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# RTI Connext DDS Micro 2.4.12
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# EXAMPLE: Using DPSE and the C API in a Win64 environment
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This project creates two executables that each publish and subscribe to a common
Topic. The Topic is based on a simple IDL-defined data type (see example.idl.) 
The purpose of this example is to demonstrate how static endpoint discovery 
(DPSE) can be used between DDS applications and endpoints.

Note that actual safety-certified libraries (ISO26262, for example) will only 
implement the static DPSE discovery plugin, so DPDE is not an option. 

Source Overview
===============

A simple "example" type, containing a message string, is defined in 
example.idl.

For the type to be useable by Connext Micro, type-support files must be 
generated that implement a type-plugin interface.  rtiddsgen can be invoked 
manually, with an example command like this:

    %RTIMEHOME%/rtiddsgen/scripts/rtiddsgen -micro -language C -create typefiles ./example.idl

The generated source files are example.c, exampleSupport.c, and 
examplePlugin.c. Associated header files are also generated.
 
The DataWriter and DataReader for this type are created and used in 
cpuA.c and cpuB.c. The applications are *nearly* identical, with each one having
its own DomainParticipant, Publisher, Subscriber, DataWriter, and DataReader.
The intent is that the executables may run independently of each other.


Generated Files Overview
========================

cpuA.c:
One node in the system, that both publishes and subscribes to the same DDS 
Topic.  

cpuB.c:
The second node in the system, that also publishes and subscribes to the same 
DDS Topic. 

examplePlugin.c:
This file creates the plugin for the example data type.  This file contains 
the code for serializing and deserializing the example type, creating, 
copying, printing and deleting the example type, determining the size of the 
serialized type, and handling hashing a key, and creating the plug-in.

exampleSupport.c
This file defines the example type and its typed DataWriter, DataReader, and 
Sequence.

example.c
This file contains the APIs for managing the example type. 


Compiling w/ cmake
==================

The following assumptions are made:

-   The environment variable RTIMEHOME is set to the Connext Micro installation 
    directory. 
-   Micro libraries exist in your installation for the architecture in question. 
    If you are unsure if this is the case, please consult the product 
    documentation.
    https://community.rti.com/static/documentation/connext-micro/2.4.12/doc/html/usersmanual/index.html
-   Micro libraries have already been built for x64Win64VS2017    

On Windows 
-----------------
    > cd your\project\directory 
    > %RTIMEHOME%\resource\scripts\rtime-make --config Release --build --name x64Win64VS2017 --target Windows --source-dir . -G "Visual Studio 15 2017 Win64" --delete

The executables can be found in the objs\<architecture>\Release directory

Note that there a few variables at the top of main() in both cpuA.c and cpuB.c 
that may need to be changed to match your system:

    // user-configurable values
    char *peer = "127.0.0.1";
    char *loopback_name = "Loopback Pseudo-Interface 1";
    char *eth_nic_name = "Wireless LAN adapter Wi-Fi";
    int domain_id = 100;

By default, the remote peer is set to the loopback address (allowing the 
examples to discover each other on the same machine only) and DDS Domain 100 is 
used. The names of the network interfaces should match the actual host where the
example is running (the defaults work for a Windows 10 machine.)


Running cpuA.exe and cpuB.exe
================================================

Using a Windows 10 system as the example, run cpuA.exe in one terminal with the 
command:

    > objs\x64Win64VS2017\Release\cpuA.exe 

And run cpuB.exe in another terminal with the command:

    > objs\x64Win64VS2017\Release\cpuB.exe