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CodeTester.cpp
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#include <fastrtps/Domain.h>
#include <fastrtps/rtps/RTPSDomain.h>
#include <fastrtps/publisher/Publisher.h>
#include <fastrtps/subscriber/Subscriber.h>
#include <fastrtps/participant/ParticipantListener.h>
#include <fastrtps/publisher/PublisherListener.h>
#include <fastrtps/subscriber/SubscriberListener.h>
#include <fastrtps/rtps/writer/RTPSWriter.h>
#include <fastrtps/rtps/reader/RTPSReader.h>
#include <fastrtps/rtps/reader/ReaderListener.h>
#include <fastrtps/rtps/history/WriterHistory.h>
#include <fastrtps/rtps/history/ReaderHistory.h>
#include <fastrtps/xmlparser/XMLProfileManager.h>
#include <fastrtps/xmlparser/XMLEndpointParser.h>
#include <fastrtps/transport/UDPv4TransportDescriptor.h>
#include <fastrtps/transport/TCPv4TransportDescriptor.h>
#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
#include <fastrtps/types/DynamicDataFactory.h>
#include <fastrtps/utils/IPLocator.h>
#include <fastrtps/log/Log.h>
#include <fastrtps/log/FileConsumer.h>
#include <fastrtps/subscriber/SampleInfo.h>
#include <fastrtps/TopicDataType.h>
#include <fstream>
using namespace eprosima::fastrtps;
using namespace ::rtps;
using namespace ::xmlparser;
using namespace ::security;
using namespace ::types;
using SharedMemTransportDescriptor = eprosima::fastdds::rtps::SharedMemTransportDescriptor;
class HelloWorld
{
public:
void msg(
const std::string&)
{
}
std::string msg()
{
return "";
}
};
class HelloWorldPubSubType : public TopicDataType
{
bool serialize(
void* data,
rtps::SerializedPayload_t* payload) override
{
return false;
}
bool deserialize(
rtps::SerializedPayload_t* payload,
void* data) override
{
return false;
}
std::function<uint32_t()> getSerializedSizeProvider(
void* data) override
{
return []
{
return 0;
};
}
void* createData() override
{
return nullptr;
}
void deleteData(
void* data) override
{
}
bool getKey(
void* data,
rtps::InstanceHandle_t* ihandle,
bool force_md5 = false) override
{
return false;
}
};
//PUBSUB_API_PUBLISHER_LISTENER
class PubListener : public PublisherListener
{
public:
PubListener()
{
}
~PubListener()
{
}
void onPublicationmatched(
Publisher* pub,
MatchingInfo& info)
{
//Callback implementation. This is called each time the Publisher finds a Subscriber on the network that listens to the same topic.
}
};
//!--
//PUBSUB_API_SUBSCRIBER_LISTENER
class SubListener : public SubscriberListener
{
public:
SubListener()
{
}
~SubListener()
{
}
void onNewDataMessage(
Subscriber* sub)
{
if (sub->takeNextData((void*)&sample, &sample_info))
{
if (sample_info.sampleKind == ALIVE)
{
std::cout << "New message: " << sample.msg() << std::endl;
}
}
}
HelloWorld sample; //Storage for incoming messages
SampleInfo_t sample_info; //Auxiliary structure with meta-data on the message
};
//!--
void configuration_compilation_check()
{
ParticipantAttributes participant_attr;
PublisherAttributes publisher_attr;
SubscriberAttributes subscriber_attr;
//CONF-QOS-KEY
// Publisher-Subscriber Layer configuration.
publisher_attr.topic.topicKind = WITH_KEY;
//!--
//CONF-QOS-RESOURCELIMIT-INSTANCES
// Set the subscriber to remember and store up to 3 different keys.
subscriber_attr.topic.resourceLimitsQos.max_instances = 3;
// Hold a maximum of 20 samples per key.
