From 64a04b19a75a679bd23a5d199656d73da084241e Mon Sep 17 00:00:00 2001 From: "Ramzi.Karoui@adlinktech.com" Date: Wed, 21 Oct 2020 19:49:32 +0200 Subject: [PATCH] Changing ECA signature Signed-off-by: Ramzi.Karoui@adlinktech.com --- examples/ATC/.DS_Store | Bin 0 -> 6148 bytes examples/ATC/ATCDataModel.idl | 42 ++++++++++ examples/ATC/CMakeLists.txt | 38 +++++++++ examples/ATC/ReadMe.md | 85 +++++++++++++++++++ examples/ATC/ReadMe.pdf | Bin 0 -> 250719 bytes examples/ATC/clip_image002.jpg | Bin 0 -> 30440 bytes examples/ATC/publisher.cpp | 149 +++++++++++++++++++++++++++++++++ examples/ATC/subscriber.cpp | 86 +++++++++++++++++++ 8 files changed, 400 insertions(+) create mode 100644 examples/ATC/.DS_Store create mode 100644 examples/ATC/ATCDataModel.idl create mode 100644 examples/ATC/CMakeLists.txt create mode 100644 examples/ATC/ReadMe.md create mode 100644 examples/ATC/ReadMe.pdf create mode 100644 examples/ATC/clip_image002.jpg create mode 100644 examples/ATC/publisher.cpp create mode 100644 examples/ATC/subscriber.cpp diff --git a/examples/ATC/.DS_Store b/examples/ATC/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..340f9093219f2260c5988da38cd7d38599dfaf1c GIT binary patch literal 6148 zcmeHK!A`RnqvL~9@v5|6$35B`GjBlXSh25FI_ z#+Vth`?k}0vpa8-E(^eP=KVvU1)$C*SZT2P#^k-U6{~p92GQ6YF=mJnVT}Gtv^xHx z03KTtCFwY^vA{8L|HGOsX$L*VjxfOu`zK}@Vt@nw zj+o(r{$VM@TPZ`6vq$7Tl6S!z8P}1KJHs<(MQ$Z7akrU&j>N7Y!#y)h$?VZPDKe|? zC1wMcjE-4hL~L{A{UXCw`npuyPRd2(_|&GzKm;{vbJRX3e8K2%SSa; zKow90en0`9*<$rAhuW(Gs(>o6P(Z#90h?gxF?VP`9qjBCfLNp38pm>%5KiDR^q4#3 z8=7%cqN5sr#W0Ref8gUnkGVrfhw+yW<7YPhhGOjO%pcfrn9!m2s(>m`RG{h}TXO!N zt-t>lN&2J;r~>~=0aNQET<&l|;lLinjFqE!kIfqWfeeVD U$J`-3H2ouBWzbF)_*Dfy0Va!eQ~&?~ literal 0 HcmV?d00001 diff --git a/examples/ATC/ATCDataModel.idl b/examples/ATC/ATCDataModel.idl new file mode 100644 index 00000000..1803a992 --- /dev/null +++ b/examples/ATC/ATCDataModel.idl @@ -0,0 +1,42 @@ +/** + * @addtogroup examplesdcpsatcisocpp + */ +/** @{*/ +/** @file */ + +/* CycloneDDS isoC++ example + * + * Copyright(c) 2006 to 2018 ADLINK Technology Limited and others + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + * + */ + +module ATCDataModule +{ + + struct Position { + short x; // latitude + short y; // longitude + short z; // altitude + + }; + + + struct Flight + { + /** Flight Call ID */ + long ID; //@Key + + Position pos; + // float Speed; + /** Current Region we are flying into*/ + string CurrentRegion; + }; + #pragma keylist Flight ID +}; + +/** @}*/ diff --git a/examples/ATC/CMakeLists.txt b/examples/ATC/CMakeLists.txt new file mode 100644 index 00000000..b8b472fa --- /dev/null +++ b/examples/ATC/CMakeLists.txt @@ -0,0 +1,38 @@ +# +# Copyright(c) 2006 to 2018 ADLINK Technology Limited and others +# +# This program and the accompanying materials are made available under the +# terms of the Eclipse Public License v. 2.0 which is available at +# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License +# v. 1.0 which is available at +# http://www.eclipse.org/org/documents/edl-v10.php. +# +# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause +# +cmake_minimum_required(VERSION 3.5) +find_package(Idlpp-cxx REQUIRED) +find_package(CycloneDDS REQUIRED) + +if (NOT TARGET CycloneDDS_CXX_API::ddscxx) + # Find the CycloneDDS_CXX_API package. If it is not in a default location, try + # finding it relative to the example where it most likely resides. + find_package(CycloneDDS_CXX_API REQUIRED PATHS "${CMAKE_CURRENT_SOURCE_DIR}/../../../..") +endif() + +# This is a convenience function, provided by the CycloneDDS_CXX_API package, +# that will supply a library target related the the given idl file. +# In short, it takes the idl file, generates the source files with +# the proper data types and compiles them into a library. +idl_ddscxx_generate(ddscxxATCDataModel_lib "ATCDataModel.idl") + +# Both executables have only one related source file. +add_executable(pubATC publisher.cpp) +add_executable(subATC subscriber.cpp) + +# Both executables need to be linked to the idl data type library and +# the ddsc API library. +target_link_libraries(pubATC