134 lines
3.9 KiB
C
134 lines
3.9 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 <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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#include <unistd.h>
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#define BUFFER_SIZE 1024
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#define HISTORY_SIZE 8
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static bool send_msg_empty(
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void* instance,
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const uint8_t* buf,
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size_t len)
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{
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(void) instance;
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(void) buf;
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(void) len;
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return true;
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}
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static bool recv_msg_empty(
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void* instance,
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uint8_t** buf,
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size_t* len,
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int timeout)
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{
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(void) instance;
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(void) buf;
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(void) len;
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(void) timeout;
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return false;
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}
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void on_topic(
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uxrSession* session,
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uxrObjectId object_id,
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uint16_t request_id,
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uxrStreamId stream_id,
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struct ucdrBuffer* ub,
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uint16_t length,
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void* args)
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{
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(void) session; (void) object_id; (void) request_id; (void) stream_id; (void) length;
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uint32_t out;
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ucdr_deserialize_uint32_t(ub, &out);
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printf("Received value: %d\n", out);
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}
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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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uint32_t count = (args == 2) ? (uint32_t)atoi(argv[1]) : 10;
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// Empty transport
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uxrCommunication comm;
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comm.send_msg = send_msg_empty;
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comm.recv_msg = recv_msg_empty;
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// Session
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uxrSession session;
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uxr_init_session(&session, &comm, 0xAAAABBBB);
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// Streams
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uint8_t output_besteffort_buffer[BUFFER_SIZE];
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uxrStreamId output_besteffort =
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uxr_create_output_best_effort_stream(&session, output_besteffort_buffer, BUFFER_SIZE);
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uint8_t input_reliable_stream_buffer[BUFFER_SIZE * HISTORY_SIZE];
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uxrStreamId reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, BUFFER_SIZE,
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HISTORY_SIZE);
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// Create entities
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uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
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// Create publisher
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uxrObjectId topic_id = uxr_object_id(0x01, UXR_TOPIC_ID);
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uxrObjectId publisher_id = uxr_object_id(0x01, UXR_PUBLISHER_ID);
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uxrObjectId datawriter_id = uxr_object_id(0x01, UXR_DATAWRITER_ID);
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uxr_buffer_create_topic_bin(&session, output_besteffort, topic_id, participant_id,
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"shared_memory_topic", "shared_memory_type", UXR_REPLACE);
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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 = 10
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};
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uxr_buffer_create_datawriter_bin(&session, output_besteffort, datawriter_id, publisher_id, topic_id, qos,
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UXR_REPLACE);
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// Create subscriber
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uxrObjectId subscriber_id = uxr_object_id(0x01, UXR_SUBSCRIBER_ID);
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uxrObjectId datareader_id = uxr_object_id(0x01, UXR_DATAREADER_ID);
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uxr_buffer_create_datareader_bin(&session, reliable_in, datareader_id, subscriber_id, topic_id, qos, UXR_REPLACE);
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uxr_set_topic_callback(&session, on_topic, NULL);
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// Publish topic
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const size_t data_lenght = sizeof(uint32_t);
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ucdrBuffer ub;
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for (uint32_t i = 0; i < count; i++)
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{
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uxr_prepare_output_stream(&session, output_besteffort, datawriter_id, &ub, data_lenght);
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ucdr_serialize_uint32_t(&ub, i);
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printf("Publish value: %d\n", i);
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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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return 0;
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}
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