RTI Connext Traditional C++ API Version 7.1.0
HelloWorld_publisher.cxx

RTI Connext Publication Example

The publication example generated by rtiddsgen (see the Code Generator User's Manual for more information). The example has been modified slightly to update the sample value.

HelloWorld_publisher.cxx

/*
* (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.
*/
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include "HelloWorld.h"
#include "HelloWorldSupport.h"
#include "ndds/ndds_cpp.h"
#include "application.h"
using namespace application;
static int shutdown_participant(
DDSDomainParticipant *participant,
const char *shutdown_message,
int status);
int run_publisher_application(unsigned int domain_id, unsigned int sample_count)
{
// Start communicating in a domain, usually one participant per application
DDSDomainParticipant *participant =
DDSTheParticipantFactory->create_participant(
domain_id,
NULL /* listener */,
if (participant == NULL) {
return shutdown_participant(participant, "create_participant error", EXIT_FAILURE);
}
// A Publisher allows an application to create one or more DataWriters
DDSPublisher *publisher = participant->create_publisher(
NULL /* listener */,
if (publisher == NULL) {
return shutdown_participant(participant, "create_publisher error", EXIT_FAILURE);
}
// Register the datatype to use when creating the Topic
const char *type_name = HelloWorldTypeSupport::get_type_name();
DDS_ReturnCode_t retcode =
HelloWorldTypeSupport::register_type(participant, type_name);
if (retcode != DDS_RETCODE_OK) {
return shutdown_participant(participant, "register_type error", EXIT_FAILURE);
}
// Create a Topic with a name and a datatype
DDSTopic *topic = participant->create_topic(
"Example HelloWorld",
type_name,
NULL /* listener */,
if (topic == NULL) {
return shutdown_participant(participant, "create_topic error", EXIT_FAILURE);
}
// This DataWriter writes data on "Example HelloWorld" Topic
DDSDataWriter *untyped_writer = publisher->create_datawriter(
topic,
NULL /* listener */,
if (untyped_writer == NULL) {
return shutdown_participant(participant, "create_datawriter error", EXIT_FAILURE);
}
// Narrow casts from an untyped DataWriter to a writer of your type
HelloWorldDataWriter *typed_writer =
HelloWorldDataWriter::narrow(untyped_writer);
if (typed_writer == NULL) {
return shutdown_participant(participant, "DataWriter narrow error", EXIT_FAILURE);
}
// Create data for writing, allocating all members
HelloWorld *data = HelloWorldTypeSupport::create_data();
if (data == NULL) {
return shutdown_participant(
participant,
"HelloWorldTypeSupport::create_data error",
EXIT_FAILURE);
}
// Main loop, write data
for (unsigned int samples_written = 0;
!shutdown_requested && samples_written < sample_count;
++samples_written) {
// Modify the data to be written here
std::cout << "Writing HelloWorld, count " << samples_written
<< std::endl;
retcode = typed_writer->write(*data, DDS_HANDLE_NIL);
if (retcode != DDS_RETCODE_OK) {
std::cerr << "write error " << retcode << std::endl;
}
// Send once every second
DDS_Duration_t send_period = { 1, 0 };
NDDSUtility::sleep(send_period);
}
// Delete previously allocated HelloWorld, including all contained elements
retcode = HelloWorldTypeSupport::delete_data(data);
if (retcode != DDS_RETCODE_OK) {
std::cerr << "HelloWorldTypeSupport::delete_data error " << retcode
<< std::endl;
}
// Delete all entities (DataWriter, Topic, Publisher, DomainParticipant)
return shutdown_participant(participant, "Shutting down", EXIT_SUCCESS);
}
// Delete all entities
static int shutdown_participant(
DDSDomainParticipant *participant,
const char *shutdown_message,
int status)
{
std::cout << shutdown_message << std::endl;
if (participant != NULL) {
// Cleanup everything created by this Participant
retcode = participant->delete_contained_entities();
