Merge master into develop

examples/connext_dds/remote_procedure_call/py/Inventory.py

@@ -9,6 +9,7 @@
 # damages arising out of the use or inability to use the software.
 #
 
+from abc import ABC
 from dataclasses import field
 from typing import Sequence
 import rti.idl as idl
@@ -32,7 +33,7 @@ class UnknownItemError(Exception):
 
 
 @rpc.service
-class InventoryService:
+class InventoryService(ABC):
     @rpc.operation
     def get_inventory(self) -> InventoryContents:
         """Get the current inventory inventory"""

tutorials/application_design/VehicleModeling.xml

@@ -1,76 +1,65 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?xml-model href="https://community.rti.com/schema/7.3.0/rti_dds_profiles.xsd" type="application/xml" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<dds>
+<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/current/rti_dds_profiles.xsd">
     <types>
-        <const name="VIN_LENGTH" type="uint8" value="17"/>
-        <typedef name="VIN" type="string" stringMaxLength="VIN_LENGTH"/>
-
+        <const name="VIN_LENGTH" type="uint8" value="17" />
+        <typedef name="VIN" type="string" stringMaxLength="VIN_LENGTH" />
         <struct name="Coord" extensibility="final" nested="true">
-            <member name="lat" type="float64"/>
-            <member name="lon" type="float64"/>
+            <member name="lat" type="float64" />
+            <member name="lon" type="float64" />
         </struct>
+        <const name="VehicleTransitTopic" type="string" value="&quot;VehicleTransit&quot;" />
         <struct name="VehicleTransit" extensibility="appendable">
-            <member name="vehicle_vin"
-                    type="nonBasic"
-                    nonBasicTypeName="VIN"
-                    key="true" />
-            <member name="current_position"
-                    type="nonBasic"
-                    nonBasicTypeName="Coord" />
-            <member name="current_route"
-                    type="nonBasic"
-                    nonBasicTypeName="Coord"
-                    sequenceMaxLength="-1"
-                    optional="true" /> <!-- 'no route' == standby -->
+            <member name="vehicle_vin" type="nonBasic" nonBasicTypeName="VIN" key="true" />
+            <member name="current_position" type="nonBasic" nonBasicTypeName="Coord" />
+            <member name="current_route" type="nonBasic" nonBasicTypeName="Coord"
+                sequenceMaxLength="-1" optional="true" />
         </struct>
-
-        <typedef name="Percentage" type="float64" min="0.0" max="100.0"/>
+        <typedef name="Percentage" type="float64" min="0.0" max="100.0" />
+        <const name="VehicleMetricsTopic" type="string" value="&quot;VehicleMetrics&quot;" />
         <struct name="VehicleMetrics" extensibility="appendable">
-            <member name="vehicle_vin"
-                    type="nonBasic"
-                    nonBasicTypeName="VIN"
-                    key="true"/>
-            <member name="fuel_level"
-                    type="nonBasic"
-                    nonBasicTypeName="Percentage"/>
+            <member name="vehicle_vin" type="nonBasic" nonBasicTypeName="VIN" key="true" />
+            <member name="fuel_level" type="nonBasic" nonBasicTypeName="Percentage" />
         </struct>
     </types>
 
     <qos_library name="VehicleModeling_Library">
         <qos_profile name="VehicleMetrics_Profile">
-            <datawriter_qos base_name="BuiltinQosLib::Generic.BestEffort">
+            <datareader_qos base_name="BuiltinQosLib::Generic.BestEffort">
                 <deadline>
                     <period>
-                        <sec>10</sec>
+                        <sec>15</sec>
                         <nanosec>0</nanosec>
                     </period>
                 </deadline>
-            </datawriter_qos>
-            <datareader_qos base_name="BuiltinQosLib::Generic.BestEffort">
+            </datareader_qos>
+            <datawriter_qos base_name="BuiltinQosLib::Generic.BestEffort">
                 <deadline>
                     <period>
-                        <sec>15</sec>
+                        <sec>10</sec>
                         <nanosec>0</nanosec>
                     </period>
                 </deadline>
-            </datareader_qos>
+            </datawriter_qos>
         </qos_profile>
         <qos_profile name="VehicleTransit_Profile">
-            <datawriter_qos base_name="BuiltinQosLib::Generic.StrictReliable">
+            <datareader_qos base_name="BuiltinQosLib::Generic.KeepLastReliable">
                 <durability>
                     <kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
                 </durability>
-            </datawriter_qos>
-            <datareader_qos base_name="BuiltinQosLib::Generic.KeepLastReliable">
+            </datareader_qos>
+            <datawriter_qos base_name="BuiltinQosLib::Generic.StrictReliable">
                 <durability>
                     <kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
                 </durability>
-            </datareader_qos>
+            </datawriter_qos>
         </qos_profile>
     </qos_library>
 
