dds-example

Vortex Lite pub-sub examples

// What are dds entities

Entities is an abstract base class in DCPS, you can learn more from this slides.

// Procedures

publish side

1. Create one (and only one) domain participant entity.
2. Create a publisher entity
3. Create a DDS topic entity
4. Create a typed writer entity
5. Publish data from typed writer

subscriber side

1. Create one (and only one) domain participant entity.
2. Create a subscriber entity
3. Create a DDS topic entity
4. Create a typed reader entity
5. Receive data from typed reader

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// File Descriptions

• mb.idl : sample IDL for DDS topics
• pub.c : publish voltage sample every 100 ms
• pub2.c : publish led sample every 100 ms
• sub1.c : subscriber voltage with listener (async)
• sub2.c : subscriber voltage with waitset (blocking)
• sub3.c : subscriber voltage with waitset (blocking) and thread pool
• sub4.c : subscriber voltage with waitset (blocking) and lock-free thread pool
• sub5.c : subscriber voltage and led with waitset (blocking) and thread pool

// Build

mkdir build && cd build
cmake ..
make 
./sub2
./pub