1+ #include < uxr/client/client.h>
2+
3+ #include < stdio.h>
4+ #include < string.h>
5+ #include < stdlib.h>
6+ #include < inttypes.h>
7+
8+ #define STREAM_HISTORY 8
9+ #define BUFFER_SIZE UXR_CONFIG_UDP_TRANSPORT_MTU* STREAM_HISTORY
10+
11+ static uxrStreamId reliable_out;
12+ static uxrStreamId reliable_in;
13+
14+ static uxrObjectId participant_id;
15+ static uxrObjectId replier_id;
16+
17+ bool isArmable = true ;
18+
19+ void on_request (
20+ uxrSession* session,
21+ uxrObjectId object_id,
22+ uint16_t request_id,
23+ SampleIdentity* sample_id,
24+ ucdrBuffer* ub,
25+ uint16_t length,
26+ void * args)
27+ {
28+ (void ) object_id;
29+ (void ) request_id;
30+ (void ) length;
31+ (void ) args;
32+
33+ bool arm;
34+ ucdr_deserialize_bool (ub,&arm);
35+
36+ if (arm){
37+ printf (" Request recieved for Arming \n "
38+ }else {
39+ printf (" Request recieved for Disarming \n "
40+ }
41+ uint8_t reply_buffer[8 ] = {
42+ 0
43+ };
44+
45+ ucdrBuffer reply_ub;
46+
47+ bool result = false ;
48+ if (isArmable){
49+ result = arm;
50+ }else {
51+ result = false ;
52+ }
53+
54+ ucdr_init_buffer (&reply_ub, reply_buffer, sizeof (reply_buffer));
55+ ucdr_serialize_bool (&reply_ub,result);
56+
57+ uxr_buffer_reply (session, reliable_out, replier_id, sample_id, reply_buffer, sizeof (reply_buffer));
58+
59+ if (result){
60+ printf (" Reply : Armed \n "
61+ }else {
62+ printf (" Reply : Disarmed \n "
63+ }
64+
65+ }
66+
67+ int main (
68+ int args,
69+ char ** argv)
70+ {
71+ if (3 > args || 0 == atoi (argv[2 ]))
72+ {
73+ printf (" usage: program [-h | --help] | ip port [armable]\n "
74+ printf (" usage: armable: 0 to set arming condition to false \n "
75+ printf (" usage: armable: 1 to set arming condition to true \n "
76+ return 0 ;
77+ }
78+
79+ char * ip = argv[1 ];
80+ char * port = argv[2 ];
81+ isArmable = (args == 4 ) ? atoi (argv[3 ]) : 1 ;
82+ uint32_t key = 0xCCCCDDDD ;
83+
84+ // Transport
85+ uxrUDPTransport transport;
86+ if (!uxr_init_udp_transport (&transport, UXR_IPv4, ip, port))
87+ {
88+ printf (" Error at init transport.\n "
89+ return 1 ;
90+ }
91+
92+ // Session
93+ uxrSession session;
94+ uxr_init_session (&session, &transport.comm , key);
95+ uxr_set_request_callback (&session, on_request, 0 );
96+ if (!uxr_create_session (&session))
97+ {
98+ printf (" Error at init session.\n "
99+ return 1 ;
100+ }
101+
102+ // Streams
103+ uint8_t output_reliable_stream_buffer[BUFFER_SIZE];
104+ reliable_out = uxr_create_output_reliable_stream (&session, output_reliable_stream_buffer, BUFFER_SIZE,
105+ STREAM_HISTORY);
106+
107+ uint8_t input_reliable_stream_buffer[BUFFER_SIZE];
108+ reliable_in = uxr_create_input_reliable_stream (&session, input_reliable_stream_buffer, BUFFER_SIZE, STREAM_HISTORY);
109+
110+ // Create entities
111+ participant_id = uxr_object_id (0x01 , UXR_PARTICIPANT_ID);
112+ uint16_t participant_req = uxr_buffer_create_participant_bin (&session,reliable_out,participant_id,0 ," ArmMotors_Server"
113+ uxrQoS_t qos = {
114+ .durability = UXR_DURABILITY_TRANSIENT_LOCAL,
115+ .reliability = UXR_RELIABILITY_RELIABLE,
116+ .history = UXR_HISTORY_KEEP_ALL,
117+ .depth = 1
118+ };
119+
120+ replier_id = uxr_object_id (0x01 , UXR_REPLIER_ID);
121+ uint16_t replier_req = uxr_buffer_create_replier_bin (&session,reliable_out,replier_id,participant_id," ArmMotorsService" " ArmMotors_Request" " ArmMotors_Response" " ArmMotorsService_Request" " ArmMotorsService_Reply"
122+
123+ // Send create entities message and wait its status
124+ uint8_t status[2 ];
125+ uint16_t requests[2 ] = {
126+ participant_req, replier_req
127+ };
128+ if (!uxr_run_session_until_all_status (&session, 1000 , requests, status, 2 ))
129+ {
130+ printf (" Error at create entities: participant: %i requester: %i\n " 0 ], status[1 ]);
131+ return 1 ;
132+ }
133+
134+ printf (" Entities Created Successfully \n "
135+
136+ // Request requests
137+ uxrDeliveryControl delivery_control = {
138+ 0
139+ };
140+ delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
141+ uint16_t read_data_req =
142+ uxr_buffer_request_data (&session, reliable_out, replier_id, reliable_in, &delivery_control);
143+ (void ) read_data_req;
144+
145+ // Read request
146+ bool connected = true ;
147+ while (connected)
148+ {
149+ connected = uxr_run_session_time (&session, 1000 );
150+ }
151+
152+ return 0 ;
153+ }
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