怎么做营销型网站设计,co域名网站,wordpress直达链接,做示意图的网站基于OpenDDS的应用开发#xff0c;主要分两个部分的工作#xff1a;
#xff08;1#xff09;定义自己的IDL文件#xff0c;并编译成消息数据类型通讯动态库#xff1b;
#xff08;2#xff09;分别编写pub和sub程序#xff0c;运行
具体步骤#xff0c;有以下几…基于OpenDDS的应用开发主要分两个部分的工作
1定义自己的IDL文件并编译成消息数据类型通讯动态库
2分别编写pub和sub程序运行
具体步骤有以下几个
定义idl文件如HelloMsg.ild运行脚本产生相应的消息类型符号导出头文件HelloMsgCommon_Export.h编写mwc、mpc工作台和项目文件如HelloMsg.mwc、HelloMsg.mpc编译mpc文件产生解决方案和工程如HelloMsg.sln、HelloMsgCommon.vcxproj、HelloMsgPub.vcxproj、HelloMsgSub.vcxproj编写HelloMsgPub.cpp和HelloMsgSub.cpp代码编译工程产生动态库HelloMsgCommon.dll、HelloMsgPub.exe、HelloMsgSub.exe运行发布和订阅程序查看运行结果
下面展开来看。。。
步骤一、定义HelloMsg.idl module Hello
{#pragma DCPS_DATA_TYPE Hello::HelloMsg#pragma DCPS_DATA_KEY Hello::HelloMsg msgstruct HelloMsg{string msg;};
};
步骤二、制作HelloMsg消息导出符号头文件HelloMsgCommon_Export.h
perl %ACE_ROOT%/bin/generate_export_file.pl HelloMsgCommon HelloMsgCommon_Export.h
步骤三、定义HelloMsg.mwc、HelloMsg.mpc
workspace {// the -relative and -include cmdlines make it so this workspace // does not have to be in the $DDS_ROOT directory tree.// tell MPC to substitute our DDS_ROOT environment variables for relative pathscmdline -relative DDS_ROOT$DDS_ROOT// tell the projects where to find the DDS base projects (*.mpb)cmdline -include $DDS_ROOT/MPC/config}
project(*Common) : dcps {sharedname HelloMsgCommondynamicflags HELLOMSGCOMMON_BUILD_DLLlibout .requires tao_orbsvcsrequires no_opendds_safety_profileafter Svc_Utilsincludes $(TAO_ROOT)/orbsvcsidlflags -I$(TAO_ROOT)/orbsvcs \-Wb,export_macroHelloMsgCommon_Export \-Wb,export_includeHelloMsgCommon_Export.hdcps_ts_flags -Wb,export_macroHelloMsgCommon_ExportTypeSupport_Files {HelloMsg.idl}IDL_Files {HelloMsgTypeSupport.idlHelloMsg.idl}// We only want the generated filesHeader_Files {}// We only want the generated filesSource_Files {}
}project(HelloMsgPub) : dcpsexe, dcps_tcp, svc_utils {after *Commonexename HelloMsgPubrequires tao_orbsvcsrequires no_opendds_safety_profileincludes $(TAO_ROOT)/orbsvcslibs HelloMsgCommonIDL_Files {}TypeSupport_Files {}Header_Files {}Source_Files {HelloMsgPub.cpp}Documentation_Files {dds_tcp_conf.inidds_udp_conf.ini}
}project(HelloMsgSub) : dcpsexe, dcps_tcp {after *Commonexename HelloMsgSubrequires tao_orbsvcsrequires no_opendds_safety_profileincludes $(TAO_ROOT)/orbsvcslibs HelloMsgCommonTypeSupport_Files {}IDL_Files {}Header_Files {}Source_Files {HelloMsgSub.cpp}Documentation_Files {dds_tcp_conf.inidds_udp_conf.ini}
}
步骤四产生vs2010的工程文件 perl %ACE_ROOT%/bin/mwc.pl -type vc10 HelloMsg.mwc产生HelloMsg.sln、HelloMsg_Common.vcxproj、HelloMsgPub.vcxproj和HelloMsgSub.vcxproj步骤五、编写HelloMsgPub.cpp和HelloMsgSub.cpp代码
HelloMsgPub.cpp
/****************************************************************** file: HelloMsgPub.cpp* desc: Provides a simple C hello world DDS publisher.* This publishing application will send data* to the example hello world subscribing * application (hello_sub).* ****************************************************************/
#include dds/DCPS/Service_Participant.h
#include dds/DCPS/Marked_Default_Qos.h
#include dds/DCPS/PublisherImpl.h
#include dds/DCPS/StaticIncludes.h
#include ace/streams.h
#include orbsvcs/Time_Utilities.h#include stdio.h
#include string.h
#ifdef _WIN32
#include windows.h
#else
#include unistd.h
#endif
#include HelloMsgTypeSupportImpl.h/***************************************************************** main()** Perform OpenDDS setup activities:* - create a Domain Participant* - create a Publisher* - register the StringMsg data type* - create a Topic* - create a DataWriter * Write data****************************************************************/int main(int argc, char * argv[])
