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CycloneDDS improvements #85

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f86d7fc
Wrong use of sscanf in the C port
disganaitis Apr 30, 2026
9c701fc
Content filter topic is not fully supported in CycloneDDS
disganaitis May 8, 2026
bf47057
Allocating samples manually prevented using loans causing differing b…
disganaitis May 8, 2026
461b5cf
CycloneDDS frees instances before loan is returned, so using the last…
disganaitis May 11, 2026
e366dae
Missed break statement caused --final-instance-state d to error out
disganaitis May 11, 2026
d9a15b8
Convert some printf %lld literals to the more standard PRId64, make s…
disganaitis May 11, 2026
530a2d4
Modified CycloneDDS cmake to support proper static builds
disganaitis May 12, 2026
cee306d
find openssl for static builds
disganaitis May 12, 2026
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24 changes: 22 additions & 2 deletions srcC/cyclone-dds-cmake/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,13 +1,33 @@
cmake_minimum_required(VERSION 3.16)
project(shape LANGUAGES C)

option(BUILD_SHARED_LIBS "Build using shared libraries by default" ON)

# Find the CycloneDDS package.
if(NOT BUILD_SHARED_LIBS)
find_package(OpenSSL REQUIRED)
endif()
find_package(CycloneDDS REQUIRED)
set(EXECUTABLE_NAME "eclipse_cyclone-${CycloneDDS_VERSION}_shape_main_linux")
idlc_generate(TARGET shape_lib FILES "../shape.idl" WARNINGS no-implicit-extensibility)

if(BUILD_SHARED_LIBS)
idlc_generate(TARGET shape_lib FILES "../shape.idl" WARNINGS no-implicit-extensibility)
else()
if(NOT EXISTS ${IDLC_ROOT}/idlc)
message(FATAL_ERROR "The root directory of the idlc executable must be specified using IDLC_ROOT for static builds")
endif()
execute_process(COMMAND ${IDLC_ROOT}/idlc shape.idl
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/..
RESULT_VARIABLE idlc_rez
OUTPUT_VARIABLE idlc_var)
endif()

add_executable(${EXECUTABLE_NAME} ../shape_main.c)
if(NOT BUILD_SHARED_LIBS)
add_library(shape_lib shape.c shape.h)
target_link_libraries(shape_lib CycloneDDS::ddsc m)
endif()

target_compile_definitions(${EXECUTABLE_NAME} PUBLIC -DCYCLONE_DDS)

