Open Splice DDS 示例
根据实际项目写一个能够运行的示例程序：
Publisher：
#include <string>
#include <sstream>
#include <iostream>
#include "ccpp_dds_dcps.h" /* Include the DDS::DCPS API */
#include"interlocks_DCPS.hpp"
#include"interlock_enums_DCPS.hpp"
#include"common_DCPS.hpp"
#include "interlocksSplDcps.h"
int main(){
dds::domain::DomainParticipant dp(0);
dds::topic::qos::TopicQos topicQos=dp.default_topic_qos() // 保证当前Topic的信息保存在所有publisher之外，且在接下来的是可用的。
<< dds::core::policy::Reliability::Reliable(); // 保证当前Topic信息传递的可靠性级别。
dds::topic::Topic<PyramidDDS::interlock_condition> inter_lock_topic(dp, "interlock_condition", topicQos);
dds::pub::qos::PublisherQos pubQos
= dp.default_publisher_qos()
<< dds::core::policy::Partition("room1");
dds::pub::Publisher pub(dp, pubQos);
dds::pub::DataWriter<PyramidDDS::interlock_condition> dw(pub, inter_lock_topic);
PyramidDDS::interlock_e interlock=PyramidDDS::interlock_e::eILK_COUNT;
PyramidDDS::interlock_condition data(interlock,true,1,"message");
dw.write(data);
std::cout<<"走到这一步"<<std::endl;
return 0;Suscriber：
#include <string>
#include <sstream>
#include <iostream>
#include <algorithm>
#include <thread>
#include"interlocks_DCPS.hpp"
#include"interlock_enums_DCPS.hpp"
#include"common_DCPS.hpp"
#include "interlocksSplDcps.h"
#include "common/example_utilities.h"
std::ostream&
operator << (std::ostream& os, const PyramidDDS::interlock_condition& dc)
{
os << "(id = " << dc.condition()
<< ", interlock = " << dc.interlock()
<< ", message = " << dc.messageText()
<< ")";
return os;
}
int main(){
dds::domain::DomainParticipant dp(0);
dds::topic::qos::TopicQos topicQos=dp.default_topic_qos() // 保证当前Topic的信息保存在所有publisher之外，且在接下来的是可用的。
<< dds::core::policy::Reliability::Reliable(); // 保证当前Topic信息传递的可靠性级别。
dds::topic::Topic<PyramidDDS::interlock_condition> inter_lock_topic(dp, "interlock_condition", topicQos);
dds::sub::qos::SubscriberQos subQos
= dp.default_subscriber_qos()
<< dds::core::policy::Partition("room1");
dds::sub::Subscriber sub(dp, subQos);
dds::sub::DataReader<PyramidDDS::interlock_condition> dr(sub, inter_lock_topic);
while(true){
std::cout<<"开始读"<<std::endl;
auto samples=dr.read();
std::for_each(samples.begin(),
samples.end(),
[](const dds::sub::Sample<PyramidDDS::interlock_condition>& s) {
std::cout << s.data() << std::endl;
});
}
return 0;注意：
在上述代码中，publisher和suscriber里面的dp，topic的name，partion都要保持一致，不然接收不到。
在suscriber里面，想打印信息到控制台里面，需要重载<<符号，不然的话会报错误，另外，不知道为什么，我用samples.bengin;samples<samples.end;samples++,也会报同类型错误，即使我不输出什么数据，很奇怪
编译执行程序需要链接文件，可以参考examples里面的示例