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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/**
* @file TestWriterPersistent.cpp
*
*/
#include "TestWriterPersistent.h"
#include <fastrtps/rtps/writer/RTPSWriter.h>
#include <fastrtps/rtps/participant/RTPSParticipant.h>
#include <fastrtps/rtps/RTPSDomain.h>
#include <fastrtps/rtps/attributes/RTPSParticipantAttributes.h>
#include <fastrtps/rtps/attributes/WriterAttributes.h>
#include <fastrtps/rtps/attributes/HistoryAttributes.h>
#include <fastrtps/rtps/history/WriterHistory.h>
#include <fastrtps/attributes/TopicAttributes.h>
#include <fastrtps/qos/WriterQos.h>
using namespace eprosima::fastrtps;
using namespace eprosima::fastrtps::rtps;
using namespace std;
TestWriterPersistent::TestWriterPersistent()
: mp_participant(nullptr)
, mp_writer(nullptr)
, mp_history(nullptr)
{
}
TestWriterPersistent::~TestWriterPersistent()
{
RTPSDomain::removeRTPSParticipant(mp_participant);
delete(mp_history);
}
bool TestWriterPersistent::init()
{
//CREATE PARTICIPANT
RTPSParticipantAttributes PParam;
PParam.builtin.discovery_config.discoveryProtocol = eprosima::fastrtps::rtps::DiscoveryProtocol::SIMPLE;
PParam.builtin.use_WriterLivelinessProtocol = true;
mp_participant = RTPSDomain::createParticipant(0, PParam);
if (mp_participant == nullptr)
{
return false;
}
//CREATE WRITERHISTORY
HistoryAttributes hatt;
hatt.payloadMaxSize = 255;
hatt.maximumReservedCaches = 50;
mp_history = new WriterHistory(hatt);
PropertyPolicy property_policy;
property_policy.properties().emplace_back("dds.persistence.plugin", "builtin.SQLITE3");
property_policy.properties().emplace_back("dds.persistence.sqlite3.filename", "test.db");
//CREATE WRITER
WriterAttributes watt;
watt.endpoint.reliabilityKind = BEST_EFFORT;
watt.endpoint.durabilityKind = TRANSIENT;
watt.endpoint.persistence_guid.guidPrefix.value[11] = 1;
watt.endpoint.persistence_guid.entityId.value[3] = 1;
watt.endpoint.properties = property_policy;
std::cout << "PID: " << watt.endpoint.persistence_guid << std::endl;
mp_writer = RTPSDomain::createRTPSWriter(mp_participant, watt, mp_history, &m_listener);
if (mp_writer == nullptr)
{
return false;
}
return true;
}
bool TestWriterPersistent::reg()
{
cout << "Registering Writer" << endl;
TopicAttributes Tatt;
Tatt.topicKind = NO_KEY;
Tatt.topicDataType = "string";
Tatt.topicName = "exampleTopic";
WriterQos Wqos;
return mp_participant->registerWriter(mp_writer, Tatt, Wqos);
}
void TestWriterPersistent::run(
uint16_t samples)
{
cout << "Waiting for matched Readers" << endl;
while (m_listener.n_matched == 0)
{
std::this_thread::sleep_for(std::chrono::milliseconds(250));
}
for (int i = 0; i < samples; ++i )
{
CacheChange_t* ch = mp_writer->new_change([]() -> uint32_t
{
return 255;
}, ALIVE);
if (!ch) // In the case history is full, remove some old changes
{
std::cout << "cleaning history...";
mp_writer->remove_older_changes(20);
ch = mp_writer->new_change([]() -> uint32_t
{
return 255;
}, ALIVE);
}
#if defined(_WIN32)
ch->serializedPayload.length =
sprintf_s((char*)ch->serializedPayload.data, 255, "My example string %d", i) + 1;
#else
ch->serializedPayload.length =
sprintf((char*)ch->serializedPayload.data, "My example string %d", i) + 1;
#endif // if defined(_WIN32)
printf("Sending: %s\n", (char*)ch->serializedPayload.data);
mp_history->add_change(ch);
}
}
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