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Request-Reply Examples

Examples on how to use the request-reply API. More...

Examples on how to use the request-reply API.

Request-Reply code examples.

Request-Reply Examples

DDS Types

RTI Connext uses DDS data types for sending and receiving requests and replies. Valid types are those generated by the rtiddsgen code generator, the DDS built-in types, and DynamicData. Refer to the User's Manual and the following links for more information:

Set up

Requester: sending requests and receiving replies

Replier: receiving requests and sending replies

Error handling

Requester Creation

Creating a Requester with optional parameters

Basic Requester example

Taking loaned samples

Taking samples by copy

Correlating requests and replies

Basic Requester example using SampleRef

This example is similar to Basic Requester example except it uses a SampleRef instance instead of a Sample instance.

Creating a Replier

Basic Replier example

SimpleReplier example

Error handling example

Configuring Request-Reply QoS profiles

If you do not specify your own QoS parameters (in connext::RequesterParams and connext::ReplierParams), a connext::Requester and connext::Replier are created using a default configuration. That configuration is equivalent to the one in the following QoS profile called "default":

<?xml version="1.0"?>
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="../../../resource/schema/rti_dds_qos_profiles.xsd"
version="5.3.0">
<qos_library name="RequestReplyExampleProfiles">
<!-- Default QoS:
This profile contains the QoS that Requesters and Repliers
would use by default. We can use it as a base profile to inherit
from and override some parameters
-->
<qos_profile name="default">
<datawriter_qos>
<!-- Strict reliable -->
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>10</sec>
<nanosec>0</nanosec>
</max_blocking_time>
</reliability>
<history>
<kind>KEEP_ALL_HISTORY_QOS</kind>
</history>
<!-- These are typical protocol parameters for a reliable
DataWriter -->
<protocol>
<rtps_reliable_writer>
<max_heartbeat_retries>
LENGTH_UNLIMITED
</max_heartbeat_retries>
<heartbeats_per_max_samples>
2
</heartbeats_per_max_samples>
<heartbeat_period>
<sec>0</sec>
<nanosec>100000000</nanosec> <!--100ms -->
</heartbeat_period>
<fast_heartbeat_period>
<sec>0</sec>
<nanosec>10000000</nanosec> <!--10ms -->
</fast_heartbeat_period>
<late_joiner_heartbeat_period>
<sec>0</sec>
<nanosec>10000000</nanosec> <!--10ms -->
</late_joiner_heartbeat_period>
<max_nack_response_delay>
<sec>0</sec>
<nanosec>0</nanosec>
</max_nack_response_delay>
<min_nack_response_delay>
<sec>0</sec>
<nanosec>0</nanosec>
</min_nack_response_delay>
<max_send_window_size>32</max_send_window_size>
<min_send_window_size>32</min_send_window_size>
</rtps_reliable_writer>
</protocol>
<writer_resource_limits>
<!-- This setting enables efficient communication
between a replier and an arbitrary number of requesters
-->
<max_remote_reader_filters>
LENGTH_UNLIMITED
</max_remote_reader_filters>
</writer_resource_limits>
</datawriter_qos>
<datareader_qos>
<!-- Strict reliable -->
<reliability>
<kind>RELIABLE_RELIABILITY_QOS</kind>
<max_blocking_time>
<sec>10</sec>
<nanosec>0</nanosec>
</max_blocking_time>
</reliability>
<history>
<kind>KEEP_ALL_HISTORY_QOS</kind>
</history>
<!-- These are typical protocol parameters for a reliable
DataReader -->
<protocol>
<rtps_reliable_reader>
<max_heartbeat_response_delay>
<sec>0</sec>
<nanosec>0</nanosec>
</max_heartbeat_response_delay>
<min_heartbeat_response_delay>
<sec>0</sec>
<nanosec>0</nanosec>
</min_heartbeat_response_delay>
</rtps_reliable_reader>
</protocol>
</datareader_qos>
</qos_profile>
<!-- This is the profile used by the Requester.
It inherits from "default", defined above,
and overrides some QoS -->
<qos_profile name="RequesterExampleProfile"
base_name="default">
<!-- QoS for the data writer that sends requests -->
<datawriter_qos>
<durability>
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
</durability>
</datawriter_qos>
<!-- QoS for the data reader that receives replies -->
<datareader_qos>
<durability>
<kind>VOLATILE_DURABILITY_QOS</kind>
</durability>
</datareader_qos>
</qos_profile>
<!-- This is the profile used by the Replier.
It inherits from "default", defined above,
and overrides some QoS -->
<qos_profile name="ReplierExampleProfile"
base_name="default">
<!-- QoS for the data writer that sends replies -->
<datawriter_qos>
<durability>
<kind>VOLATILE_DURABILITY_QOS</kind>
</durability>
</datawriter_qos>
<!-- QoS for the data reader that receives requests -->
<datareader_qos>
<durability>
<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
</durability>
</datareader_qos>
</qos_profile>
</qos_library>
</dds>

You can use the profile called "RequesterExampleProfile", which modifies some parameters from the default. The example Creating a Requester with optional parameters shows how to create a connext::Requester using this profile.

See Also
Creating a Requester with optional parameters
Configuring QoS Profiles with XML

RTI Connext Traditional C++ API Version 5.3.0 Copyright © Sun Jun 25 2017 Real-Time Innovations, Inc