1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
|
// Copyright 2021 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 PublisherMain.cpp
*/
#include "PublisherModule.hpp"
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
using namespace eprosima::fastdds::dds;
/* ARGUMENTS
* --exit_on_lost_liveliness
* --fixed_type
* --zero_copy
* --seed <int>
* --wait <int>
* --samples <int>
* --interval <int>
* --magic <str>
* --xmlfile <path>
* --rescan <int>
*/
int main(
int argc,
char** argv)
{
int arg_count = 1;
bool exit_on_lost_liveliness = false;
bool fixed_type = false;
bool zero_copy = false;
uint32_t seed = 7800;
uint32_t wait = 0;
char* xml_file = nullptr;
uint32_t samples = 4;
uint32_t interval = 250;
uint32_t rescan_interval_seconds = 0;
std::string magic;
while (arg_count < argc)
{
if (strcmp(argv[arg_count], "--exit_on_lost_liveliness") == 0)
{
exit_on_lost_liveliness = true;
}
else if (strcmp(argv[arg_count], "--fixed_type") == 0)
{
fixed_type = true;
}
else if (strcmp(argv[arg_count], "--zero_copy") == 0)
{
zero_copy = true;
}
else if (strcmp(argv[arg_count], "--seed") == 0)
{
if (++arg_count >= argc)
{
std::cout << "--seed expects a parameter" << std::endl;
return -1;
}
seed = strtol(argv[arg_count], nullptr, 10);
}
else if (strcmp(argv[arg_count], "--wait") == 0)
{
if (++arg_count >= argc)
{
std::cout << "--wait expects a parameter" << std::endl;
return -1;
}
wait = strtol(argv[arg_count], nullptr, 10);
}
else if (strcmp(argv[arg_count], "--samples") == 0)
{
if (++arg_count >= argc)
{
std::cout << "--samples expects a parameter" << std::endl;
return -1;
}
samples = strtol(argv[arg_count], nullptr, 10);
}
else if (strcmp(argv[arg_count], "--interval") == 0)
{
if (++arg_count >= argc)
{
std::cout << "--interval expects a parameter" << std::endl;
return -1;
}
interval = strtol(argv[arg_count], nullptr, 10);
}
else if (strcmp(argv[arg_count], "--magic") == 0)
{
if (++arg_count >= argc)
{
std::cout << "--magic expects a parameter" << std::endl;
return -1;
}
magic = argv[arg_count];
}
else if (strcmp(argv[arg_count], "--xmlfile") == 0)
{
if (++arg_count >= argc)
{
std::cout << "--xmlfile expects a parameter" << std::endl;
return -1;
}
xml_file = argv[arg_count];
}
else if (strcmp(argv[arg_count], "--rescan") == 0)
{
if (++arg_count >= argc)
{
std::cout << "--rescan expects a parameter" << std::endl;
return -1;
}
rescan_interval_seconds = strtol(argv[arg_count], nullptr, 10);
}
else
{
std::cout << "Wrong argument " << argv[arg_count] << std::endl;
return -1;
}
++arg_count;
}
if (xml_file)
{
DomainParticipantFactory::get_instance()->load_XML_profiles_file(xml_file);
}
PublisherModule publisher(exit_on_lost_liveliness, fixed_type, zero_copy);
if (publisher.init(seed, magic))
{
if (wait > 0)
{
publisher.wait_discovery(wait);
}
publisher.run(samples, rescan_interval_seconds, 0, interval);
return 0;
}
return -1;
}
|