ddscxxATCDataModel_lib CycloneDDS_CXX_API::ddscxx) +target_link_libraries(subATC ddscxxATCDataModel_lib CycloneDDS_CXX_API::ddscxx) + +set_property(TARGET pubATC PROPERTY CXX_STANDARD 11) +set_property(TARGET subATC PROPERTY CXX_STANDARD 11) diff --git a/examples/ATC/ReadMe.md b/examples/ATC/ReadMe.md new file mode 100644 index 00000000..9f881fa3 --- /dev/null +++ b/examples/ATC/ReadMe.md @@ -0,0 +1,85 @@ +/***************************************************************************************/ + + Copyright(c) 2006 to 2018 ADLINK Technology Limited and others + + This program and the accompanying materials are made available under the + + terms of the Eclipse Public License v. 2.0 which is available at + + http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License + + v. 1.0 which is available at + + http://www.eclipse.org/org/documents/edl-v10.php. + + SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + +/***************************************************************************************/ + +# Description + +This example mimics, in its most simplistic form, an Air Traffic Controller System , made of two subsystems: + +A **Radar System** that, detects and publishes Flights in different region in Europe, within a dedicated Global data space, and an Air **Flight Visualiser system** that can build *different views* of that space, either Per country, Per Region or Per the Entire continent. + + + +![](C:\Users\User\Documents\GitHub\cdds-cxx\src\examples\ATC\clip_image002.jpg) + + + + + +# Design + +The Radar system is modelled by the Publishing program ( **pubATC** ). This program + +· Get involved in the European Global Data Space DDS domain (domainId=0), + +· Creates 6 DDS partitions that corresponds to the 6 regions shown on the Map (see Fig below), then it + +· Publishes 5 Flights with different Call signs ( CIDs) as well as their respective positions . + +The European Global Data Space is organized hierarchically following this pattern: ///. + +The Air Flight Visualizer is modelled by the Subscribing program (**subATC**) . This program allows you to Subscribe to a specific region, for example, to the region /Europe/Sweden/Norrland or at the scale of the country ( /Europe/Italy/*) or the scale of the entire continent ( /*), Regular expressions can be used to specify the scopes . + +The subATC program will create one subscriber to get all the data corresponding to the view you are building using the DDS concept of Partition. + +The subATC program takes at most one argument. This argument specifies the absolute name of the region i.e “///” + +Both programs use the default DDS QoS but the PartitionQoS. + +The example helps you understand the concept of partition in DDS and how it can be used to creates different views on the data or split the dds domain in smaller logical groups . + +# Building the examples + +cmake /examples/ATC + +cmake --build . + +# Running the examples + +It is recommended to run one Publishing program ( pubATC) and several Subscribing programs in different terminals . + +**Scenario1** : Subscribing to all the flights to have a global view on all the flights + +\> ./pubATC + +\>./subATC “*” + +**Scenario2** : Gross grain Subscription, subscribe to an entire country view + +\> ./pubATC + +\>./subATC /Europe/Netherlands/* + +**Scenario3** : Fine grain Subscription, subscribe to a give region + +\> ./pubATC + +\>./subATC /Europe/Netherlands/Zeeland + + + + \ No newline at end of file diff --git a/examples/ATC/ReadMe.pdf 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http://www.eclipse.org/org/documents/edl-v10.php. + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + * + */ + +#include +#include "dds/dds.hpp" +#include "dds/core/ddscore.hpp" +#include "ATCDataModel_DCPS.hpp" + +int main(int argc, char *argv[]) { + + std::cout << "Cyclone- ATC Pub" << std::endl; + + /** A dds::domain::DomainParticipant is created for the default domain. */ + dds::domain::DomainParticipant dp(0); + dds::topic::qos::TopicQos topicQos= dp.default_topic_qos(); + + /** A dds::topic::Topic is created for our