dgochenour / dds_micro_labs_c

Connext DDS Micro hands-on labs (in C)

Lab 1. Out Of The Box

• Create an IDL file, then generate code
• In the publisher code, give the sample some values, just so they are not empty

Lab 2. Deadline QoS

• Adjust the DR QoS to add a .5s deadline (don't change DW yet)
• Discuss why this does not work (QoS mismatch)
• Fix the DW QoS and rerun, showing that data now flows
• Note that we are actually not sending within the deadline period... add listener

Lab 3. Reporting A QoS Mismatch

• In the publisher code, add a listener to report on Offered QoS incompatability
• Set the DW deadline period to be 1.5s to cause a QoS mismatch
  • look up DDS_QosPolicyId_t in the docs and discuss

Lab 4. Load user type into Admin Console

• set DR and DW deadline periods to 1.5s to eliminate match errors
• create XML type representation and load into Admin Console
• open the tool and note how all DWs are writing to the same instance
  • but it doesn't work! (change the type name in quickstartApplication.c)

Lab 5. Switch to a keyed type, and define topic name in IDL

• modify the IDL to add //@key to the "id" member
• add a constant for the topic name
• call rtiddsgen again to impose the change (remember: "update", not "create")
• modify pub and sub code to use this constant

Lab 6. Ownership

• use admin console to view that different instances are being recognized
• add exclusive ownership and ownership (different students use different strengths. Keyed "id" value should be set to the same )

Lab 7. Waitsets

• modify the subscriber code to use a waitset to be notified of data
• "recycle" the listener callback and call it when the WaitSet returns with data.
• don't forget to remove the on_data_available listener code

BONUS LABS

Lab - FlatData

• create a fresh user project using the flatdata idl
  • $RTIMEHOME/rtiddsgen/scripts/rtiddsgen -micro -language C++ -create typefiles -create examplefiles -create makefiles ./quickstart.idl
  • on the publisher, modify the writer code to get offsets and set sample values
  • on the subscriber, modify the DR listener to get offsets and print a couple sample values