基于OpenDDS的发布订阅程序HelloMsg(vs2010版)

/**************************************************************** * * file: HelloMsgSub.cpp * desc: Provides a simple C++ 'Hello World' DDS subscriber. * This subscribing application will receive data * from the example 'hello world' publishing * application (hello_pub). * ****************************************************************/ #include <dds/DCPS/Service_Participant.h> #include <dds/DCPS/Marked_Default_Qos.h> #include <dds/DCPS/PublisherImpl.h> #include <ace/streams.h> #include <orbsvcs/Time_Utilities.h> #include "dds/DCPS/StaticIncludes.h" #include <stdio.h> #ifdef _WIN32 #include <windows.h> #else #include <unistd.h> #endif #include "HelloMsgTypeSupportImpl.h" #ifdef _WIN32 # define SLEEP(a) Sleep(a*1000) #else # define SLEEP(a) sleep(a); #endif int all_done = 0; /**************************************************************** * Construct a DataReaderListener and override the * on_data_available() method with our own. All other * listener methods will be default (no-op) functions. ****************************************************************/ class SubListener : public DDS::DataReaderListener { public: void on_data_available( DDS::DataReader * dr ); void on_requested_deadline_missed ( DDS::DataReader_ptr reader, const DDS::RequestedDeadlineMissedStatus & status); void on_requested_incompatible_qos ( DDS::DataReader_ptr reader, const DDS::RequestedIncompatibleQosStatus & status); void on_liveliness_changed ( DDS::DataReader_ptr reader, const DDS::LivelinessChangedStatus & status); virtual void on_subscription_matched ( DDS::DataReader_ptr reader, const DDS::SubscriptionMatchedStatus & status ); void on_sample_rejected( DDS::DataReader_ptr reader, const DDS::SampleRejectedStatus& status ); void on_sample_lost( DDS::DataReader_ptr reader, const DDS::SampleLostStatus& status ); }; /**************************************************************** * DataReader Listener Method: on_data_avail() * * This listener method is called when data is available to * be read on this DataReader. ****************************************************************/ void SubListener::on_data_available( DDS::DataReader * dr) { Hello::StringMsgSeq samples; DDS::SampleInfoSeq samples_info; DDS::ReturnCode_t retval; DDS::SampleStateMask ss = DDS::ANY_SAMPLE_STATE; DDS::ViewStateMask vs = DDS::ANY_VIEW_STATE; DDS::InstanceStateMask is = DDS::ANY_INSTANCE_STATE; /* Convert to our type-specific DataReader */ Hello::StringMsgDataReader* reader = Hello::StringMsgDataReader::_narrow( dr ); /* Take any and all available samples. The take() operation * will remove the samples from the DataReader so they * won't be available on subsequent read() or take() calls. */ retval = reader->take( samples, samples_info, DDS::LENGTH_UNLIMITED, ss, vs, is ); if ( retval == DDS::RETCODE_OK ) { /* iterrate through the samples */ for ( unsigned int i = 0;i < samples.length(); i++) { /* If this sample does not contain valid data, * it is a dispose or other non-data command, * and, accessing any member from this sample * would be invalid. */ if ( samples_info[i].valid_data) printf("OpenDDS received a sample, No=%d/%d, [%s]\n", i, samples.length(), samples[i].msg.in()); } fflush(stdout); /* read() and take() always "loan" the data, we need to * return it so OpenDDS can release resources associated * with it. */ reader->return_loan( samples, samples_info ); } else { printf("ERROR (%s) taking samples from DataReader\n", "DDS_error(retval)"); } } void SubListener::on_requested_deadline_missed ( DDS::DataReader_ptr reader, const DDS::RequestedDeadlineMissedStatus & status) { printf("ERROR (%s) on_requested_deadline_missed\n", "DDS_error(retval)"); } void SubListener::on_requested_incompatible_qos ( DDS::DataReader_ptr reader, const DDS::RequestedIncompatibleQosStatus & status) { printf("ERROR (%s) on_requested_incompatible_qos\n", "DDS_error(retval)"); } void SubListener::on_liveliness_changed ( DDS::DataReader_ptr reader, const DDS::LivelinessChangedStatus & status) { printf("ERROR (%s) on_liveliness_changed\n", "DDS_error(retval)"); } void SubListener::on_subscription_matched ( DDS::DataReader_ptr reader, const DDS::SubscriptionMatchedStatus & status ) { printf("ERROR (%s) on_subscription_matched\n", "DDS_error(retval)"); } void SubListener::on_sample_rejected( DDS::DataReader_ptr reader, const DDS::SampleRejectedStatus& status ) { printf("ERROR (%s) on_sample_rejected\n", "DDS_error(retval)"); } void SubListener::on_sample_lost( DDS::DataReader_ptr reader, const DDS::SampleLostStatus& status ) { printf("ERROR (%s) on_sample_lost\n", "DDS_error(retval)"); } /**************************************************************** * main() * * Perform OpenDDS setup activities: * - create a Domain Participant * - create a Subscriber * - register the StringMsg data type * - create a Topic * - create a DataReader and attach the listener created above * And wait for data ****************************************************************/ #if defined(__vxworks) && !defined(__RTP__) int hello_sub(char * args) #else int main(int argc, char * argv[]) #endif { DDS::DomainParticipant * domain; DDS::Subscriber * subscriber; DDS::Topic * topic; DDS::DataReader * dr; SubListener drListener; DDS::ReturnCode_t retval; /* Get an instance of the DDS DomainPartiticpantFactory -- * we will use this to create a DomainParticipant. */ DDS::DomainParticipantFactory *dpf = TheParticipantFactoryWithArgs(argc, argv); if ( dpf == NULL ) { printf("ERROR initializing domainParticipantFactory.\n"); return -1; } /* create a DomainParticipant */ domain = dpf->create_participant( 2, PARTICIPANT_QOS_DEFAULT, NULL, 0 ); if ( domain == NULL ) { printf("ERROR creating domain participant.\n"); return -1; } /* create a Subscriber */ subscriber = domain->create_subscriber(SUBSCRIBER_QOS_DEFAULT, NULL, 0 ); if ( subscriber == NULL ) { printf("ERROR creating subscriber\n"); return -1; } /* Register the data type with the OpenDDS middleware. * This is required before creating a Topic with * this data type. */ Hello::StringMsgTypeSupport *stringMsgTS = new Hello::StringMsgTypeSupportImpl();; retval = stringMsgTS->register_type( domain, "StringMsg" ); if (retval != DDS::RETCODE_OK) { printf("ERROR registering type: %s\n", "DDS_error(retval)"); return -1; } /* create a DDS Topic with the StringMsg data type. */ topic = domain->create_topic( "helloTopic", "StringMsg", TOPIC_QOS_DEFAULT, NULL, 0 ); if ( ! topic ) { printf("ERROR creating topic\n"); return -1; } /* create a DDS_DataReader on the hello topic (notice * the TopicDescription is used) with default QoS settings, * and attach our listener with our on_data_available method. */ dr = subscriber->create_datareader( (DDS::TopicDescription*)topic, DATAREADER_QOS_DEFAULT, &drListener, DDS::DATA_AVAILABLE_STATUS ); if ( ! dr ) { printf("ERROR creating data reader\n"); return -1; } /* Wait forever. When data arrives at our DataReader, * our dr_on_data