sample type on the domain participant. */ + dds::topic::Topic topic(dp, "FlightData", topicQos); + + /** 5 dds Publishers are associated to 5 different partitions. */ + dds::pub::qos::PublisherQos PubGotalandQoS = dp.default_publisher_qos(); + dds::pub::qos::PublisherQos PubSardegnaQoS = dp.default_publisher_qos(); + dds::pub::qos::PublisherQos PubNorrlandQoS = dp.default_publisher_qos(); + dds::pub::qos::PublisherQos PubLombardiaQoS = dp.default_publisher_qos(); + dds::pub::qos::PublisherQos pubSiciliaQoS = dp.default_publisher_qos(); + + dds::pub::qos::PublisherQos pubZeelandQoS = dp.default_publisher_qos(); + dds::pub::qos::PublisherQos pubDrentheQoS = dp.default_publisher_qos(); + + PubGotalandQoS << dds::core::policy::Partition("/Europe/Sweden/Gotaland"); + PubNorrlandQoS << dds::core::policy::Partition("/Europe/Sweden/Norrland"); + PubSardegnaQoS << dds::core::policy::Partition("/Europe/Italy/Sardegna"); + PubLombardiaQoS << dds::core::policy::Partition("/Europe/Italy/Lombardia"); + pubSiciliaQoS << dds::core::policy::Partition("/Europe/Italy/Sicilia"); + pubZeelandQoS << dds::core::policy::Partition("/Europe/Netherlands/Zeeland"); + pubDrentheQoS << dds::core::policy::Partition("/Europe/Netherlands/Drenthe"); + + dds::pub::Publisher pubGotaland(dp, PubGotalandQoS); + dds::pub::Publisher pubNorrland(dp, PubNorrlandQoS); + dds::pub::Publisher pubSardegna(dp, PubSardegnaQoS); + dds::pub::Publisher pubLombardia(dp, PubLombardiaQoS); + dds::pub::Publisher pubSicilia(dp, pubSiciliaQoS); + dds::pub::Publisher pubZeeland(dp, pubZeelandQoS); + dds::pub::Publisher pubDrenthe(dp, pubDrentheQoS); + + /** A dds::pub::DataWriter is created on the Publisher & Topic with the associated Partition Qos. */ + dds::pub::qos::DataWriterQos dwqos = topic.qos(); + + dds::pub::DataWriter dwGotaland(pubGotaland, topic, dwqos); + dds::pub::DataWriter dwNorrland(pubNorrland, topic, dwqos); + dds::pub::DataWriter dwSardegna(pubSardegna, topic, dwqos); + dds::pub::DataWriter dwLombardia(pubLombardia, topic, dwqos); + dds::pub::DataWriter dwsicilia(pubSicilia, topic, dwqos); + dds::pub::DataWriter dwzeeland(pubZeeland, topic, dwqos); + dds::pub::DataWriter dwdrenthe(pubDrenthe, topic, dwqos); + + // std::cout << "@ With ddsi, Let the Apps discover each other a bit ZZZzzz:" << std::endl; + //dds_sleepfor (DDS_MSECS (5000)); + + std::cout << "===> Waiting for a subscriber. " << std::endl; + while (dwdrenthe.publication_matched_status().current_count() == 0 && + dwzeeland.publication_matched_status().current_count() == 0 && + dwsicilia.publication_matched_status().current_count() == 0 && + dwLombardia.publication_matched_status().current_count() == 0 && + dwSardegna.publication_matched_status().current_count() == 0 && + dwNorrland.publication_matched_status().current_count() == 0 && + dwGotaland.publication_matched_status().current_count() == 0 + ) + { + dds_sleepfor (DDS_MSECS (20)); + } + std::cout << "===> Found a matching one ... " << std::endl; + + for (int i = 0; i < 5; i++) { + ATCDataModule::Position p1(i+800, i+20, i+93 ); + ATCDataModule::Flight FlightInstance(i, p1,"** /Europe/Sweden/Gotaland partition ** "); + dwGotaland << FlightInstance; + std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Sweden/Gotaland Region " << std::endl; + + dds_sleepfor (DDS_MSECS (500)); + } + + for (int i = 5; i < 10; i++) { + ATCDataModule::Position p2(i+7900, i+20, i+93 ); + ATCDataModule::Flight FlightInstance(i, p2, "** /Europe/Sweden/Norrland partition ++"); + dwNorrland << FlightInstance; + std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Sweden/Norrland Region " << std::endl; + + dds_sleepfor (DDS_MSECS (500)); + } + + for (int i = 10; i < 15; i++) { + ATCDataModule::Position p3(i+800, i+20, i+93 ); + ATCDataModule::Flight FlightInstance(i, p3, "** /Europe/Italy/Sardegna partition &&"); + dwSardegna << FlightInstance; + std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Sardegna Region " << std::endl; + + dds_sleepfor (DDS_MSECS (500)); +} + + for (int i = 15; i < 20; i++) { + ATCDataModule::Position p4(i+99, i+97, i+93 ); + ATCDataModule::Flight