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| Original file line number | Diff line number | Diff line change |
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| # | ||
| # (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved. | ||
| # | ||
| # RTI grants Licensee a license to use, modify, compile, and create derivative | ||
| # works of the Software. Licensee has the right to distribute object form | ||
| # only for use with RTI products. 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. | ||
| # | ||
|
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| cmake_minimum_required(VERSION 3.11) | ||
| project(connext-tutorial-application-design) | ||
| list(APPEND CMAKE_MODULE_PATH | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/../../../resources/cmake/Modules" | ||
| ) | ||
| include(ConnextDdsConfigureCmakeUtils) | ||
| connextdds_configure_cmake_utils() | ||
|
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| # Include ConnextDdsAddExample.cmake from resources/cmake | ||
| include(ConnextDdsAddExample) | ||
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| connextdds_call_codegen( | ||
| TYPE_PATH "../VehicleModeling.xml" | ||
| LANG "C++11" | ||
| PREFIX "VehicleModeling" | ||
| ) | ||
|
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| connextdds_add_application( | ||
| TARGET VehicleModeling_publisher | ||
| LANG "C++11" | ||
| OUTPUT_NAME "publisher" | ||
| SOURCES | ||
| $<TARGET_OBJECTS:VehicleModeling_CXX11_obj> | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/publisher.cxx" | ||
| DEPENDENCIES | ||
| NO_REQUIRE_QOS | ||
| ${_CONNEXT_DEPENDENCIES} | ||
| ) | ||
|
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| connextdds_add_application( | ||
| TARGET VehicleModeling_subscriber | ||
| LANG "C++11" | ||
| OUTPUT_NAME "subscriber" | ||
| SOURCES | ||
| $<TARGET_OBJECTS:VehicleModeling_CXX11_obj> | ||
| "${CMAKE_CURRENT_SOURCE_DIR}/subscriber.cxx" | ||
| DEPENDENCIES | ||
| NO_REQUIRE_QOS | ||
| ${_CONNEXT_DEPENDENCIES} | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| # Tutorial: Application Design | ||
|
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| This code is part of the Connext Application Design tutorial. | ||
|
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| ## Building the Example :wrench: | ||
|
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| You can build the example following the instructions in the tutorial, or you can | ||
| build it using CMake as follows. | ||
|
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| 1. Generate the build files: | ||
|
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| ```sh | ||
| mkdir build | ||
| cd build | ||
| cmake .. | ||
| ``` | ||
|
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| This command will try to find the location of your Connext installation. If it | ||
| can't find it, specify it with the ``-DCONNEXTDDS_DIR`` option, for example: | ||
|
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| ```sh | ||
| cmake -DCONNEXTDDS_DIR=/home/rti/rti_connext_dds-x.y.z .. | ||
| ``` | ||
|
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| If you are compiling for windows you may also need to specify the | ||
| [generator](https://cmake.org/cmake/help/latest/manual/cmake-generators.7.html), | ||
| and platform. | ||
|
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| ```sh | ||
| cmake .. -G "Visual Studio 17 2022" -A x64 | ||
| ``` | ||
|
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| 2. Build the applications: | ||
|
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| ```sh | ||
| cmake --build . | ||
| ``` | ||
|
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| If you are using a multi-configuration generator, such as Visual Studio | ||
| solutions, you can specify the configuration mode to build as follows: | ||
|
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| ```sh | ||
| cmake --build . --config Release|Debug | ||
| ``` | ||
|
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| ## Running the Example :rocket: | ||
|
|
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| See the tutorial for instructions. |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,103 @@ | ||
| // | ||
| // (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved. | ||
| // | ||
| // RTI grants Licensee a license to use, modify, compile, and create derivative | ||
| // works of the Software. Licensee has the right to distribute object form | ||
| // only for use with RTI products. 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. | ||
|
|
||
| #ifndef COMMON_HPP | ||
| #define COMMON_HPP | ||
|
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| #include <vector> | ||
| #include <sstream> | ||
| #include <random> | ||
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| #include "VehicleModeling.hpp" | ||
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| using CoordSequence = rti::core::bounded_sequence<Coord, 100>; | ||
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| namespace { // Coord namespace | ||
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| std::string to_string(const Coord &coord) | ||
| { | ||
| std::ostringstream ss; | ||
| ss << "Coord(lat: " << coord.lat() << ", lon: " << coord.lon() << ")"; | ||
| return ss.str(); | ||
| } | ||
|
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| } // namespace | ||
|
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| namespace rti::core { // bounded_sequence namespace | ||
|
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| std::string to_string(const CoordSequence &route) | ||
| { | ||
| using ::to_string; | ||
|
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| std::ostringstream ss; | ||
| ss << "Route("; | ||
| for (auto it = route.begin(); it != route.end();) { | ||
| ss << to_string(*it); | ||
| if (++it != route.end()) { | ||
| ss << ", "; | ||
| } | ||
| } | ||
| ss << ")"; | ||
| return ss.str(); | ||
| } | ||
|
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| } // namespace rti::core | ||
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| namespace utils { | ||
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| namespace details { | ||
|
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| static std::random_device rd; | ||
| static std::mt19937 gen { rd() }; | ||
|
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| }; // namespace details | ||
|
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| void set_random_seed(unsigned seed) | ||
| { | ||
| details::gen.seed(seed); | ||
| } | ||
|
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| double random_range(double min, double max) | ||
| { | ||
| return std::uniform_real_distribution<>(min, max)(details::gen); | ||
| } | ||
|
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| double random_stduniform() | ||
| { | ||
| return random_range(0.0, 1.0); | ||
| } | ||
|
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| std::string new_vin() | ||
| { | ||
| static const std::string choices("0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ"); | ||
|
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| std::ostringstream ss; | ||
| for (int i = 0; i < VIN_LENGTH; ++i) { | ||
| ss << choices[random_range(0, choices.size())]; | ||
| } | ||
| return ss.str(); | ||
| } | ||
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|
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| CoordSequence new_route(int n = 5) | ||
| { | ||
| CoordSequence route; | ||
| for (int i = 0; i < n; ++i) { | ||
| double r1 = random_stduniform() * 100.0; | ||
| double r2 = random_stduniform() * 100.0; | ||
| route.push_back(Coord { r1, r2 }); | ||
| } | ||
| return route; | ||
| } | ||
|
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| } // namespace utils | ||
|
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| #endif |
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