subscriber_attr.topic.resourceLimitsQos.max_samples_per_instance = 20;
//!--
{
//CONF-QOS-PARTITIONS
PublisherAttributes pub_11_attr;
pub_11_attr.qos.m_partition.push_back("Partition_1");
pub_11_attr.qos.m_partition.push_back("Partition_2");
PublisherAttributes pub_12_attr;
pub_12_attr.qos.m_partition.push_back("*");
PublisherAttributes pub_21_attr;
//No partitions defined for pub_21
PublisherAttributes pub_22_attr;
pub_22_attr.qos.m_partition.push_back("Partition*");
SubscriberAttributes subs_31_attr;
subs_31_attr.qos.m_partition.push_back("Partition_1");
SubscriberAttributes subs_32_attr;
subs_32_attr.qos.m_partition.push_back("Partition_2");
SubscriberAttributes subs_33_attr;
subs_33_attr.qos.m_partition.push_back("Partition_3");
SubscriberAttributes subs_34_attr;
//No partitions defined for subs_34
//!--
}
//CONF-COMMON-TRANSPORT-SETTING
//Create a descriptor for the new transport.
auto custom_transport = std::make_shared<UDPv4TransportDescriptor>();
custom_transport->sendBufferSize = 9216;
custom_transport->receiveBufferSize = 9216;
//Disable the built-in Transport Layer.
participant_attr.rtps.useBuiltinTransports = false;
//Link the Transport Layer to the Participant.
participant_attr.rtps.userTransports.push_back(custom_transport);
//!--
//CONF-UDP-TRANSPORT-SETTING
//Create a descriptor for the new transport.
auto udp_transport = std::make_shared<UDPv4TransportDescriptor>();
udp_transport->sendBufferSize = 9216;
udp_transport->receiveBufferSize = 9216;
udp_transport->non_blocking_send = true;
//Link the Transport Layer to the Participant.
participant_attr.rtps.userTransports.push_back(udp_transport);
//!--
//CONF-TCP-TRANSPORT-SETTING
//Create a descriptor for the new transport.
auto tcp_transport = std::make_shared<TCPv4TransportDescriptor>();
tcp_transport->sendBufferSize = 9216;
tcp_transport->receiveBufferSize = 9216;
tcp_transport->add_listener_port(5100);
tcp_transport->set_WAN_address("80.80.99.45");
//Link the Transport Layer to the Participant.
participant_attr.rtps.userTransports.push_back(tcp_transport);
//!--
//CONF-SHM-TRANSPORT-SETTING
// Create a descriptor for the new transport.
std::shared_ptr<SharedMemTransportDescriptor> shm_transport = std::make_shared<SharedMemTransportDescriptor>();
// Link the Transport Layer to the Participant.
participant_attr.rtps.userTransports.push_back(shm_transport);
//!--
//CONF-TCP2-TRANSPORT-SETTING
auto tcp2_transport = std::make_shared<TCPv4TransportDescriptor>();
//Disable the built-in Transport Layer.
participant_attr.rtps.useBuiltinTransports = false;
//Set initial peers.
Locator_t initial_peer_locator;
initial_peer_locator.kind = LOCATOR_KIND_TCPv4;
IPLocator::setIPv4(initial_peer_locator, "80.80.99.45");
initial_peer_locator.port = 5100;
participant_attr.rtps.builtin.initialPeersList.push_back(initial_peer_locator);
//Link the Transport Layer to the Participant.
participant_attr.rtps.userTransports.push_back(tcp2_transport);
//!--
//CONF-ALLOCATION-QOS-EXAMPLE
// Before creating a participant:
// We know we have 3 participants on the domain
participant_attr.rtps.allocation.participants =
eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(3u);
// We know we have at most 2 readers on each participant
participant_attr.rtps.allocation.readers =
eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(2u);
// We know we have at most 1 writer on each participant
participant_attr.rtps.allocation.writers =
eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(1u);
// We know the maximum size of partition data
participant_attr.rtps.allocation.data_limits.max_partitions = 256u;
// We know the maximum size of user data
participant_attr.rtps.allocation.data_limits.max_user_data = 256u;
// We know the maximum size of properties data
participant_attr.rtps.allocation.data_limits.max_properties = 512u;
// Before creating the publisher for topic 1:
// we know we will only have three matching subscribers
publisher_attr.matched_subscriber_allocation =
eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(3u);
