_REPLACE);
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uxrObjectId topic_id = uxr_object_id(0x01, UXR_TOPIC_ID);
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uint16_t topic_req = uxr_buffer_create_topic_bin(&session, reliable_out, topic_id, participant_id,
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"HelloWorldTopic",
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"HelloWorld", UXR_REPLACE);
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uxrObjectId publisher_id = uxr_object_id(0x01, UXR_PUBLISHER_ID);
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uint16_t publisher_req = uxr_buffer_create_publisher_bin(&session, reliable_out, publisher_id, participant_id,
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UXR_REPLACE);
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uxrObjectId datawriter_id = uxr_object_id(0x01, UXR_DATAWRITER_ID);
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uxrQoS_t qos = {
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.reliability = UXR_RELIABILITY_RELIABLE, .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
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.history = UXR_HISTORY_KEEP_LAST, .depth = 0
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};
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uint16_t datawriter_req = uxr_buffer_create_datawriter_bin(&session, reliable_out, datawriter_id, publisher_id,
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topic_id, qos, UXR_REPLACE);
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// Send create entities message and wait its status
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uint8_t status[4];
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uint16_t requests[4] = {
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participant_req, topic_req, publisher_req, datawriter_req
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};
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if (!uxr_run_session_until_all_status(&session, 1000, requests, status, 4))
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{
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printf("Error at create entities: participant: %i topic: %i publisher: %i datawriter: %i\n", status[0],
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status[1], status[2], status[3]);
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return 1;
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}
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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 && count < max_topics)
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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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printf("Send topic: %s, id: %i\n", topic.message, topic.index);
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connected = uxr_run_session_time(&session, 1000);
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}
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// Delete resources
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uxr_delete_session(&session);
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uxr_close_can_transport(&transport);
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return 0;
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}
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