Software Component : Example

This repo uses the common data model, interfaces, build system, and component launcher provided by the standalone databus project repo.

It's primary purpose to exercise and illustrate how to build components (i.e. applications) for various RTI Connext SDKs using a single CMakeLists.txt file.

• RTI Connext DDS Professional (pro)
• RTI Connext DDS Micro (micro)

The example consists of the following applications

• pro_publisher : publishes dummy data to the Camera topic using pro
• micro_subscriber : subscribes to the Camera topic using micro

Assumptions

• $DATABUSHOME refers to the location of the databus project repository

Files Overview

The files in this repo are modified example files, generated using the rtiddsgen utility for the datatype dds::sensing::Camera, defined in $DATABUSHOME/res/types/data/sensing/Camera_t.idl.

Applications

pro_publisher.cxx:

• the C++ publisher example generated by RTI Connext DDS Professional's rtiddsgen
• the generated example has been modified to use the constants defined in $DATABUSHOME/res/types/services/Drive_t.idl for the Camera type and topic.

micro_subscriber.c:

• the C subscriber example generated by RTI Connext DDS Micro's rtiddsgen
• the generated example has been modified to use the constants defined in $DATABUSHOME/res/types/services/Drive_t.idl for the Camera type and topic.

Building the Applications

This repo uses the common build system provided by the databus project repo located at $DATABUSHOME.

Generate the build system for an RTI Connext SDK

From this git repo's top-level directory:

• To generate the build system for RTI Connext DDS Professional, e.g.

  $DATABUSHOME/bin/build-gen.sh pro x64Linux4gcc7.3.0 Debug
  

• To generate the build system for RTI Connext DDS Micro, e.g.

  $DATABUSHOME/bin/build-gen.sh micro x64Linux4gcc7.3.0 Release
  

This step creates a build/ directory in the project top-level directory. The build/ directory contains a shell script to build for the specified target platform and build kind.

For more details, please refer to the documentation on the common build system located at $DATABUSHOME/doc/Build.md.

Building this repo using the generated build system

From this git repo's top-level directory, run the generated build script to build the datatypes:

• To build for RTI Connext DDS Professional, e.g.:

  ./build/pro-x64Linux4gcc7.3.0-Debug.sh
  

• To build for RTI Connext DDS Micro, e.g.:

  ./build/micro-x64Linux4gcc7.3.0-Release.sh
  

Running the Applications

This repo uses the common component launcher provided by the databus project repo located at $DATABUSHOME. For documentation on the $DATABUSHOME/bin/run launcher utility, please refer to the documentation located at $DATABUSHOME/doc/Run.md.

Open two terminal windows...

• Launch the pro_publisher in terminal #1

  $DATABUSHOME/bin/run Drive build/pro/x64Linux4gcc7.3.0/Debug/pro_publisher [domain_id] [sample_count]
  

  You should see output like:

    :
    Writing Camera, count 0
    Writing Camera, count 1
    Writing Camera, count 3
    :
  

• Launch the micro_subscriber in terminal #2

  $DATABUSHOME/bin/run Drive build/micro/x64Linux4gcc7.3.0/Release/micro_subscriber [-domain <id>]
  

  You should see output like:

    Running for 24 hours, press Ctrl-C to exit
    Matched a publisher
  
    Valid sample received
  
    Valid sample received
    
    :
  

Press ^C in a terminal window to terminate.

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The use of this software is governed by the terms specified in the RTI Labs License Agreement, available at https://www.rti.com/terms/RTILabs.

By accessing, downloading, or otherwise using this software, you agree to be bound by those terms.