If any of the following are true, you must change the Participant QoS to enable monitoring and explicitly load the correct version of Monitoring Library at compile time:
There are two ways to do this:
#include "ndds/ndds_cpp.h" #include "monitor/monitor_common.h" extern "C" int publisher_main(int domainId, int sample_count) { ... DDSDomainParticipant *participant = NULL; DDS_DomainParticipantQos participant_qos; /* Get default QoS */ retcode = DDSTheParticipantFactory->get_default_participant_qos( participant_qos); if (retcode != DDS_RETCODE_OK) { /*Error*/ } /* This property indicates that the DomainParticipant has monitoring turned on. The property name MUST be "rti.monitor.library". The value can be anything.*/ retcode = DDSPropertyQosPolicyHelper::add_property( participant_qos.property, "rti.monitor.library", "rtimonitoring", DDS_BOOLEAN_FALSE); if (retcode != DDS_RETCODE_OK) { /*Error*/ } /* The property name "rti.monitor.create_function" indicates the entry point for the monitoring library. The value MUST be the value of the function pointer of RTIDefaultMonitor_create */ retcode = DDSPropertyQosPolicyHelper::add_pointer_property( participant_qos.property, "rti.monitor.create_function_ptr", (void *) RTIDefaultMonitor_create); if (retcode!= DDS_RETCODE_OK) { /* Error */ } /* Create DomainParticipant with participant_qos */ participant = DDSTheParticipantFactory->create_participant( domainId, participant_qos,NULL /* listener */, DDS_STATUS_MASK_NONE); if (participant == NULL) { /* Error */ } ...
#include "rti/rti.hpp" // include all the modern C++ API #include "monitor/monitor_common.h" // for RTIDefaultMonitor_create //... using rti::core::policy::Property; // Get property policy from default DomainParticipantQos auto participant_qos = dds::core::QosProvider::Default().participant_qos(); auto property_policy = participant_qos.policy<Property>(); // This property turns monitoring on property_policy.set(Property::Entry("rti.monitor.library", "rtimonitoring")); // This property specifies the entry point (function // pointer) for the monitoring library. std::ostringstream monitor_function_to_str; monitor_function_to_str << reinterpret_cast<void*>(RTIDefaultMonitor_create); property_policy.set(Property::Entry( "rti.monitor.create_function_ptr", monitor_function_to_str.str())); participant_qos << property_policy; // Create a DomainParticipant with Qos dds::domain::DomainParticipant participant(0, participant_qos); ...
#include "ndds/ndds_c.h" #include "monitor/monitor_common.h" ... extern "C" int publisher_main(int domainId, int sample_count) { DDS_DomainParticipantFactory *factory = NULL; struct DDS_DomainParticipantQos participantQos = DDS_DomainParticipantQos_INITIALIZER; DDS_DomainParticipant *participant = NULL; factory = DDS_DomainParticipantFactory_get_instance(); if (factory == NULL) { /* error */ } if (DDS_DomainParticipantFactory_get_default_participant_qos( factory, &participantQos) != DDS_RETCODE_OK) { /* error */ } /* This property indicates that the DomainParticipant has monitoring turned on. The property name MUST be “rti.monitor.library”. The value can be anything.*/ if (DDS_PropertyQosPolicyHelper_add_property( &participantQos.property,
"rti.monitor.library", "rtimonitoring",
DDS_BOOLEAN_FALSE) != DDS_RETCODE_OK) { /* error */ } /* The property name "rti.monitor.create_function_ptr" indicates the entry point for the monitoring library. The value MUST be the value of the function pointer of RTIDefaultMonitor_create */ if (DDS_PropertyQosPolicyHelper_add_pointer_property( &participantQos.property, "rti.monitor.create_function_ptr",RTIDefaultMonitor_create) != DDS_RETCODE_OK) { /* error */ } /* create DomainParticipant with participantQos */ participant= DDS_DomainParticipantFactory_create_participant( factory, domainId, &participantQos,
NULL /* listener */, DDS_STATUS_MASK_NONE); if (participant == NULL) { /* error */ } DDS_DomainParticipantQos_finalize(&participantQos); ...
Note:
(2 * 8 characters) + 1 null-termination character = 17 characters
The kind of monitoring library that you link into your application at compile time must be consistent with the kind of Connext DDS libraries that you are linking into your application (static/dynamic, release/debug version of the libraries).
This is similar to Method 2-A, but if you specify the function pointer value for rti.monitor.create_function_ptr in an environment variable that is set programmatically, you can specify your QoS either in an XML file or in source code. If you specify the QoS in an XML file, you can enable/disable monitoring without recompiling. If you change the QoS in your source code, you may need to recompile every time you enable/disable monitoring.
<participant_qos> <property> <value> <element> <name>rti.monitor.library</name> <value>rtimonitoring</value> </element> <element> <name>rti.monitor.create_function_ptr</name> <value>$(RTIMONITORFUNCPTR)</value> </element> </value> </property> </participant_qos>
#include <stdio.h> #include <stdlib.h> #include "monitor/monitor_common.h" ... char putenvBuffer[34]; int putenvReturn; putenvBuffer[0] = '\0'; sprintf(putenvBuffer, "RTIMONITORFUNCPTR=%p",
RTIDefaultMonitor_create); putenvReturn = putenv(putenvBuffer); if (putenvReturn) { printf(
"Error: couldn't set env variable for RTIMONITORFUNCPTR. " "error code: %d\n", putenvReturn ); } ... /* create DomainParticipant using XML profile from Step 1 */ ...
Note: In the above code, you may notice that putenvBuffer is initialized to 34 characters. This is because a pointer (RTIDefaultMonitor_create) is at most 8 bytes (on a 64-bit system) and it takes 2 characters to represent a byte in hex. So the total size must be: strlen(RTIMONITORFUNCPTR) + (2 * 8 characters) + 1 null-termination character = 17 + 16 + 1 = 34 characters
The kind of monitoring library that you link into your application at compile time must be consistent with the kind of Connext DDS libraries that you are linking into your application (static/dynamic, release/debug version of the libraries).
On Windows systems: If you are linking a static monitoring library, you will also need to link in Psapi.lib at compile time.
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