{DDS::DomainParticipant * domain;DDS::Publisher * publisher;DDS::Topic * topic;DDS::DataWriter * dw;Hello::StringMsg stringMsg;DDS::ReturnCode_t retval;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 Publisher */publisher domain-create_publisher(PUBLISHER_QOS_DEFAULT, NULL, 0 );if ( publisher NULL ){printf(ERROR creating publisher.\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 NULL ){printf(ERROR creating topic.\n);return -1;}/* Create a DataWriter on the hello topic, with* default QoS settings and no listeners.*/dw publisher-create_datawriter( topic, DATAWRITER_QOS_DEFAULT, NULL, 0 );if (dw NULL){printf(ERROR creating data writer\n);return -1;}/* Initialize the data to send. The StringMsg data type* has just one string member.* Note: Alwyas initialize a string member with* allocated memory -- the destructor will free * all string members. */stringMsg.msg new char[1024];strcpy((char*)stringMsg.msg.in(), Hello World from C!);int counter 1;Hello::StringMsgDataWriter* sm_dw Hello::StringMsgDataWriter::_narrow(dw);while ( 1 ){sprintf((char*)stringMsg.msg.in(), Hello World from OpenDDS C! index%d, counter);DDS::ReturnCode_t ret sm_dw-write ( stringMsg, DDS::HANDLE_NIL ); printf(OpenDDS wrote a sample, index%d\n, counter);fflush(stdout);if ( ret ! DDS::RETCODE_OK)
{printf(ERROR writing sample\n);return -1;
}
#ifdef _WIN32Sleep(1000);
#elsesleep(1);
#endifcounter;}/* Cleanup */retval domain - delete_contained_entities();if ( retval ! DDS::RETCODE_OK )printf(ERROR (%s): Unable to cleanup DDS entities\n,DDS_error(retval));dpf-delete_participant(domain);
TheServiceParticipant-shutdown();return 0;
}
HelloMsgSub.cpp
/****************************************************************** 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);
#endifint 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* wont 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_avilalbe method will be invoked.*/while ( !all_done )SLEEP(30);/* Cleanup */retval domain - delete_contained_entities();if ( retval ! DDS::RETCODE_OK )printf(ERROR (%s): Unable to cleanup DDS entities\n,DDS_error(retval));dpf-delete_participant(domain);
TheServiceParticipant-shutdown();return 0;
}
步骤六、编译工程
打开HelloMsg.sln产生动态库HelloMsg_Common.dll.lib和发布订阅程序HelloMsgPub.exe和HelloMsgSub.exe
步骤七、运行发布订阅程序
HelloMsgPub -ORBDebugLevel 0 -DCPSDebugLevel 0 -DCPSTransportDebugLevel 0 -DCPSConfigFile ../../etc/dds_udp_conf.ini -ORBLogFile publisher.log
OpenDDS wrote a sample, index1
OpenDDS wrote a sample, index2
OpenDDS wrote a sample, index3
OpenDDS wrote a sample, index4
OpenDDS wrote a sample, index5
OpenDDS wrote a sample, index6
OpenDDS wrote a sample, index7
OpenDDS wrote a sample, index8
OpenDDS wrote a sample, index9
OpenDDS wrote a sample, index10
HelloMsgSub -ORBDebugLevel 0 -DCPSDebugLevel 0 -DCPSTransportDebugLevel 0 -DCPSConfigFile ../../etc/dds_udp_conf.ini -ORBLogFile subscriber.log OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index1]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index2]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index3]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index4]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index5]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index6]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index7]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index8]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index9]
OpenDDS received a sample, No0/1, [Hello World from OpenDDS C! index10]