// Before creating the publisher for topic 2:
// we know we will only have two matching subscribers
publisher_attr.matched_subscriber_allocation =
eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(2u);
// Before creating a subscriber:
// we know we will only have one matching publisher
subscriber_attr.matched_publisher_allocation =
eprosima::fastrtps::ResourceLimitedContainerConfig::fixed_size_configuration(1u);
//!--
//TYPELOOKUP_SERVICE_ENABLING
participant_attr.rtps.builtin.typelookup_config.use_client = true;
participant_attr.rtps.builtin.typelookup_config.use_server = true;
//!--
{
//CONF-TCP-TLS-SERVER
auto tls_transport = std::make_shared<TCPv4TransportDescriptor>();
using TLSOptions = TCPTransportDescriptor::TLSConfig::TLSOptions;
tls_transport->apply_security = true;
tls_transport->tls_config.password = "test";
tls_transport->tls_config.cert_chain_file = "server.pem";
tls_transport->tls_config.private_key_file = "serverkey.pem";
tls_transport->tls_config.tmp_dh_file = "dh2048.pem";
tls_transport->tls_config.add_option(TLSOptions::DEFAULT_WORKAROUNDS);
tls_transport->tls_config.add_option(TLSOptions::SINGLE_DH_USE);
tls_transport->tls_config.add_option(TLSOptions::NO_SSLV2);
//!--
}
{
//CONF-TCP-TLS-CLIENT
auto tls_transport = std::make_shared<TCPv4TransportDescriptor>();
using TLSOptions = TCPTransportDescriptor::TLSConfig::TLSOptions;
using TLSVerifyMode = TCPTransportDescriptor::TLSConfig::TLSVerifyMode;
tls_transport->apply_security = true;
tls_transport->tls_config.verify_file = "ca.pem";
tls_transport->tls_config.verify_mode = TLSVerifyMode::VERIFY_PEER;
tls_transport->tls_config.add_option(TLSOptions::DEFAULT_WORKAROUNDS);
tls_transport->tls_config.add_option(TLSOptions::SINGLE_DH_USE);
tls_transport->tls_config.add_option(TLSOptions::NO_SSLV2);
//!--
}
{
//CONF-IPLOCATOR-USAGE
Locator_t locator;
// Get & Set Physical Port
uint16_t physical_port = IPLocator::getPhysicalPort(locator);
IPLocator::setPhysicalPort(locator, 5555);
// Get & Set Logical Port
uint16_t logical_port = IPLocator::getLogicalPort(locator);
IPLocator::setLogicalPort(locator, 7400);
// Set WAN Address
IPLocator::setWan(locator, "80.88.75.55");
//!--
}
{
//CONF-METAMULTICASTLOCATOR
// This locator will open a socket to listen network messages on UDPv4 port 22222 over multicast address 239.255.0.1
eprosima::fastrtps::rtps::Locator_t locator;
IPLocator::setIPv4(locator, 239, 255, 0, 1);
locator.port = 22222;
participant_attr.rtps.builtin.metatrafficMulticastLocatorList.push_back(locator);
//!--
}
{
//CONF-METAUNICASTLOCATOR
// This locator will open a socket to listen network messages on UDPv4 port 22223 over network interface 192.168.0.1
eprosima::fastrtps::rtps::Locator_t locator;
IPLocator::setIPv4(locator, 192, 168, 0, 1);
locator.port = 22223;
participant_attr.rtps.builtin.metatrafficUnicastLocatorList.push_back(locator);
//!--
}
{
//CONF-USERMULTICASTLOCATOR
// This locator will open a socket to listen network messages on UDPv4 port 22224 over multicast address 239.255.0.1
eprosima::fastrtps::rtps::Locator_t locator;
IPLocator::setIPv4(locator, 239, 255, 0, 1);
locator.port = 22224;
participant_attr.rtps.defaultMulticastLocatorList.push_back(locator);
//!--
}
{
//CONF-USERUNICASTLOCATOR
// This locator will open a socket to listen network messages on UDPv4 port 22225 over network interface 192.168.0.1
eprosima::fastrtps::rtps::Locator_t locator;
IPLocator::setIPv4(locator, 192, 168, 0, 1);
locator.port = 22225;
participant_attr.rtps.defaultUnicastLocatorList.push_back(locator);
//!--
}
{
//CONF-INITIALPEERS
// This locator configures as initial peer the UDPv4 address 192.168.0.2:7600.
// Initial discovery network messages will send to this UDPv4 address.
eprosima::fastrtps::rtps::Locator_t locator;
IPLocator::setIPv4(locator, "192.168.0.2");
locator.port = 7600;
participant_attr.rtps.builtin.initialPeersList.push_back(locator);
//!--
}
//CONF-DISABLE-MULTICAST
// Metatraffic Multicast Locator List will be empty.
