fastdds实现set get的通信方式 c++示例代码

以下是使用 Fast DDS 实现 set 和 get 方法通信的 C++ 示例代码：

#include <fastrtps/attributes/ParticipantAttributes.h>
#include <fastrtps/attributes/PublisherAttributes.h>
#include <fastrtps/attributes/SubscriberAttributes.h>
#include <fastrtps/Domain.h>
#include <fastrtps/publisher/Publisher.h>
#include <fastrtps/subscriber/Subscriber.h>
#include <fastrtps/xmlparser/XMLProfileManager.h>

using namespace eprosima::fastrtps;

// 定义数据类型
struct MyDataType {
    int32_t id;
    std::string name;
};

class MyReaderListener : public SubscriberListener {
public:
    void onNewDataMessage(Subscriber *sub) override {
        MyDataType data;
        SampleInfo_t info;
        if (sub->takeNextData(&data, &info)) {
            std::cout << "Received data: " << data.name << std::endl;
        }
    }
};

class MyWriter {
public:
    MyWriter() {
        // 创建参与者
        ParticipantAttributes participantAttrs;
        participantAttrs.rtps.builtin.domainId = 0;
        participantAttrs.rtps.builtin.leaseDuration = c_TimeInfinite;
        participantAttrs.rtps.setName("MyParticipant");
        participant = Domain::createParticipant(participantAttrs);
        if (participant == nullptr) {
            std::cout << "Error creating participant" << std::endl;
            return;
        }

        // 创建发布者
        PublisherAttributes publisherAttrs;
        publisherAttrs.topic.topicDataType = "MyDataType";
        publisherAttrs.topic.topicName = "MyTopic";
        publisher = Domain::createPublisher(participant, publisherAttrs, nullptr);
        if (publisher == nullptr) {
            std::cout << "Error creating publisher" << std::endl;
            return;
        }
    }

    void setData(const MyDataType& data) {
        // 发布数据
        publisher->write(&data);
    }

private:
    Participant *participant;
    Publisher *publisher;
};

class MyReader {
public:
    MyReader() {
        // 创建参与者
        ParticipantAttributes participantAttrs;
        participantAttrs.rtps.builtin.domainId = 0;
        participantAttrs.rtps.builtin.leaseDuration = c_TimeInfinite;
        participantAttrs.rtps.setName("MyParticipant");
        participant = Domain::createParticipant(participantAttrs);
        if (participant == nullptr) {
            std::cout << "Error creating participant" << std::endl;
            return;
        }

        // 创建订阅者
        SubscriberAttributes subscriberAttrs;
        subscriberAttrs.topic.topicDataType = "MyDataType";
        subscriberAttrs.topic.topicName = "MyTopic";
        listener = new MyReaderListener();
        subscriber = Domain::createSubscriber(participant, subscriberAttrs, listener);
        if (subscriber == nullptr) {
            std::cout << "Error creating subscriber" << std::endl;
            return;
        }
    }

    MyDataType getData() {
        // 从订阅者中获取数据
        MyDataType data;
        SampleInfo_t info;
        if (subscriber->takeNextData(&data, &info)) {
            return data;
        }
        return {};
    }

private:
    Participant *participant;
    Subscriber *subscriber;
    MyReaderListener *listener;
};

int main() {
    // 创建数据写入者和读取者
    MyWriter writer;
    MyReader reader;

    // 设置数据并发布
    MyDataType data;
    data.id = 1;
    data.name = "Alice";
    writer.setData(data);

    // 获取数据并打印
    MyDataType receivedData = reader.getData();
    std::cout << "Received data: " << receivedData.name << std::endl;

    return 0;
}

以上代码演示了如何使用 Fast DDS 创建数据写入者和读取者，并通过发布/订阅模型实现数据的 set 和 get。在示例中，数据类型为 `MyDataType`，包括一个 `id` 和一个 `name` 字段，数据写入者使用 `MyWriter` 类，数据读取者使用 `MyReader` 类，数据写入者发布数据，数据读取者从订阅者中获取数据，并打印接收到的数据。