target_link_libraries(${EXECUTABLE_NAME} shape_lib CycloneDDS::ddsc m)
target_link_libraries(${EXECUTABLE_NAME} shape_lib CycloneDDS::ddsc m)
47 changes: 24 additions & 23 deletions srcC/shape_main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -431,15 +431,15 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
{"read-period", required_argument, NULL, 'A'},
{"final-instance-state", required_argument, NULL, 'M'},
{"access-scope", required_argument, NULL, 'C'},
{"coherent", required_argument, NULL, 'T'},
{"ordered", required_argument, NULL, 'O'},
{"coherent", no_argument, NULL, 'T'},
{"ordered", no_argument, NULL, 'O'},
{"coherent-sample-count", required_argument, NULL, 'H'},
{"additional-payload-size", required_argument, NULL, 'B'},
{"num-topics", required_argument, NULL, 'E'},
{"lifespan", required_argument, NULL, 'l'},
{"num-instances", required_argument, NULL, 'I'},
{"num-iterations", required_argument, NULL, 'n'},
{"take-read", required_argument, NULL, 'K'},
{"take-read", no_argument, NULL, 'K'},
{"time-filter", required_argument, NULL, 'i'},
{"periodic-announcement", required_argument, NULL, 'N'},
{"datafrag-size", required_argument, NULL, 'Z'},
Expand Down Expand Up @@ -518,7 +518,7 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
break;
case 'i': {
int64_t time_input = 0;
int converted_param = sscanf(optarg, "%lld", &time_input);
int converted_param = sscanf(optarg, "%" PRId64 , &time_input);
if (converted_param == 0) {
log_message(logger, ERROR, "unrecognized value for timebasedfilter_interval %s", &optarg[0]);
parse_ok = false;
Expand All @@ -531,7 +531,7 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
}
case 'f': {
int64_t time_input = 0;
int converted_param = sscanf(optarg, "%lld", &time_input);
int converted_param = sscanf(optarg, "%" PRId64 , &time_input);
if (converted_param == 0) {
log_message(logger, ERROR, "unrecognized value for deadline_interval %s", &optarg[0]);
parse_ok = false;
Expand Down Expand Up @@ -614,7 +614,7 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
}
case 'W': {
dds_duration_t converted_param = 0;
if (sscanf(optarg, "%lld", &converted_param) == 0) {
if (sscanf(optarg, "%" PRId64 , &converted_param) == 0) {
log_message(logger, ERROR, "unrecognized value for write-period %s", &optarg[0]);
parse_ok = false;
} else if (converted_param < 0) {
Expand All @@ -626,7 +626,7 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
}
case 'A': {
dds_duration_t converted_param = 0;
if (sscanf(optarg, "%lld", &converted_param) == 0) {
if (sscanf(optarg, "%" PRId64 , &converted_param) == 0) {
log_message(logger, ERROR, "unrecognized value for read-period %s", &optarg[0]);
parse_ok = false;
} else if (converted_param < 0) {
Expand All @@ -648,7 +648,7 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
}
case 'l': {
dds_duration_t converted_param = 0;
if (sscanf(optarg, "%lld", &converted_param) == 0) {
if (sscanf(optarg, "%" PRId64, &converted_param) == 0) {
log_message(logger, ERROR, "unrecognized value for lifespan %s", &optarg[0]);
parse_ok = false;
} else if (converted_param < 0) {
Expand All @@ -667,6 +667,7 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
break;
case 'd':
shape_options->dispose = true;
break;
default:
log_message(logger, ERROR, "unrecognized value for final-instance-state %s", &optarg[0]);
parse_ok = false;
Expand Down Expand Up @@ -754,7 +755,7 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
}
case 'N': {
dds_duration_t converted_param = 0;
if (sscanf(optarg, "%lld", &converted_param) == 0){
if (sscanf(optarg, "%" PRId64 , &converted_param) == 0){
log_message(logger, ERROR, "unrecognized value for periodic-announcement %s", &optarg[0]);
parse_ok = false;
} else if (converted_param < 0) {
Expand Down Expand Up @@ -816,15 +817,15 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
printf(" DataRepresentation = %d\n", shape_options->data_representation);
printf(" HistoryDepth = %d\n", shape_options->history_depth);
printf(" OwnershipStrength = %d\n",shape_options->ownership_strength);
printf(" TimeBasedFilterInterval = %u ms\n",shape_options->timebasedfilter_interval_us / 1000ll);
printf(" DeadlineInterval = %u ms\n", shape_options->deadline_interval_us / 1000ll);
printf(" TimeBasedFilterInterval = %" PRId64 " ms\n",shape_options->timebasedfilter_interval_us / INT64_C(1000));
printf(" DeadlineInterval = %" PRId64 " ms\n", shape_options->deadline_interval_us / INT64_C(1000));
printf(" Shapesize = %d\n", shape_options->shapesize);
printf(" Reading method = %s\n", (shape_options->use_read
? (shape_options->take_read_next_instance ? "read_next_instance" : "read")
: (shape_options->take_read_next_instance ? "take_next_instance" : "take")));
printf(" Write period = %u ms\n", shape_options->write_period_us / 1000ll);
printf(" Read period = %u ms\n", shape_options->read_period_us / 1000ll);
printf(" Lifespan = %u ms\n", shape_options->lifespan_us / 1000ll);
printf(" Write period = %" PRId64 " ms\n", shape_options->write_period_us / INT64_C(1000));
printf(" Read period = %" PRId64 " ms\n", shape_options->read_period_us / INT64_C(1000));
printf(" Lifespan = %" PRId64 " ms\n", shape_options->lifespan_us / INT64_C(1000));
printf(" Number of iterations = %u\n", shape_options->num_iterations);
printf(" Number of instances = %u\n", shape_options->num_instances);
printf(" Number of entities = %u\n", shape_options->num_topics);
Expand All @@ -835,7 +836,7 @@ bool parse(int argc, char *argv[], Logger* logger, ShapeOptions_t* shape_options
printf(" Additional Payload Size = %u\n", shape_options->additional_payload_size);
printf(" Final Instance State = %s\n",
(shape_options->unregister ? "Unregister" : (shape_options->dispose ? "Dispose" : "not specified")));
printf(" Periodic Announcement Period = %u ms\n", shape_options->periodic_announcement_period_us / 1000ll);
printf(" Periodic Announcement Period = %" PRId64 " ms\n", shape_options->periodic_announcement_period_us / INT64_C(1000));
printf(" Data Fragmentation Size = %u bytes\n", shape_options->datafrag_size);
if (shape_options->topic_name != NULL){
printf(" Topic = %s\n", shape_options->topic_name);
Expand Down Expand Up @@ -1331,7 +1332,7 @@ bool init_subscriber(const ShapeOptions_t* opts, ShapeApp_t* app) {
set_deadline_interval(dr_qos, opts->deadline_interval_us * 1000ll, app->logger);
set_history_depth(dr_qos, opts->history_depth, app->logger);