// Metatraffic Unicast Locator List will contain one locator, with null address and null port.
// Then eProsima Fast RTPS will use all network interfaces to receive network messages using a well-known port.
Locator_t default_unicast_locator;
participant_attr.rtps.builtin.metatrafficUnicastLocatorList.push_back(default_unicast_locator);
// Initial peer will be UDPv4 addresss 192.168.0.1. The port will be a well-known port.
// Initial discovery network messages will be sent to this UDPv4 address.
Locator_t initial_peer;
IPLocator::setIPv4(initial_peer, 192, 168, 0, 1);
participant_attr.rtps.builtin.initialPeersList.push_back(initial_peer);
//!--
//CONF-NON-BLOCKING-WRITE
//Create a descriptor for the new transport.
auto non_blocking_UDP_transport = std::make_shared<UDPv4TransportDescriptor>();
non_blocking_UDP_transport->non_blocking_send = false;
//Disable the built-in Transport Layer.
participant_attr.rtps.useBuiltinTransports = false;
//Link the Transport Layer to the Participant.
participant_attr.rtps.userTransports.push_back(non_blocking_UDP_transport);
//!--
//CONF-QOS-FLOWCONTROLLER
// Limit to 300kb per second.
ThroughputControllerDescriptor slowPublisherThroughputController{300000, 1000};
publisher_attr.throughputController = slowPublisherThroughputController;
//!--
//CONF_QOS_RTPS_FLOWCONTROLLER
WriterAttributes writer_attr;
writer_attr.throughputController.bytesPerPeriod = 300000; //300kb
writer_attr.throughputController.periodMillisecs = 1000; //1000ms
//CONF-QOS-PUBLISHMODE
// Allows fragmentation.
publisher_attr.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
//!--
{
//CONF_QOS_RTPS_PUBLISHMODE
WriterAttributes write_attr;
write_attr.mode = ASYNCHRONOUS_WRITER; // Allows fragmentation
//!--
}
//CONF-QOS-DISABLE-DISCOVERY
participant_attr.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::NONE;
//!--
//CONF-QOS-DISCOVERY-EDP-ATTRIBUTES
participant_attr.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = true;
participant_attr.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationWriterANDSubscriptionReader = true;
participant_attr.rtps.builtin.discovery_config.m_simpleEDP.use_PublicationReaderANDSubscriptionWriter = false;
//!--
//CONF-QOS-DISCOVERY-SERVERLIST
Locator_t server_address(LOCATOR_KIND_UDPv4, 5574);
IPLocator::setIPv4(server_address, 192, 168, 2, 65);
RemoteServerAttributes ratt;
ratt.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.41");
ratt.metatrafficUnicastLocatorList.push_back(server_address);
participant_attr.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::CLIENT;
participant_attr.rtps.builtin.discovery_config.m_DiscoveryServers.push_back(ratt);
//!--
//CONF-QOS-DISCOVERY-LEASEDURATION
participant_attr.rtps.builtin.discovery_config.leaseDuration = Duration_t(5, 0);
participant_attr.rtps.builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(2, 0);
//!--
//CONF-QOS-INCREASE-SOCKETBUFFERS
// Increase the sending buffer size
participant_attr.rtps.sendSocketBufferSize = 1048576;
// Increase the receiving buffer size
participant_attr.rtps.listenSocketBufferSize = 4194304;
//!--
//CONF-TRANSPORT-DESCRIPTORS
UDPv4TransportDescriptor descriptor;
descriptor.interfaceWhiteList.emplace_back("127.0.0.1");
//!--
//CONF_QOS_STATIC_DISCOVERY_CODE
participant_attr.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = false;
participant_attr.rtps.builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
//!--
//CONF_QOS_STATIC_DISCOVERY_XML
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://RemotePublisher.xml");
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://RemoteSubscriber.xml");
//!--
{
//CONF_QOS_STATIC_DISCOVERY_USERID
SubscriberAttributes sub_attr;
sub_attr.setUserDefinedID(3);
PublisherAttributes pub_attr;
pub_attr.setUserDefinedID(5);
//!--
}
//CONF_QOS_TUNING_RELIABLE_PUBLISHER
publisher_attr.times.heartbeatPeriod.seconds = 0;
publisher_attr.times.heartbeatPeriod.nanosec = 500000000; //500 ms
//!--
//CONF_QOS_TUNING_RELIABLE_WRITER
writer_attr.times.heartbeatPeriod.seconds = 0;
writer_attr.times.heartbeatPeriod.nanosec = 500000000; //500 ms
//!--
//CONF_INITIAL_PEERS_BASIC
