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#include "Common/I2C_Shapes_Common.h"
#include "connectors/dds4ccm/impl/ndds/DataReader_T.h"
#include "ace/OS_NS_unistd.h"
typedef ::I2C_Shapes::DataReader TypedDataReader;
void
read (TypedDataReader::_ptr_type shapes_dr)
{
int samples_received = 0;
if (shapes_dr)
{
while (samples_received < 1000)
{
// Start to read
ShapeTypeSeq data;
::DDS::SampleInfoSeq info;
::DDS::ReturnCode_t retcode = shapes_dr->take (
data,
info,
::DDS::LENGTH_UNLIMITED,
::DDS::NOT_READ_SAMPLE_STATE,
::DDS::ANY_VIEW_STATE,
::DDS::ALIVE_INSTANCE_STATE);
samples_received += data.length ();
if (retcode == ::DDS::RETCODE_OK)
{
for (::CORBA::ULong i = 0; i < data.length (); ++i)
{
ACE_DEBUG ((LM_DEBUG, "read - "
"Received sample: x <%u> - y <%u>\n",
data[i].x,
data[i].y));
}
}
else if (retcode != ::DDS::RETCODE_NO_DATA)
{
ACE_ERROR ((LM_ERROR, "Receiver_exec_i::start_read_using_idl_proxy - "
"ERROR: Error during read\n"));
}
ACE_Time_Value tv (0, 50);
ACE_OS::sleep (tv);
}
ACE_DEBUG ((LM_DEBUG, "read - Ready\n"));
}
else
{
ACE_ERROR ((LM_ERROR, "read- ERROR: DataReader seems to be nil\n"));
}
}
int ACE_TMAIN (int , ACE_TCHAR *[])
{
int main_result = 0;
I2C_Shapes_Common common;
try
{
::DDS::Subscriber_var subscriber;
subscriber = common.create_subscriber ();
if (::CORBA::is_nil (subscriber.in ()))
{
ACE_ERROR ((LM_ERROR, "ACE_TMAIN - Subscriber seems to be nil\n"));
throw ::CORBA::INTERNAL ();
}
::DDS::Topic_var topic = common.get_topic ();
::DDS::DataReader_var dr = subscriber->create_datareader_with_profile (
topic.in (),
QOS_PROFILE,
::DDS::DataReaderListener::_nil (),
0);
TypedDataReader::_var_type shapes_dr = TypedDataReader::_narrow (dr.in ());
if (shapes_dr->enable () != DDS_RETCODE_OK)
{
ACE_ERROR ((LM_ERROR, "ACE_TMAIN - Unable to enable the datareader.\n"));
throw ::CORBA::INTERNAL ();
}
read (shapes_dr.in ());
}
catch (::CORBA::Exception &e)
{
e._tao_print_exception ("ACE_TMAIN RECEIVER");
}
catch (...)
{
ACE_ERROR ((LM_ERROR, "ACE_TMAIN RECEIVER - "
"Error: unexpected exception caught\n"));
}
return main_result;
}
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