if (opts->cft_expression != NULL) {
if (opts->cft_expression != NULL || opts->color != NULL) {
log_message(app->logger, ERROR, "ContentFilterTopic Not Supported");
return false;
}
Expand Down Expand Up @@ -1485,7 +1486,7 @@ bool shape_init (ShapeApp_t* app, const ShapeOptions_t* opts, Logger* logger) {
}
log_message(logger, DEBUG, "Topics created:");
for (unsigned int i = 0; i < opts->num_topics; ++i) {
log_message(logger, DEBUG, " topic(%d)=%p", i, (void*)app->topics[i]);
log_message(logger, DEBUG, " topic(%d)=%u", i, app->topics[i]);
}

if (opts->publish) {
Expand Down Expand Up @@ -1517,7 +1518,7 @@ bool run_subscriber(ShapeApp_t app, ShapeOptions_t opts) {
dds_sample_info_t sample_infos[MAX_SAMPLES];
void* samples[MAX_SAMPLES];

for( size_t i = 0; i < MAX_SAMPLES; i ++) samples[i] = ShapeType__alloc();
for( size_t i = 0; i < MAX_SAMPLES; i ++) samples[i] = NULL;
if(opts.coherent_set_enabled) {
printf("Reading coherent sets, iteration %u\n", n);
}
Expand Down Expand Up @@ -1584,8 +1585,8 @@ bool run_subscriber(ShapeApp_t app, ShapeOptions_t opts) {
printf("\n");
}
if (sample_info->instance_state != DDS_IST_ALIVE) {
ShapeType shape_key;
dds_instance_get_key(app.readers[i], sample_info->instance_handle, &shape_key);
ShapeType shape_key = *sample;
//dds_instance_get_key(app.readers[i], sample_info->instance_handle, &shape_key);
if (sample_info->instance_state == DDS_IST_NOT_ALIVE_NO_WRITERS) {
dds_entity_t reader_topic = dds_get_topic(app.readers[i]);
char temp;
Expand All @@ -1606,6 +1607,7 @@ bool run_subscriber(ShapeApp_t app, ShapeOptions_t opts) {
}
}
dds_return_loan(app.readers[i], (void**)samples, MAX_SAMPLES);
samples[0] = NULL;
previous_handles[i] = sample_infos[0].instance_handle;
}
log_message(app.logger, DEBUG, "retval: %d", retval);
Expand All @@ -1622,7 +1624,6 @@ bool run_subscriber(ShapeApp_t app, ShapeOptions_t opts) {
all_done = 1;
}

for( size_t i = 0; i < MAX_SAMPLES; i ++) ShapeType_free(samples[i],DDS_FREE_ALL);
usleep(opts.read_period_us);
}

Expand Down Expand Up @@ -1710,9 +1711,9 @@ bool run_publisher(ShapeApp_t app, ShapeOptions_t opts) {
//Publish different instances with the same content (except for the color)
if (opts.num_instances > 1) {
if (strlen(opts.color) > 0 && j > 0) {
sscanf(shape.color, "%s%u", opts.color, j);
sprintf(shape.color, "%s%u", opts.color, j);
} else {
sscanf(shape.color, "%s", opts.color);
sprintf(shape.color, "%s", opts.color);
}
}
dds_return_t rc = dds_write(app.writers[i], &shape);
Expand Down
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