Locator_t initial_peers_locator;
IPLocator::setIPv4(initial_peers_locator, "192.168.10.13");
initial_peers_locator.port = 7412;
participant_attr.rtps.builtin.initialPeersList.push_back(initial_peers_locator);
//!--
//CONF_INITIAL_PEERS_METAUNICAST
Locator_t meta_unicast_locator;
IPLocator::setIPv4(meta_unicast_locator, "192.168.10.13");
meta_unicast_locator.port = 7412;
participant_attr.rtps.builtin.metatrafficUnicastLocatorList.push_back(meta_unicast_locator);
//!--
//CONF_DS_MAIN_SCENARIO_SERVER
Locator_t server_locator;
IPLocator::setIPv4(server_locator, "192.168.10.57");
server_locator.port = 56542;
participant_attr.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SERVER;
participant_attr.rtps.ReadguidPrefix("72.61.73.70.66.61.72.6d.74.65.73.74");
participant_attr.rtps.builtin.metatrafficUnicastLocatorList.push_back(server_locator);
participant_attr.rtps.builtin.discovery_config.discoveryServer_client_syncperiod = Duration_t(0, 250000000);
//!--
//CONF_DS_MAIN_SCENARIO_CLIENT
Locator_t remote_server_locator;
IPLocator::setIPv4(remote_server_locator, "192.168.10.57");
remote_server_locator.port = 56542;
RemoteServerAttributes remote_server_attr;
remote_server_attr.ReadguidPrefix("72.61.73.70.66.61.72.6d.74.65.73.74");
remote_server_attr.metatrafficUnicastLocatorList.push_back(remote_server_locator);
participant_attr.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::CLIENT;
participant_attr.rtps.builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr);
//!--
{
//CONF_DS_REDUNDANCY_SCENARIO_SERVER
Locator_t server_locator_1, server_locator_2;
IPLocator::setIPv4(server_locator_1, "192.168.10.57");
server_locator_1.port = 56542;
IPLocator::setIPv4(server_locator_2, "192.168.10.60");
server_locator_2.port = 56543;
ParticipantAttributes participant_attr_1, participant_attr_2;
participant_attr_1.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SERVER;
participant_attr_1.rtps.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.31");
participant_attr_1.rtps.builtin.metatrafficUnicastLocatorList.push_back(server_locator_1);
participant_attr_2.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SERVER;
participant_attr_2.rtps.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.32");
participant_attr_2.rtps.builtin.metatrafficUnicastLocatorList.push_back(server_locator_2);
//!--
}
{
//CONF_DS_REDUNDANCY_SCENARIO_CLIENT
Locator_t remote_server_locator_1, remote_server_locator_2;
IPLocator::setIPv4(remote_server_locator_1, "192.168.10.57");
remote_server_locator.port = 56542;
IPLocator::setIPv4(remote_server_locator_2, "192.168.10.60");
server_locator.port = 56543;
RemoteServerAttributes remote_server_attr_1, remote_server_attr_2;
remote_server_attr_1.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.31");
remote_server_attr_1.metatrafficUnicastLocatorList.push_back(remote_server_locator_1);
remote_server_attr_2.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.32");
remote_server_attr_2.metatrafficUnicastLocatorList.push_back(remote_server_locator_2);
participant_attr.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::CLIENT;
participant_attr.rtps.builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr_1);
participant_attr.rtps.builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr_2);
//!--
}
{
//CONF_DS_PARTITION_2
Locator_t server_locator, remote_server_locator;
IPLocator::setIPv4(server_locator, "192.168.10.60");
server_locator.port = 56543;
IPLocator::setIPv4(remote_server_locator, "192.168.10.57");
remote_server_locator.port = 56542;
RemoteServerAttributes remote_server_attr;
remote_server_attr.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.32");
remote_server_attr.metatrafficUnicastLocatorList.push_back(remote_server_locator);
participant_attr.rtps.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.31");
participant_attr.rtps.builtin.metatrafficUnicastLocatorList.push_back(server_locator);
participant_attr.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SERVER;
participant_attr.rtps.builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr);
//!--
}
{
//CONF_DS_PARTITION_3