if (retcode != DDS_RETCODE_OK) {
std::cerr << "delete_contained_entities error " << retcode
<< std::endl;
status = EXIT_FAILURE;
}
retcode = DDSTheParticipantFactory->delete_participant(participant);
if (retcode != DDS_RETCODE_OK) {
std::cerr << "delete_participant error " << retcode << std::endl;
status = EXIT_FAILURE;
}
}
return status;
}
int main(int argc, char *argv[])
{
// Parse arguments and handle control-C
ApplicationArguments arguments;
parse_arguments(arguments, argc, argv);
if (arguments.parse_result == PARSE_RETURN_EXIT) {
return EXIT_SUCCESS;
} else if (arguments.parse_result == PARSE_RETURN_FAILURE) {
return EXIT_FAILURE;
}
setup_signal_handlers();
// Sets Connext verbosity to help debugging
int status = run_publisher_application(arguments.domain_id, arguments.sample_count);
// Releases the memory used by the participant factory. Optional at
// application exit
if (retcode != DDS_RETCODE_OK) {
std::cerr << "finalize_instance error " << retcode << std::endl;
status = EXIT_FAILURE;
}
return status;
}
<<interface>> Allows an application to set the value of the data to be published under a given DDSTop...
Definition: publication.ifcxx:494
static DDS_ReturnCode_t finalize_instance()
<<extension>> Destroys the singleton instance of this class.
<<interface>> Container for all DDSDomainEntity objects.
Definition: domain.ifcxx:191
virtual DDS_ReturnCode_t delete_contained_entities()=0
Delete all the entities that were created by means of the "create" operations on the DDSDomainPartici...
virtual DDSTopic * create_topic(const char *topic_name, const char *type_name, const DDS_TopicQos &qos, DDSTopicListener *listener, DDS_StatusMask mask)=0
Creates a DDSTopic with the desired QoS policies and attaches to it the specified DDSTopicListener.
virtual DDSPublisher * create_publisher(const DDS_PublisherQos &qos, DDSPublisherListener *listener, DDS_StatusMask mask)=0
Creates a DDSPublisher with the desired QoS policies and attaches to it the specified DDSPublisherLis...
<<interface>> A publisher is the object responsible for the actual dissemination of publications.
Definition: publication.ifcxx:299
virtual DDSDataWriter * create_datawriter(DDSTopic *topic, const DDS_DataWriterQos &qos, DDSDataWriterListener *listener, DDS_StatusMask mask)=0
Creates a DDSDataWriter that will be attached and belong to the DDSPublisher.
<<interface>> The most basic description of the data to be published and subscribed.
Definition: topic.ifcxx:257
static NDDSConfigLogger * get_instance()
Get the singleton instance of this type.
void set_verbosity(NDDS_Config_LogVerbosity verbosity)
Set the verbosity at which RTI Connext will log diagnostic information.
static void sleep(const struct DDS_Duration_t &durationIn)
Block the calling thread for the specified duration.
const struct DDS_DomainParticipantQos DDS_PARTICIPANT_QOS_DEFAULT
Special value for creating a DomainParticipant with default QoS.
#define DDSTheParticipantFactory
Can be used as an alias for the singleton factory returned by the operation DDSDomainParticipantFacto...
Definition: domain.ifcxx:1233
const struct DDS_TopicQos DDS_TOPIC_QOS_DEFAULT
Special value for creating a DDSTopic with default QoS.
const struct DDS_PublisherQos DDS_PUBLISHER_QOS_DEFAULT
Special value for creating a DDSPublisher with default QoS.
const struct DDS_DataWriterQos DDS_DATAWRITER_QOS_DEFAULT
Special value for creating DDSDataWriter with default QoS.
DDS_ReturnCode_t
Type for return codes.
Definition: infrastructure.ifc:1336
@ DDS_RETCODE_OK
Successful return.
Definition: infrastructure.ifc:1339
#define DDS_STATUS_MASK_NONE
No bits are set.
Definition: infrastructure.ifc:1410
const DDS_InstanceHandle_t DDS_HANDLE_NIL
The NIL instance handle.
Type for duration representation.
Definition: infrastructure.ifc:642