This package allows a user to create multiple instances of publisher and subscriber within one node. The API supports instances of different message types defined in an IDL file.

1. Add your own idl file in the idl folder.

2. Generate the codes:

   $ ./gencode

This script will auto:

• Generate the DDS codes for the idl files you have created.
• Generate boilerplates specific to the message type so you can use the API.
• Generate a CMakeLists.txt for the boilerplates. This must be included in the main CMakeLists.txt so you can use it in the API. See No.3 .

3. Add the generated codes and boilerplates in the main CMakeLists.txt:

    include(lib/boilerplate/types/Template/CMakeLists.txt)
    include(lib/boilerplate/types/Sensor/CMakeLists.txt)
   
    ADD_LIBRARY (MGR_SRC
            lib/boilerplate/template/CheckStatus.cpp
            lib/boilerplate/template/Participant.cpp
            ${Sensor}
            ${Template}
    )
   

1. Include your new message type's header files:

    #include "Template.h"
    #include "Sensor.h"
   

2. Create participant:

    Participant par("Node Name", DOMAIN_ID);
   

3. Creating a Publisher. Remember to add "Msg" when calling the namespace ie. Msg:

    SensorMsg::Publisher pub(par, (char*)"HelloWorldData_Msg2");
   

TemplateMsg can be any message based on the idl file you have created.

4. Publish:

    //create message object
    Sensor testmsg;
    
    //populate the data
    testmsg.userID = 1;
    testmsg.message = DDS::string_dup("Hello World");
    
    //publish testmsg
    pub.publish(testmsg);
   

5. Creating a Subscriber. Remember to add "Msg" when calling the namespace ie. Msg:

    SensorMsg::Subscriber sub(par, (char*)"HelloWorldData_Msg2");
   

TemplateMsg can be any message based on the idl file you have created.

6. Subscribing and receiving data:

    sub.read();        
    for (DDS::ULong j = 0; j < sub.msg_list.length(); j++)
    {
        cout << "=== [Subscriber] message received :" << endl;
        cout << "    userID  : " << sub.msg_list[j].userID << endl;
        cout << "    Message : \"" << sub.msg_list[j].message << "\"" << endl;
    }