Locator_t server_locator, remote_server_locator_A, remote_server_locator_B;
IPLocator::setIPv4(server_locator, "192.168.10.54");
server_locator.port = 56541;
IPLocator::setIPv4(remote_server_locator_A, "192.168.10.60");
remote_server_locator_A.port = 56543;
IPLocator::setIPv4(remote_server_locator_B, "192.168.10.57");
remote_server_locator_B.port = 56542;
RemoteServerAttributes remote_server_attr_A, remote_server_attr_B;
remote_server_attr_A.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.31");
remote_server_attr_A.metatrafficUnicastLocatorList.push_back(remote_server_locator_A);
remote_server_attr_B.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.32");
remote_server_attr_B.metatrafficUnicastLocatorList.push_back(remote_server_locator_B);
participant_attr.rtps.ReadguidPrefix("75.63.2D.73.76.72.63.6C.6E.74.2D.33");
participant_attr.rtps.builtin.metatrafficUnicastLocatorList.push_back(server_locator);
participant_attr.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SERVER;
participant_attr.rtps.builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr_A);
participant_attr.rtps.builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_attr_B);
//!--
}
{
//STATIC_DISCOVERY_USE_CASE_PUB
// Participant attributes
participant_attr.rtps.setName("HelloWorldPublisher");
participant_attr.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = false;
participant_attr.rtps.builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://HelloWorldSubscriber.xml");
// Publisher attributes
publisher_attr.topic.topicName = "HelloWorldTopic";
publisher_attr.topic.topicDataType = "HelloWorld";
publisher_attr.setUserDefinedID(1);
publisher_attr.setEntityID(2);
//!--
}
{
//STATIC_DISCOVERY_USE_CASE_SUB
// Participant attributes
participant_attr.rtps.setName("HelloWorldSubscriber");
participant_attr.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = false;
participant_attr.rtps.builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://HelloWorldPublisher.xml");
// Subscriber attributes
subscriber_attr.topic.topicName = "HelloWorldTopic";
subscriber_attr.topic.topicDataType = "HelloWorld";
subscriber_attr.setUserDefinedID(3);
subscriber_attr.setEntityID(4);
//!--
}
//CONF-DISCOVERY-PROTOCOL
participant_attr.rtps.builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SIMPLE;
//!--
//CONF-DISCOVERY-IGNORE-FLAGS
participant_attr.rtps.builtin.discovery_config.ignoreParticipantFlags =
static_cast<ParticipantFilteringFlags_t>(
ParticipantFilteringFlags_t::FILTER_DIFFERENT_PROCESS |
ParticipantFilteringFlags_t::FILTER_SAME_PROCESS);
//!--
//CONF-DISCOVERY-LEASE-DURATION
participant_attr.rtps.builtin.discovery_config.leaseDuration = Duration_t(10, 20);
//!--
//CONF-DISCOVERY-LEASE-ANNOUNCEMENT
participant_attr.rtps.builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(1, 2);
//!--
//DISCOVERY-CONFIG-INITIAL-ANNOUNCEMENT
participant_attr.rtps.builtin.discovery_config.initial_announcements.count = 5;
participant_attr.rtps.builtin.discovery_config.initial_announcements.period = Duration_t(0, 100000000u);
//!--
//CONF_STATIC_DISCOVERY_CODE
participant_attr.rtps.builtin.discovery_config.use_SIMPLE_EndpointDiscoveryProtocol = false;
participant_attr.rtps.builtin.discovery_config.use_STATIC_EndpointDiscoveryProtocol = true;
//!--
//CONF_STATIC_DISCOVERY_XML_FILE
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://RemotePublisher.xml");
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("file://RemoteSubscriber.xml");
//!--
//CONF_STATIC_DISCOVERY_XML_DATA
participant_attr.rtps.builtin.discovery_config.static_edp_xml_config("data://<?xml version=\"1.0\" encoding=\"utf-8\"?>" \
"<staticdiscovery><participant><name>RTPSParticipant</name></participant></staticdiscovery>");
//!--
{
//CONF_QOS_STATIC_DISCOVERY_USERID
SubscriberAttributes sub_attr;
sub_attr.setUserDefinedID(3);
PublisherAttributes pub_attr;
pub_attr.setUserDefinedID(5);
//!--
}
//CONF_SERVER_PREFIX_EXAMPLE
participant_attr.rtps.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.41");
//!--
{
//CONF_SERVER_DISCOVERY_PROTOCOL
DiscoverySettings& ds = participant_attr.rtps.builtin.discovery_config;
