RTI Connext C++ API  Version 5.1.0
HelloWorld_publisher.cxx

RTI Connext Publication Example

The publication example generated by rtiddsgen. The example has been modified slightly to update the sample value.

HelloWorld_publisher.cxx

[$(NDDSHOME)/example/CPP/helloWorld/HelloWorld_publisher.cxx]

/* HelloWorld_publisher.cxx
A publication of data of type HelloWorld
This file is derived from code automatically generated by the rtiddsgen
command:
rtiddsgen -language C++ -example <arch> HelloWorld.idl
Example publication of type HelloWorld automatically generated by
'rtiddsgen'. To test them follow these steps:
(1) Compile this file and the example subscription.
(2) Start the subscription on the same domain used for RTI Connext with the command
objs/<arch>/HelloWorld_subscriber <domain_id> <sample_count>
(3) Start the publication on the same domain used for RTI Connext with the command
objs/<arch>/HelloWorld_publisher <domain_id> <sample_count>
(4) [Optional] Specify the list of discovery initial peers and
multicast receive addresses via an environment variable or a file
(in the current working directory) called NDDS_DISCOVERY_PEERS.
You can run any number of publishers and subscribers programs, and can
add and remove them dynamically from the domain.
Example:
To run the example application on domain <domain_id>:
On Unix:
objs/<arch>/HelloWorld_publisher <domain_id>
objs/<arch>/HelloWorld_subscriber <domain_id>
On Windows:
objs<arch>\HelloWorld_publisher <domain_id>
objs<arch>\HelloWorld_subscriber <domain_id>
modification history
------------ -------
*/
#include <stdio.h>
#include <stdlib.h>
#include "ndds/ndds_cpp.h"
#include "HelloWorld.h"
#include "HelloWorldSupport.h"
/* Delete all entities */
static int publisher_shutdown(
DDSDomainParticipant *participant)
{
int status = 0;
if (participant != NULL) {
retcode = participant->delete_contained_entities();
if (retcode != DDS_RETCODE_OK) {
printf("delete_contained_entities error %d\n", retcode);
status = -1;
}
retcode = DDSTheParticipantFactory->delete_participant(participant);
if (retcode != DDS_RETCODE_OK) {
printf("delete_participant error %d\n", retcode);
status = -1;
}
}
/* RTI Connext provides finalize_instance() method on
domain participant factory for people who want to release memory used
by the participant factory singleton. Uncomment the following block of
code for clean destruction of the singleton. */
/*
retcode = DDSDomainParticipantFactory::finalize_instance();
if (retcode != DDS_RETCODE_OK) {
printf("finalize_instance error %d\n", retcode);
status = -1;
}
*/
return status;
}
extern "C" int publisher_main(int domainId, int sample_count)
{
DDSDomainParticipant *participant = NULL;
DDSPublisher *publisher = NULL;
DDSTopic *topic = NULL;
DDSDataWriter *writer = NULL;
HelloWorldDataWriter *HelloWorld_writer = NULL;
HelloWorld *instance = NULL;
const char *type_name = NULL;
int count = 0;
struct DDS_Duration_t send_period = {4,0};
/* To customize participant QoS, use
DDSTheParticipantFactory->get_default_participant_qos()
instead */
participant = DDSTheParticipantFactory->create_participant(
NULL /* listener */, DDS_STATUS_MASK_NONE);
if (participant == NULL) {
printf("create_participant error\n");
publisher_shutdown(participant);
return -1;
}
/* To customize publisher QoS, use
participant->get_default_publisher_qos() instead */
publisher = participant->create_publisher(
if (publisher == NULL) {
printf("create_publisher error\n");
publisher_shutdown(participant);
return -1;
}
/* Register type before creating topic */
type_name = HelloWorldTypeSupport::get_type_name();
retcode = HelloWorldTypeSupport::register_type(
participant, type_name);
if (retcode != DDS_RETCODE_OK) {
printf("register_type error %d\n", retcode);
publisher_shutdown(participant);
return -1;
}
/* To customize topic QoS, use
participant->get_default_topic_qos() instead */
topic = participant->create_topic(
"Example HelloWorld",
type_name, DDS_TOPIC_QOS_DEFAULT, NULL /* listener */,
if (topic == NULL) {
printf("create_topic error\n");
publisher_shutdown(participant);
return -1;
}
/* To customize data writer QoS, use
publisher->get_default_datawriter_qos() instead */
writer = publisher->create_datawriter(
topic, DDS_DATAWRITER_QOS_DEFAULT, NULL /* listener */,
if (writer == NULL) {
printf("create_datawriter error\n");
publisher_shutdown(participant);
return -1;
}
HelloWorld_writer = HelloWorldDataWriter::narrow(writer);
if (HelloWorld_writer == NULL) {
printf("DataWriter narrow error\n");
publisher_shutdown(participant);
return -1;
}
/* Create data sample for writing */
instance = HelloWorldTypeSupport::create_data();
if (instance == NULL) {
printf("HelloWorldTypeSupport::create_data error\n");
publisher_shutdown(participant);
return -1;
}
/* For data type that has key, if the same instance is going to be
written multiple times, initialize the key here
and register the keyed instance prior to writing */
/*
instance_handle = HelloWorld_writer->register_instance(*instance);
*/
/* Main loop */
for (count=0; (sample_count == 0) || (count < sample_count); ++count) {
printf("Writing HelloWorld, count %d\n", count);
/* Modify the data to be sent here */
sprintf(instance->msg, "Hello World! (%d)", count);
retcode = HelloWorld_writer->write(*instance, instance_handle);
if (retcode != DDS_RETCODE_OK) {
printf("write error %d\n", retcode);
}
NDDSUtility::sleep(send_period);
}
/*
retcode = HelloWorld_writer->unregister_instance(
*instance, instance_handle);
if (retcode != DDS_RETCODE_OK) {
printf("unregister instance error %d\n", retcode);
}
*/
/* Delete data sample */
retcode = HelloWorldTypeSupport::delete_data(instance);
if (retcode != DDS_RETCODE_OK) {
printf("HelloWorldTypeSupport::delete_data error %d\n", retcode);
}
/* Delete all entities */
return publisher_shutdown(participant);
}
#if defined(RTI_WINCE)
int wmain(int argc, wchar_t** argv)
{
int domainId = 0;
int sample_count = 0; /* infinite loop */
if (argc >= 2) {
domainId = _wtoi(argv[1]);
}
if (argc >= 3) {
sample_count = _wtoi(argv[2]);
}
/* Uncomment this to turn on additional logging
NDDSConfigLogger::get_instance()->
set_verbosity_by_category(NDDS_CONFIG_LOG_CATEGORY_API,
NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
*/
return publisher_main(domainId, sample_count);
}
#elif !(defined(RTI_VXWORKS) && !defined(__RTP__)) && !defined(RTI_PSOS)
int main(int argc, char *argv[])
{
int domainId = 0;
int sample_count = 0; /* infinite loop */
if (argc >= 2) {
domainId = atoi(argv[1]);
}
if (argc >= 3) {
sample_count = atoi(argv[2]);
}
/* Uncomment this to turn on additional logging
NDDSConfigLogger::get_instance()->
set_verbosity_by_category(NDDS_CONFIG_LOG_CATEGORY_API,
NDDS_CONFIG_LOG_VERBOSITY_STATUS_ALL);
*/
return publisher_main(domainId, sample_count);
}
#endif

RTI Connext C++ API Version 5.1.0 Copyright © Mon Feb 3 2014 Real-Time Innovations, Inc