FlightInstance(i, p4, "** /Europe/Italy/Lombardia partition %%"); + dwLombardia << FlightInstance; + std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Lombardia Region " << std::endl; + + dds_sleepfor (DDS_MSECS (500)); + } + + for (int i = 20; i < 25; i++) { + ATCDataModule::Position p5(i+242, i+240, i+930 ); + ATCDataModule::Flight FlightInstance(i,p5, "** /Europe/Italy/Sicilia partition $$"); + dwsicilia << FlightInstance; + std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Sicilia Region " << std::endl; + + dds_sleepfor (DDS_MSECS (500)); + } + + for (int i = 25; i < 30; i++) { + ATCDataModule::Position p6(i+22, i+20, i+930 ); + ATCDataModule::Flight FlightInstance(i,p6, "** /Europe/Netherlands/Zeeland partition &&"); + dwzeeland << FlightInstance; + std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Netherlands/Zeeland Region " << std::endl; + + dds_sleepfor (DDS_MSECS (500)); + } + + for (int i = 30; i < 35; i++) { + ATCDataModule::Position p7(i+22, i+20, i+930 ); + ATCDataModule::Flight FlightInstance(i,p7, "** /Europe/Netherlands/Drenthe partition &&"); + dwdrenthe << FlightInstance; + std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Netherlands/Drenthe Region " << std::endl; + + dds_sleepfor (DDS_MSECS (500)); + } + + + dds_sleepfor (DDS_MSECS (5000)); + return 0; +} + diff --git a/examples/ATC/subscriber.cpp b/examples/ATC/subscriber.cpp new file mode 100644 index 00000000..a31912df --- /dev/null +++ b/examples/ATC/subscriber.cpp @@ -0,0 +1,86 @@ +/* CycloneDDS isoC++ example + * + * Copyright(c) 2006 to 2018 ADLINK Technology Limited and others + * This program and the accompanying materials are made available under the + * terms of the Eclipse Public License v. 2.0 which is available at + * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License v. 1.0 which is available at + * http://www.eclipse.org/org/documents/edl-v10.php. + * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause + * + */ + +#include +#include "ATCDataModel_DCPS.hpp" + +// ********************* Subscriber program : Data Pooling Style with the use of the Partition (QoS) ********************* + +int main(int argc, char* argv[]) +{ + std::cout << " Cyclone- ATC Subscriber, Flight Visualiser per Country or Region *** " << std::endl; + + + /** A domain participant and topic are created identically as in the ::publisher */ + dds::domain::DomainParticipant dp(0); + dds::topic::qos::TopicQos topicQos = dp.default_topic_qos(); + dds::topic::Topic topic(dp, "FlightData", topicQos); + + /** A dds::pub::Sub is created on the domain participant. */ + std::string PartitionName; + + + if(argc<2) + { + + std::cout << "=< Specify the Region Name (Partition) , a regular expression with * or ? " << std::endl; + std::cout << "=< for examples :*;/* ; /E*; /Europe/*; or ..." << std::endl; + std::cout << "=< : /Europe/Italy/*; /Europe/Italy/Sardegna; /Europe/Italy/Sicilia; /Europe/Netherlands/*, ..." << std::endl; + std::cout << "=< Enter the Region Name or Expression:" << std::endl; + + std::cin >> PartitionName; + std::cout << " Thanks !" << std::endl; + + } + else{ + + PartitionName=argv[1]; + + } + //std::cout << " The partition is..:" << PartitionName < dr(sub, topic, drqos); + + bool sampleReceived = false; + // The Subscriber is going to wait during 120 seconds then leaves , to allow receiving all the instances and their samples + int count = 0; + do + { + dds::sub::LoanedSamples samples = dr.take(); + for (dds::sub::LoanedSamples::const_iterator sample = samples.begin(); sample < samples.end(); ++sample) + { + if (sample->info().valid()) + { + std::cout << "=== [Flight Visualiser] Flight with ID :" << sample->data().ID() <<" Visualized"<data().CurrentRegion() << "\"" << std::endl; + sampleReceived = true; + } + else { + // std::cout << "data disposed, explicitely or the DW lost his liveliness" << std::endl; + } + } + + dds_sleepfor (DDS_MSECS (1)); + ++count; + } while (count < 120000 ) ; + + + if (!sampleReceived) + { + std::cerr << "Warning: Waited too long (120 seconds) but no sample received" << std::endl; + } + return 0; +}