ds.discoveryProtocol = DiscoveryProtocol_t::CLIENT;
ds.discoveryProtocol = DiscoveryProtocol_t::SUPER_CLIENT;
ds.discoveryProtocol = DiscoveryProtocol_t::SERVER;
ds.discoveryProtocol = DiscoveryProtocol_t::BACKUP;
//!--
}
{
//CONF_SERVER_CLIENT_GUIDPREFIX
RemoteServerAttributes server;
server.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.41");
DiscoverySettings& ds = participant_attr.rtps.builtin.discovery_config;
ds.m_DiscoveryServers.push_back(server);
//!--
}
{
//CONF_SERVER_SERVER_GUIDPREFIX
participant_attr.rtps.ReadguidPrefix("44.53.00.5f.45.50.52.4f.53.49.4d.41");
//!--
}
{
//CONF_SERVER_CLIENT_LOCATORS
eprosima::fastrtps::rtps::Locator_t locator;
IPLocator::setIPv4(locator, 192, 168, 1, 133);
locator.port = 64863;
RemoteServerAttributes server;
server.metatrafficUnicastLocatorList.push_back(locator);
DiscoverySettings& ds = participant_attr.rtps.builtin.discovery_config;
ds.m_DiscoveryServers.push_back(server);
//!--
}
{
//CONF_SERVER_SERVER_LOCATORS
eprosima::fastrtps::rtps::Locator_t locator;
IPLocator::setIPv4(locator, 192, 168, 1, 133);
locator.port = 64863;
LocatorList_t& ull = participant_attr.rtps.builtin.metatrafficUnicastLocatorList;
ull.push_back(locator);
//!--
}
{
//CONF_SERVER_CLIENT_PING
DiscoverySettings& ds = participant_attr.rtps.builtin.discovery_config;
ds.discoveryServer_client_syncperiod = Duration_t(0, 250000000);
//!--
}
}
//API-DISCOVERY-TOPICS-LISTENER
class CustomParticipantListener : public eprosima::fastrtps::ParticipantListener
{
/* Custom Listener onSubscriberDiscovery */
void onSubscriberDiscovery(
eprosima::fastrtps::Participant* participant,
eprosima::fastrtps::rtps::ReaderDiscoveryInfo&& info) override
{
(void)participant;
switch (info.status){
case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER:
/* Process the case when a new subscriber was found in the domain */
std::cout << "New subscriber for topic '" << info.info.topicName() << "' of type '" <<
info.info.typeName() << "' discovered";
break;
case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER:
/* Process the case when a subscriber changed its QOS */
break;
case eprosima::fastrtps::rtps::ReaderDiscoveryInfo::REMOVED_READER:
/* Process the case when a subscriber was removed from the domain */
std::cout << "Subscriber for topic '" << info.info.topicName() << "' of type '" <<
info.info.typeName() <<
"' left the domain.";
break;
}
}
/* Custom Listener onPublisherDiscovery */
void onPublisherDiscovery(
eprosima::fastrtps::Participant* participant,
eprosima::fastrtps::rtps::WriterDiscoveryInfo&& info) override
{
(void)participant;
switch (info.status){
case eprosima::fastrtps::rtps::WriterDiscoveryInfo ::DISCOVERED_WRITER:
/* Process the case when a new publisher was found in the domain */
std::cout << "New publisher for topic '" << info.info.topicName() << "' of type '" <<
info.info.typeName() <<
"' discovered";
break;
case eprosima::fastrtps::rtps::WriterDiscoveryInfo ::CHANGED_QOS_WRITER:
/* Process the case when a publisher changed its QOS */
break;
case eprosima::fastrtps::rtps::WriterDiscoveryInfo ::REMOVED_WRITER:
/* Process the case when a publisher was removed from the domain */
std::cout << "publisher for topic '" << info.info.topicName() << "' of type '" <<
info.info.typeName() <<
"' left the domain.";
break;
}
}
};
//!--
//RTPS_API_READER_LISTENER
class MyReaderListener : public ReaderListener
{
public:
MyReaderListener()
{
}
~MyReaderListener()
{
}
void onNewCacheChangeAdded(
RTPSReader* reader,
const CacheChange_t* const change)
{
// The incoming message is enclosed within the `change` in the function parameters
printf("%s\n", change->serializedPayload.data);
// Once done, remove the change
reader->getHistory()->remove_change((CacheChange_t*)change);
}
};
//!--
void rtps_api_example_create_entities()
{
//RTPS_API_CREATE_PARTICIPANT
RTPSParticipantAttributes participant_attr;
participant_attr.setName("participant");
RTPSParticipant* participant = RTPSDomain::createParticipant(0, participant_attr);
//!--
{
//RTPS_API_CONF_PARTICIPANT
RTPSParticipantAttributes participant_attr;
participant_attr.setName("my_participant");
//etc.
