OpenDDS实现RTPS的C++例子

以下是一个简单的使用OpenDDS实现RTPS协议的C++例子：

#include <dds/DCPS/Service_Participant.h>
#include <dds/DCPS/Marked_Default_Qos.h>
#include <dds/DCPS/WaitSet.h>
#include <dds/DCPS/transport/framework/TheTransportFactory.h>
#include <dds/DCPS/transport/rtps_udp/RtpsUdp.h>
#include <dds/DCPS/transport/rtps_udp/RtpsUdpInst.h>
#include <dds/DCPS/transport/rtps_udp/RtpsUdpInst_rch.h>
#include <dds/DCPS/transport/rtps_udp/RtpsUdpDataLink_rch.h>
#include <dds/DCPS/RTPS/RtpsDiscovery.h>
#include <dds/DCPS/RTPS/RtpsDiscovery_rch.h>

#include "MyTypeSupportImpl.h"

int main(int argc, char** argv)
{
  DDS::DomainParticipantFactory_var dpf = TheParticipantFactoryWithArgs(argc, argv);

  DDS::DomainParticipant_var participant = dpf->create_participant(
    42,
    PARTICIPANT_QOS_DEFAULT,
    DDS::DomainParticipantListener::_nil(),
    OpenDDS::DCPS::DEFAULT_STATUS_MASK);

  MyTypeSupportImpl* ts_servant = new MyTypeSupportImpl();
  CORBA::String_var type_name = ts_servant->get_type_name();
  ts_servant->register_type(participant, type_name);

  DDS::Topic_var topic = participant->create_topic(
    "MyTopic",
    type_name,
    TOPIC_QOS_DEFAULT,
    DDS::TopicListener::_nil(),
    OpenDDS::DCPS::DEFAULT_STATUS_MASK);

  OpenDDS::RTPS::RtpsDiscovery_rch disc = new OpenDDS::RTPS::RtpsDiscovery("");
  OpenDDS::DCPS::TransportInst_rch inst = TheTransportFactory->create_inst("rtps_udp", "my_inst");
  OpenDDS::DCPS::RtpsUdpInst_rch rtps_inst = OpenDDS::DCPS::static_rchandle_cast<OpenDDS::DCPS::RtpsUdpInst>(inst);
  OpenDDS::DCPS::TransportConfig_rch config = TheTransportFactory->create_config("my_config");
  config->instances_.push_back(inst);
  OpenDDS::DCPS::TransportRegistry::instance()->bind_config(config, participant);

  OpenDDS::DCPS::TransportImpl_rch transport_impl = TheTransportFactory->create_transport_impl(1, OpenDDS::DCPS::AUTO_CONFIG);

  OpenDDS::DCPS::DataWriterImpl_rch writer_impl = dynamic_cast<OpenDDS::DCPS::DataWriterImpl*>(topic->create_datawriter(
    publisher,
    DATAWRITER_QOS_DEFAULT,
    DDS::DataWriterListener::_nil(),
    OpenDDS::DCPS::DEFAULT_STATUS_MASK).in());

  OpenDDS::DCPS::DataWriterImpl_rch reader_impl = dynamic_cast<OpenDDS::DCPS::DataWriterImpl*>(topic->create_datareader(
    subscriber,
    DATAREADER_QOS_DEFAULT,
    DDS::DataWriterListener::_nil(),
    OpenDDS::DCPS::DEFAULT_STATUS_MASK).in());

  while (true) {
    writer_impl->write(foo);
    reader_impl->read(foo_seq, params);
  }

  DDS::Duration_t timeout = { 60, 0 };
  participant->delete_contained_entities();
  dpf->delete_participant(participant);
  TheServiceParticipant->shutdown();

  return 0;
}

请注意，此示例仅用于演示如何使用OpenDDS实现RTPS协议。完整的应用程序需要更多的代码和配置。