275 lines
12 KiB
C
275 lines
12 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_CONFIG_UDP_TRANSPORT_MTU * STREAM_HISTORY
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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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HelloWorld topic;
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HelloWorld_deserialize_topic(ub, &topic);
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char key[20];
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snprintf(key, 20, "0x%X%X%X%X", session->info.key[0], session->info.key[1], session->info.key[2], session->info.key[3]);
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printf("Session %s: %s (%i)\n", key, topic.message, topic.index);
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}
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int main(int args, char** argv)
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{
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// CLI
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if(3 > args || 0 == atoi(argv[2]))
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{
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printf("usage: program [-h | --help] | ip port [<max_topics>]\n");
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return 0;
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}
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char* ip = argv[1];
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char* port = argv[2];
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uint32_t max_topics = (args == 4) ? (uint32_t)atoi(argv[3]) : UINT32_MAX;
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// ------ SESSION 1 ------
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// Transport
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uxrUDPTransport transport_1;
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uxrUDPPlatform udp_platform_1;
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if(!uxr_init_udp_transport(&transport_1, &udp_platform_1, UXR_IPv4, ip, 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_1;
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uxr_init_session(&session_1, &transport_1.comm, 0x11111111);
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uxr_set_topic_callback(&session_1, on_topic, NULL);
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if(!uxr_create_session(&session_1))
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{
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printf("Error at create session 1.\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_1[BUFFER_SIZE];
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uxrStreamId reliable_out_1 = uxr_create_output_reliable_stream(&session_1, output_reliable_stream_buffer_1, BUFFER_SIZE, STREAM_HISTORY);
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uint8_t input_reliable_stream_buffer_1[BUFFER_SIZE];
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uxrStreamId reliable_in_1 = uxr_create_input_reliable_stream(&session_1, input_reliable_stream_buffer_1, BUFFER_SIZE, STREAM_HISTORY);
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// Create entities
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uxrObjectId participant_id_1 = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
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const char* participant_xml_1 = "<dds>"
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"<participant>"
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"<rtps>"
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"<name>default_xrce_participant_1</name>"
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"</rtps>"
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"</participant>"
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"</dds>";
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uint16_t participant_req_1 = uxr_buffer_create_participant_xml(&session_1, reliable_out_1, participant_id_1, 0, participant_xml_1, UXR_REPLACE);
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uxrObjectId topic_id_1 = uxr_object_id(0x01, UXR_TOPIC_ID);
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const char* topic_xml_1 = "<dds>"
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"<topic>"
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"<name>HelloWorldTopic</name>"
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"<dataType>HelloWorld</dataType>"
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"</topic>"
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"</dds>";
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uint16_t topic_req_1 = uxr_buffer_create_topic_xml(&session_1, reliable_out_1, topic_id_1, participant_id_1, topic_xml_1, UXR_REPLACE);
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uxrObjectId publisher_id_1 = uxr_object_id(0x01, UXR_PUBLISHER_ID);
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const char* publisher_xml_1 = "";
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uint16_t publisher_req_1 = uxr_buffer_create_publisher_xml(&session_1, reliable_out_1, publisher_id_1, participant_id_1, publisher_xml_1, UXR_REPLACE);
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uxrObjectId datawriter_id_1 = uxr_object_id(0x01, UXR_DATAWRITER_ID);
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const char* datawriter_xml_1 = "<dds>"
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"<data_writer>"
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"<topic>"
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"<kind>NO_KEY</kind>"
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"<name>HelloWorldTopic_1_to_2</name>"
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"<dataType>HelloWorld</dataType>"
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"</topic>"
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"</data_writer>"
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"</dds>";
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uint16_t datawriter_req_1 = uxr_buffer_create_datawriter_xml(&session_1, reliable_out_1, datawriter_id_1, publisher_id_1, datawriter_xml_1, UXR_REPLACE);
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uxrObjectId subscriber_id_1 = uxr_object_id(0x01, UXR_SUBSCRIBER_ID);
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const char* subscriber_xml_1 = "";
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uint16_t subscriber_req_1 = uxr_buffer_create_subscriber_xml(&session_1, reliable_out_1, subscriber_id_1, participant_id_1, subscriber_xml_1, UXR_REPLACE);
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uxrObjectId datareader_id_1 = uxr_object_id(0x01, UXR_DATAREADER_ID);
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const char* datareader_xml_1 = "<dds>"
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"<data_reader>"
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"<topic>"
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"<kind>NO_KEY</kind>"
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"<name>HelloWorldTopic_2_to_1</name>"
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"<dataType>HelloWorld</dataType>"
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"</topic>"
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"</data_reader>"
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"</dds>";
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uint16_t datareader_req_1 = uxr_buffer_create_datareader_xml(&session_1, reliable_out_1, datareader_id_1, subscriber_id_1, datareader_xml_1, UXR_REPLACE);
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// Send create entities message and wait its status
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uint8_t status_1[6];
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uint16_t requests_1[6] = {participant_req_1, topic_req_1, publisher_req_1, datawriter_req_1, subscriber_req_1, datareader_req_1};
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if(!uxr_run_session_until_all_status(&session_1, 1000, requests_1, status_1, 6))
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{
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printf("Error at create entities session 1\n");
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return 1;
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}
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// ------ SESSION 2 ------
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// Transport
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uxrUDPTransport transport_2;
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uxrUDPPlatform udp_platform_2;
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if(!uxr_init_udp_transport(&transport_2, &udp_platform_2, UXR_IPv4, ip, 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_2;
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uxr_init_session(&session_2, &transport_2.comm, 0x22222222);
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uxr_set_topic_callback(&session_2, on_topic, NULL);