//!--
}
//RTPS_API_WRITER_CONF_HISTORY
HistoryAttributes history_attr;
WriterHistory* history = new WriterHistory(history_attr);
WriterAttributes writer_attr;
RTPSWriter* writer = RTPSDomain::createRTPSWriter(participant, writer_attr, history);
//!--
{
//RTPS_API_READER_CONF_HISTORY
class MyReaderListener : public ReaderListener
{
// Callbacks override
};
MyReaderListener listener;
HistoryAttributes history_attr;
ReaderHistory* history = new ReaderHistory(history_attr);
ReaderAttributes reader_attr;
RTPSReader* reader = RTPSDomain::createRTPSReader(participant, reader_attr, history, &listener);
//!--
}
//RTPS_API_WRITE_SAMPLE
//Request a change from the writer
CacheChange_t* change = writer->new_change([]() -> uint32_t
{
return 255;
}, ALIVE);
//Write serialized data into the change
change->serializedPayload.length = sprintf((char*) change->serializedPayload.data, "My example string %d", 2) + 1;
//Insert change into the history. The Writer takes care of the rest.
history->add_change(change);
//!--
}
void rtps_api_example_create_entities_with_custom_pool()
{
RTPSParticipantAttributes participant_attr;
participant_attr.setName("participant");
RTPSParticipant* participant = RTPSDomain::createParticipant(0, participant_attr);
//RTPS_API_ENTITY_CREATE_WITH_PAYLOAD_POOL
// A simple payload pool that reserves and frees memory each time
class CustomPayloadPool : public IPayloadPool
{
bool get_payload(
uint32_t size,
CacheChange_t& cache_change) override
{
// Reserve new memory for the payload buffer
octet* payload = new octet[size];
// Assign the payload buffer to the CacheChange and update sizes
cache_change.serializedPayload.data = payload;
cache_change.serializedPayload.length = size;
cache_change.serializedPayload.max_size = size;
// Tell the CacheChange who needs to release its payload
cache_change.payload_owner(this);
return true;
}
bool get_payload(
SerializedPayload_t& data,
IPayloadPool*& /* data_owner */,
CacheChange_t& cache_change) override
{
// Reserve new memory for the payload buffer
octet* payload = new octet[data.length];
// Copy the data
memcpy(payload, data.data, data.length);
// Assign the payload buffer to the CacheChange and update sizes
cache_change.serializedPayload.data = payload;
cache_change.serializedPayload.length = data.length;
cache_change.serializedPayload.max_size = data.length;
// Tell the CacheChange who needs to release its payload
cache_change.payload_owner(this);
return true;
}
bool release_payload(
CacheChange_t& cache_change) override
{
// Ensure precondition
assert(this == cache_change.payload_owner());
// Dealloc the buffer of the payload
delete[] cache_change.serializedPayload.data;
// Reset sizes and pointers
cache_change.serializedPayload.data = nullptr;
cache_change.serializedPayload.length = 0;
cache_change.serializedPayload.max_size = 0;
// Reset the owner of the payload
cache_change.payload_owner(nullptr);
return true;
}
};
std::shared_ptr<CustomPayloadPool> payload_pool = std::make_shared<CustomPayloadPool>();
// A writer using the custom payload pool
HistoryAttributes writer_history_attr;
WriterHistory* writer_history = new WriterHistory(writer_history_attr);
WriterAttributes writer_attr;
RTPSWriter* writer = RTPSDomain::createRTPSWriter(participant, writer_attr, payload_pool, writer_history);