Crate shapes 

RTI Connector for Rust example for Shape types

This example demonstrates how to use the RTI Connector for Rust to publish and subscribe to Shape data types in a DDS domain.

Usage

It uses a command-line interface to allow users to choose between publishing and subscribing modes, as well as configure parameters such as the number of samples and timeouts.

> cargo run -q --example shapes -- --help
RTI Connector for Rust example for Shape data

Usage: shapes [OPTIONS] <COMMAND>

Commands:
  pub   Publish shape data to DDS
  sub   Subscribe to shape data from DDS
  help  Print this message or the help of the given subcommand(s)

Options:
      --typed  Enable typed mode for shapes
  -h, --help   Print help

Publisher Command

Publishes samples of ShapeType data at specified intervals

It can be invoked from the command line as follows:

> cargo run -q --example shapes -- pub --help
Publish shape data to DDS

Usage: shapes pub [OPTIONS]

Options:
  -s, --samples <SAMPLES>
          Total number of samples to publish [default: unlimited]
  -w, --wait-ms <WAIT_MS>
          Sleep duration between samples in milliseconds (0 = no wait) [default: 200]
  -d, --wait-for-subscriptions-ms <WAIT_FOR_SUBSCRIPTIONS_MS>
          Wait for subscriptions timeout in milliseconds (0 = infinite) [default: 3000]
  -h, --help
          Print help

Subscriber Command

Subscribes to samples of ShapeType data and prints them to the console

It can be invoked from the command line as follows:

> cargo run -q --example shapes -- sub --help
Subscribe to shape data from DDS

Usage: shapes sub [OPTIONS]

Options:
  -s, --samples <SAMPLES>
          Total number of samples to read [default: unlimited]
  -w, --wait-ms <WAIT_MS>
          Wait timeout in milliseconds (0 = infinite) [default: 500]
  -d, --wait-for-publications-ms <WAIT_FOR_PUBLICATIONS_MS>
          Wait for publications timeout in milliseconds (0 = infinite) [default: 3000]
  -h, --help
          Print help

XML Configuration

The example uses an XML configuration file (Shapes.xml) with the following content:

<?xml version="1.0"?>
<!--
 (c) 2005-2015 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.
 -->

<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.3.0/rti_dds_profiles.xsd"
    version="7.3.0">

    <!-- Qos Library -->
    <qos_library name="QosLibrary">
        <qos_profile name="ShapeProfile"
            base_name="BuiltinQosLibExp::Generic.BestEffort"
            is_default_qos="true">
            <participant_qos>
                <!-- Turn on monitoring -->
                <!-- Begin Monitoring
                <property>
                    <value>
                        <element>
                            <name>rti.monitor.library</name>
                            <value>rtimonitoring</value>
                        </element>
                        <element>
                            <name>rti.monitor.create_function_ptr</name>
                            <value>$(NDDS_MONITOR)</value>
                        </element>
                    </value>
                </property>
                 End Monitoring -->
            </participant_qos>
        </qos_profile>
    </qos_library>

    <!-- types -->
    <types>
        <struct name="ShapeType" extensibility="extensible">
            <member name="color" stringMaxLength="128" id="0" type="string" key="true" />
            <member name="x" id="1" type="long" />
            <member name="y" id="2" type="long" />
            <member name="shapesize" id="3" type="long" />
        </struct>
        <enum name="ShapeFillKind" extensibility="extensible">
            <enumerator name="SOLID_FILL" value="0" />
            <enumerator name="TRANSPARENT_FILL" value="1" />
            <enumerator name="HORIZONTAL_HATCH_FILL" value="2" />
            <enumerator name="VERTICAL_HATCH_FILL" value="3" />
        </enum>
        <struct name="ShapeTypeExtended" baseType="ShapeType" extensibility="extensible">
            <member name="fillKind" id="4" type="nonBasic" nonBasicTypeName="ShapeFillKind" />
            <member name="angle" id="5" type="float" />
        </struct>
    </types>

    <!-- Domain Library -->
    <domain_library name="ShapeDomainLibrary">
        <domain name="ShapeDomain" domain_id="0">
            <register_type name="ShapeType" type_ref="ShapeType" />
            <topic name="Square" register_type_ref="ShapeType" />

        </domain>
    </domain_library>

    <!-- Participant library -->
    <domain_participant_library name="ShapeParticipantLibrary">
        <domain_participant name="Zero" domain_ref="ShapeDomainLibrary::ShapeDomain">

            <publisher name="ShapePublisher">
                <data_writer name="ShapeSquareWriter" topic_ref="Square" />
            </publisher>

            <subscriber name="ShapeSubscriber">
                <data_reader name="ShapeSquareReader" topic_ref="Square" />
            </subscriber>

        </domain_participant>

        <domain_participant name="Pub" domain_ref="ShapeDomainLibrary::ShapeDomain">
            <publisher name="ShapePublisher">
                <data_writer name="ShapeSquareWriter" topic_ref="Square" />
            </publisher>
        </domain_participant>

        <domain_participant name="Sub" domain_ref="ShapeDomainLibrary::ShapeDomain">
            <subscriber name="ShapeSubscriber">
                <data_reader name="ShapeSquareReader" topic_ref="Square" />
            </subscriber>
        </domain_participant>
    </domain_participant_library>
</dds>

Structs

ShapeType

Structure matching the ShapeType DDS data model.

Enums

TypedMode

Indicates whether typed serialization is enabled or disabled