     <domain_library name="DomainLibrary">
         <domain name="VehicleDomain" domain_id="0">
+            <register_type name="VehicleMetrics" />
+            <register_type name="VehicleTransit" />
             <topic name="VehicleMetricsTopic" register_type_ref="VehicleMetrics" />
             <topic name="VehicleTransitTopic" register_type_ref="VehicleTransit" />
         </domain>
@@ -80,24 +69,26 @@
         <domain_participant name="PublisherApp" domain_ref="DomainLibrary::VehicleDomain">
             <publisher name="Publisher">
                 <data_writer name="MetricsWriter" topic_ref="VehicleMetricsTopic">
-                    <datawriter_qos base_name="VehicleModeling_Library::VehicleMetrics_Profile" />
+                    <datawriter_qos base_name="VehicleModeling_Library::VehicleMetrics_Profile">
+                    </datawriter_qos>
                 </data_writer>
-
                 <data_writer name="TransitWriter" topic_ref="VehicleTransitTopic">
-                    <datawriter_qos base_name="VehicleModeling_Library::VehicleTransit_Profile" />
-            </data_writer>
-        </publisher>
+                    <datawriter_qos base_name="VehicleModeling_Library::VehicleTransit_Profile">
+                    </datawriter_qos>
+                </data_writer>
+            </publisher>
         </domain_participant>
-
         <domain_participant name="SubscriberApp" domain_ref="DomainLibrary::VehicleDomain">
             <subscriber name="Subscriber">
                 <data_reader name="MetricsReader" topic_ref="VehicleMetricsTopic">
-                    <datareader_qos base_name="VehicleModeling_Library::VehicleMetrics_Profile" />
+                    <datareader_qos base_name="VehicleModeling_Library::VehicleMetrics_Profile">
+                    </datareader_qos>
                 </data_reader>
                 <data_reader name="TransitReader" topic_ref="VehicleTransitTopic">
-                    <datareader_qos base_name="VehicleModeling_Library::VehicleTransit_Profile" />
+                    <datareader_qos base_name="VehicleModeling_Library::VehicleTransit_Profile">
+                    </datareader_qos>
                 </data_reader>
-        </subscriber>
+            </subscriber>
         </domain_participant>
     </domain_participant_library>
 </dds>

tutorials/application_design/c++11/CMakeLists.txt

@@ -0,0 +1,52 @@
+#
+# (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.
+#
+
+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()
+
+# Include ConnextDdsAddExample.cmake from resources/cmake
+include(ConnextDdsAddExample)
+
+connextdds_call_codegen(
+    TYPE_PATH "../VehicleModeling.xml"
+    LANG "C++11"
+    PREFIX "VehicleModeling"
+)
+
+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}
+)
+
+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}
+)

tutorials/application_design/c++11/README.md

@@ -0,0 +1,48 @@
+# Tutorial: Application Design
+
+This code is part of the Connext Application Design tutorial.
+
+## Building the Example :wrench:
+
+You can build the example following the instructions in the tutorial, or you can
+build it using CMake as follows.
+
+1.  Generate the build files:
+
+```sh
+mkdir build
+cd build
+cmake ..
+```
+
+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:
+
+```sh
+cmake -DCONNEXTDDS_DIR=/home/rti/rti_connext_dds-x.y.z ..
+```
+
+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.
+
+```sh
+cmake .. -G "Visual Studio 17 2022" -A x64
+```
+
+2.  Build the applications:
+
+```sh
+cmake --build .
+```
+
+If you are using a multi-configuration generator, such as Visual Studio
+solutions, you can specify the configuration mode to build as follows:
+
+```sh
+cmake --build . --config Release|Debug
+```
+
+## Running the Example :rocket:
+
+See the tutorial for instructions.

tutorials/application_design/c++11/common.hpp

@@ -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
+
+#include <vector>
+#include <sstream>
+#include <random>
+
+#include "VehicleModeling.hpp"
+
+using CoordSequence = rti::core::bounded_sequence<Coord, 100>;
+
+namespace {  // Coord namespace
+
+std::string to_string(const Coord &coord)
+{
+    std::ostringstream ss;
+    ss << "Coord(lat: " << coord.lat() << ", lon: " << coord.lon() << ")";
+    return ss.str();
+}
+
+}  // namespace
+
+namespace rti::core {  // bounded_sequence namespace
+
+std::string to_string(const CoordSequence &route)
+{
+    using ::to_string;
+
+    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();
+}
+
+}  // namespace rti::core
+
+namespace utils {
+
+namespace details {
+
+static std::random_device rd;
+static std::mt19937 gen { rd() };
+
+};  // namespace details
+
+void set_random_seed(unsigned seed)
+{
+    details::gen.seed(seed);
+}
+
+double random_range(double min, double max)
+{
+    return std::uniform_real_distribution<>(min, max)(details::gen);
+}
+
+double random_stduniform()
+{
+    return random_range(0.0, 1.0);
+}
+
+std::string new_vin()
+{
+    static const std::string choices("0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ");
+
+    std::ostringstream ss;
+    for (int i = 0; i < VIN_LENGTH; ++i) {
+        ss << choices[random_range(0, choices.size())];
+    }
+    return ss.str();
+}
+
+
+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;
+}
+
+}  // namespace utils
+
+#endif