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if(!uxr_create_session(&session_2))
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{
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printf("Error at create session 2.\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_2[BUFFER_SIZE];
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uxrStreamId reliable_out_2 = uxr_create_output_reliable_stream(&session_2, output_reliable_stream_buffer_2, BUFFER_SIZE, STREAM_HISTORY);
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uint8_t input_reliable_stream_buffer_2[BUFFER_SIZE];
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uxrStreamId reliable_in_2 = uxr_create_input_reliable_stream(&session_2, input_reliable_stream_buffer_2, BUFFER_SIZE, STREAM_HISTORY);
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// Create entities
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uxrObjectId participant_id_2 = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
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const char* participant_xml_2 = "<dds>"
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"<participant>"
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"<rtps>"
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"<name>default_xrce_participant_2</name>"
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"</rtps>"
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"</participant>"
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"</dds>";
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uint16_t participant_req_2 = uxr_buffer_create_participant_xml(&session_2, reliable_out_2, participant_id_2, 0, participant_xml_2, UXR_REPLACE);
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uxrObjectId topic_id_2 = uxr_object_id(0x01, UXR_TOPIC_ID);
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const char* topic_xml_2 = "<dds>"
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"<topic>"
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"<name>HelloWorldTopic</name>"
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"<dataType>HelloWorld</dataType>"
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"</topic>"
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"</dds>";
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uint16_t topic_req_2 = uxr_buffer_create_topic_xml(&session_2, reliable_out_2, topic_id_2, participant_id_2, topic_xml_2, UXR_REPLACE);
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uxrObjectId publisher_id_2 = uxr_object_id(0x01, UXR_PUBLISHER_ID);
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const char* publisher_xml_2 = "";
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uint16_t publisher_req_2 = uxr_buffer_create_publisher_xml(&session_2, reliable_out_2, publisher_id_2, participant_id_2, publisher_xml_2, UXR_REPLACE);
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uxrObjectId datawriter_id_2 = uxr_object_id(0x01, UXR_DATAWRITER_ID);
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const char* datawriter_xml_2 = "<dds>"
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"<data_writer>"
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"<topic>"
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"<kind>NO_KEY</kind>"
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"<name>HelloWorldTopic_2_to_1</name>"
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"<dataType>HelloWorld</dataType>"
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"</topic>"
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"</data_writer>"
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"</dds>";
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uint16_t datawriter_req_2 = uxr_buffer_create_datawriter_xml(&session_2, reliable_out_2, datawriter_id_2, publisher_id_2, datawriter_xml_2, UXR_REPLACE);
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uxrObjectId subscriber_id_2 = uxr_object_id(0x01, UXR_SUBSCRIBER_ID);
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const char* subscriber_xml_2 = "";
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uint16_t subscriber_req_2 = uxr_buffer_create_subscriber_xml(&session_2, reliable_out_2, subscriber_id_2, participant_id_2, subscriber_xml_2, UXR_REPLACE);
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uxrObjectId datareader_id_2 = uxr_object_id(0x01, UXR_DATAREADER_ID);
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const char* datareader_xml_2 = "<dds>"
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"<data_reader>"
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"<topic>"
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"<kind>NO_KEY</kind>"
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"<name>HelloWorldTopic_1_to_2</name>"
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"<dataType>HelloWorld</dataType>"
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"</topic>"
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"</data_reader>"
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"</dds>";
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uint16_t datareader_req_2 = uxr_buffer_create_datareader_xml(&session_2, reliable_out_2, datareader_id_2, subscriber_id_2, datareader_xml_2, UXR_REPLACE);
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// Send create entities message and wait its status
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uint8_t status_2[6];
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uint16_t requests_2[6] = {participant_req_2, topic_req_2, publisher_req_2, datawriter_req_2, subscriber_req_2, datareader_req_2};
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if(!uxr_run_session_until_all_status(&session_2, 1000, requests_2, status_2, 6))
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{
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printf("Error at create entities session 2\n");
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return 1;
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}
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// Request topics of both sessions
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uxrDeliveryControl delivery_control = {0};
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delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
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uint16_t read_data_req_1 = uxr_buffer_request_data(&session_1, reliable_out_1, datareader_id_1, reliable_in_1, &delivery_control);
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uint16_t read_data_req_2 = uxr_buffer_request_data(&session_2, reliable_out_2, datareader_id_2, reliable_in_2, &delivery_control);
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// Write topics
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uint32_t count = 0;
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bool connected = true;
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while(connected)
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{
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// Session 1 publication
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HelloWorld topic_1 = {count, "Publisher 1 says hello"};
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ucdrBuffer ub_1;
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uint32_t topic_size_1 = HelloWorld_size_of_topic(&topic_1, 0);
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uxr_prepare_output_stream(&session_1, reliable_out_1, datawriter_id_1, &ub_1, topic_size_1);
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HelloWorld_serialize_topic(&ub_1, &topic_1);
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// Session 2 publication
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HelloWorld topic_2 = {count, "Publisher 2 says hello"};
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ucdrBuffer ub_2;
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uint32_t topic_size_2 = HelloWorld_size_of_topic(&topic_2, 0);
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uxr_prepare_output_stream(&session_2, reliable_out_2, datawriter_id_2, &ub_2, topic_size_2);
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HelloWorld_serialize_topic(&ub_2, &topic_2);
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connected = uxr_run_session_time(&session_1, 1000);
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connected &= uxr_run_session_time(&session_2, 1000);
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count++;
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}
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// Delete resources
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uxr_delete_session(&session_1);
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uxr_delete_session(&session_2);
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uxr_close_udp_transport(&transport_1);
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uxr_close_udp_transport(&transport_2);
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return 0;
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}
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