fastdds怎么在局域网内广播
时间: 2024-02-01 22:15:35 浏览: 29
Fast DDS 是一款高性能、开源的 DDS 实现,可以用于局域网内的数据通信。在局域网内广播时,可以借助 Fast DDS 的多播功能来实现。
以下是使用 Fast DDS 进行局域网内广播的步骤:
1. 创建 DomainParticipant 对象。
```cpp
eprosima::fastrtps::ParticipantAttributes participant_attr;
participant_attr.rtps.builtin.domainId = domain_id;
auto participant = eprosima::fastrtps::Domain::createParticipant(participant_attr);
```
2. 创建 Publisher 对象。
```cpp
eprosima::fastrtps::PublisherAttributes publisher_attr;
publisher_attr.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
publisher_attr.topic.topicDataType = "MyDataType";
publisher_attr.topic.topicName = "MyTopic";
auto publisher = participant->createPublisher(publisher_attr);
```
3. 创建数据类型。
```cpp
eprosima::fastrtps::TopicAttributes topic_attr;
topic_attr.topicDataType = "MyDataType";
topic_attr.topicName = "MyTopic";
auto topic = participant->createTopic(topic_attr);
```
4. 发布数据。
```cpp
MyDataType data;
// 设置数据
publisher->write((void*)&data);
```
5. 启用多播功能。
```cpp
eprosima::fastrtps::rtps::Locator_t multicast_locator;
multicast_locator.kind = eprosima::fastrtps::rtps::LOCATOR_KIND_UDPv4;
inet_pton(AF_INET, "239.255.0.1", multicast_locator.address);
multicast_locator.port = 1234;
eprosima::fastrtps::PublisherAttributes publisher_attr;
publisher_attr.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
publisher_attr.qos.m_publishMode.flowController = "Fifo";
publisher_attr.qos.m_publishMode.maxFlowCount = 10;
publisher_attr.qos.m_publishMode.unicastLocatorList.push_back(unicast_locator);
publisher_attr.qos.m_publishMode.multicastLocatorList.push_back(multicast_locator);
publisher_attr.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
auto publisher = participant->createPublisher(publisher_attr);
```
以上就是使用 Fast DDS 在局域网内进行广播的基本步骤,其中需要注意的是,在启用多播功能时需要设置正确的组播地址和端口号。