rustdds 0.9.1

Native Rust DDS implementation with RTPS
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157

#include "ShapePublisher.hpp"
#include "ShapePubSubTypes.h"

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>

#include <unistd.h>
#include <signal.h>
#include <string>
#include <thread>

using namespace eprosima::fastdds::dds;

ShapePublisher::ShapePublisher() : participant_(nullptr), publisher_(nullptr), topic_(nullptr), writer_(nullptr), type_(new ShapeTypePubSubType()), listener_() {}

ShapePublisher::~ShapePublisher()
{
    if (writer_ && publisher_)
    {
        publisher_->delete_datawriter(writer_);
    }

    if (publisher_ && participant_)
    {
        participant_->delete_publisher(publisher_);
    }

    if (topic_ && participant_)
    {
        participant_->delete_topic(topic_);
    }
    if (participant_)
    {
        DomainParticipantFactory::get_instance()->delete_participant(participant_);
    }
}

bool ShapePublisher::init(bool with_security)
{
    DomainParticipantQos participant_qos;
    participant_qos.name("publisher_participant");

    if (with_security)
    {
        using namespace std;
        string example_security_configuration_path = "file://../../examples/security_configuration_files/";
        string dds_sec = "dds.sec.";
        string auth = dds_sec + "auth.";
        string auth_plugin = "builtin.PKI-DH";
        string auth_prefix = auth + auth_plugin + ".";
        string access = dds_sec + "access.";
        string access_plugin = "builtin.Access-Permissions";
        string access_prefix = access + access_plugin + ".";
        string crypto = dds_sec + "crypto.";
        string crypto_plugin = "builtin.AES-GCM-GMAC";
        string plugin = "plugin";

        std::vector<pair<string, string>> security_properties = {
            pair<string, string>(auth + plugin, auth_plugin),
            pair<string, string>(access + plugin, access_plugin),
            pair<string, string>(crypto + plugin, crypto_plugin),
            pair<string, string>(auth_prefix + "identity_ca", example_security_configuration_path + "identity_ca.cert.pem"),
            pair<string, string>(auth_prefix + "identity_certificate", example_security_configuration_path + "cert.pem"),
            pair<string, string>(auth_prefix + "private_key", example_security_configuration_path + "key.pem"),
            pair<string, string>(access_prefix + "permissions_ca", example_security_configuration_path + "permissions_ca.cert.pem"),
            pair<string, string>(access_prefix + "governance", example_security_configuration_path + "governance.p7s"),
            pair<string, string>(access_prefix + "permissions", example_security_configuration_path + "permissions.p7s"),
        };

        for (pair<string, string> property : security_properties)
        {
            participant_qos.properties().properties().emplace_back(property.first, property.second);
        }
    }

    participant_ = DomainParticipantFactory::get_instance()->create_participant(0, participant_qos);

    if (participant_)
    {
        type_.register_type(participant_);
    }

    PublisherQos publisher_qos = PUBLISHER_QOS_DEFAULT;

    if (participant_)
    {
        publisher_ = participant_->create_publisher(publisher_qos);
    }

    TopicQos topic_qos = TOPIC_QOS_DEFAULT;

    if (participant_)
    {
        topic_ = participant_->create_topic("Square", type_.get_type_name(), topic_qos);
    }

    DataWriterQos datawriter_qos = DATAWRITER_QOS_DEFAULT;

    if (publisher_ && topic_)
    {
        writer_ = publisher_->create_datawriter(topic_, datawriter_qos, &listener_);
    }

    if (writer_ && topic_ && publisher_ && participant_)
    {
        std::cout << "DataWriter created for the topic Square." << std::endl;
        return true;
    }
    else
    {
        return false;
    }
}

// For handling stop signal to break the infinite loop
namespace publisher_stop
{
    volatile sig_atomic_t stop;
    void handle_interrupt(int)
    {
        stop = 1;
    }
}

void ShapePublisher::run()
{
    signal(SIGINT, publisher_stop::handle_interrupt);

    ShapeType sample;
    sample.color("BLUE");
    sample.shape_size(12);

    int number_of_messages_sent = 0;

    while (!publisher_stop::stop)
    {
        if (listener_.matched)
        {
            sample.x(10 * (number_of_messages_sent % 10));
            sample.y(10 * (number_of_messages_sent % 9));
            writer_->write(&sample);
            std::cout << "Sending sample " << number_of_messages_sent << std::endl;
            ++number_of_messages_sent;
        }
        std::this_thread::sleep_for(std::chrono::milliseconds(500));
    }
    std::cout << "\nStopped" << std::endl;
}

void ShapePublisher::SubscriberListener::on_publication_matched(DataWriter *, const PublicationMatchedStatus &info)
{
    matched = info.current_count;
    std::cout << "Number of matched readers: " << matched << std::endl;
}