HelloWorldPublisher.java

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.

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();
    }
}