HelloWorldPublisher.java

RTI Connext Publication Example

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

HelloWorldPublisher.java

/*
* (c) Copyright, Real-Time Innovations, 2020.  All rights reserved.
* RTI grants Licensee a license to use, modify, compile, and create derivative
* works of the software solely for use with RTI Connext DDS. Licensee may
* redistribute copies of the software provided that all such copies are subject
* to this license. The software is provided "as is", with no warranty of any
* type, including any warranty for fitness for any purpose. RTI is under no
* obligation to maintain or support the software. RTI shall not be liable for
* any incidental or consequential damages arising out of the use or inability
* to use the software.
*/

import java.util.Objects;

import com.rti.dds.domain.DomainParticipant;
import com.rti.dds.domain.DomainParticipantFactory;
import com.rti.dds.infrastructure.InstanceHandle_t;
import com.rti.dds.infrastructure.StatusKind;
import com.rti.dds.publication.Publisher;
import com.rti.dds.topic.Topic;

public class HelloWorldPublisher extends Application implements AutoCloseable {

    // Usually one per application
    private DomainParticipant participant = null;

    private void runApplication() {
        // Start communicating in a domain
        participant = Objects.requireNonNull(
            DomainParticipantFactory.get_instance().create_participant(
                getDomainId(),
                DomainParticipantFactory.PARTICIPANT_QOS_DEFAULT,
                null, // listener
                StatusKind.STATUS_MASK_NONE));

        // A Publisher allows an application to create one or more DataWriters
        Publisher publisher = Objects.requireNonNull(
            participant.create_publisher(
                DomainParticipant.PUBLISHER_QOS_DEFAULT,
                null, // listener
                StatusKind.STATUS_MASK_NONE));

        // Register the datatype to use when creating the Topic
        String typeName = HelloWorldTypeSupport.get_type_name();
        HelloWorldTypeSupport.register_type(participant, typeName);

        // Create a Topic with a name and a datatype
        Topic topic = Objects.requireNonNull(
            participant.create_topic(
                "Example HelloWorld",
                typeName,
                DomainParticipant.TOPIC_QOS_DEFAULT,
                null, // listener
                StatusKind.STATUS_MASK_NONE));

        // This DataWriter writes data on "Example HelloWorld" Topic
        HelloWorldDataWriter writer = (HelloWorldDataWriter) Objects.requireNonNull(
            publisher.create_datawriter(
                topic,
                Publisher.DATAWRITER_QOS_DEFAULT,
                null, // listener
                StatusKind.STATUS_MASK_NONE));

        // Create data sample for writing
        HelloWorld data = new HelloWorld();

        for (int samplesWritten = 0; !isShutdownRequested()
        && samplesWritten < getMaxSampleCount(); samplesWritten++) {

            // Modify the data to be written here

            System.out.println("Writing HelloWorld, count " + samplesWritten);

            writer.write(data, InstanceHandle_t.HANDLE_NIL);
            try {
                final long sendPeriodMillis = 1000; // 1 second
                Thread.sleep(sendPeriodMillis);
            } catch (InterruptedException ix) {
                System.err.println("INTERRUPTED");
                break;
            }
        }
    }

    @Override
    public void close() {
        // Delete all entities (DataWriter, Topic, Publisher, DomainParticipant)
        if (participant != null) {
            participant.delete_contained_entities();

            DomainParticipantFactory.get_instance()
            .delete_participant(participant);
        }
    }

    public static void main(String[] args) {
        // Create example and run: Uses try-with-resources,
        // publisherApplication.close() automatically called
        try (HelloWorldPublisher publisherApplication = new HelloWorldPublisher()) {
            publisherApplication.parseArguments(args);
            publisherApplication.addShutdownHook();
            publisherApplication.runApplication();
        }

        // Releases the memory used by the participant factory. Optional at application exit.
        DomainParticipantFactory.finalize_instance();
    }
}