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implement atc example
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‎examples/CMakeLists.txt‎

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COMPONENT dev)
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add_subdirectory(roundtrip)
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install(
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FILES atc/publisher.cpp
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atc/subscriber.cpp
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atc/ATCDataModel.idl
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atc/CMakeLists.txt
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atc/readme.rst
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DESTINATION "${CMAKE_INSTALL_EXAMPLESDIR}/atc"
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COMPONENT dev)
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add_subdirectory(atc)

‎examples/atc/ATCDataModel.idl‎

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/*
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* Copyright(c) 2006 to 2020 ZettaScale Technology and others
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*
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* This program and the accompanying materials are made available under the
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* terms of the Eclipse Public License v. 2.0 which is available at
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* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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* v. 1.0 which is available at
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* http://www.eclipse.org/org/documents/edl-v10.php.
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*
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* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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*/
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module ATCDataModule
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{
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struct Position
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{
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short x; // latitude
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short y; // longitude
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short z; // altitude
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};
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struct Flight
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{
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/** Flight Call ID */
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long ID; //@Key
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Position pos;
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// float Speed;
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/** Current Region we are flying into*/
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string CurrentRegion;
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};
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#pragma keylist Flight ID
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};

‎examples/atc/CMakeLists.txt‎

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#
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# Copyright(c) 2020 to 2022 ZettaScale Technology and others
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#
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# This program and the accompanying materials are made available under the
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# terms of the Eclipse Public License v. 2.0 which is available at
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# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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# v. 1.0 which is available at
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# http://www.eclipse.org/org/documents/edl-v10.php.
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#
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# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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#
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cmake_minimum_required(VERSION 3.16)
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project(atc LANGUAGES C CXX)
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set(CMAKE_CXX_STANDARD 17)
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if(NOT TARGET CycloneDDS-CXX::ddscxx)
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find_package(CycloneDDS-CXX REQUIRED)
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endif()
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idlcxx_generate(TARGET ATCDataModel FILES ATCDataModel.idl WARNINGS no-implicit-extensibility)
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add_executable(pubATC publisher.cpp)
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add_executable(subATC subscriber.cpp)
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# Link both executables to idl data type library and ddscxx.
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target_link_libraries(pubATC CycloneDDS-CXX::ddscxx ATCDataModel)
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target_link_libraries(subATC CycloneDDS-CXX::ddscxx ATCDataModel)
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# Disable the static analyzer in GCC to avoid crashing the GNU C++ compiler
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# on Azure Pipelines
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if(DEFINED ENV{SYSTEM_TEAMFOUNDATIONSERVERURI})
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if(CMAKE_C_COMPILER_ID STREQUAL "GNU" AND ANALYZER STREQUAL "on")
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target_compile_options(pubATC PRIVATE -fno-analyzer)
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target_compile_options(subATC PRIVATE -fno-analyzer)
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endif()
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endif()
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set_property(TARGET pubATC PROPERTY CXX_STANDARD ${cyclonedds_cpp_std_to_use})
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set_property(TARGET subATC PROPERTY CXX_STANDARD ${cyclonedds_cpp_std_to_use})

‎examples/atc/publisher.cpp‎

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/*
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* Copyright(c) 2006 to 2020 ZettaScale Technology and others
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*
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* This program and the accompanying materials are made available under the
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* terms of the Eclipse Public License v. 2.0 which is available at
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* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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* v. 1.0 which is available at
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* http://www.eclipse.org/org/documents/edl-v10.php.
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*
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* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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*/
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#include <iostream>
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#include "dds/dds.hpp"
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#include "ATCDataModel.hpp"
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int main() {
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std::cout << "Cyclone- ATC Pub" << std::endl;
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/** A dds::domain::DomainParticipant is created for the default domain. */
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dds::domain::DomainParticipant dp(0);
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dds::topic::qos::TopicQos topicQos = dp.default_topic_qos();
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/** A dds::topic::Topic is created for our sample type on the domain participant. */
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dds::topic::Topic<ATCDataModule::Flight> topic(dp, "FlightData", topicQos);
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/** 5 dds Publishers are associated to 5 different partitions. */
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dds::pub::qos::PublisherQos PubGotalandQoS = dp.default_publisher_qos();
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dds::pub::qos::PublisherQos PubSardegnaQoS = dp.default_publisher_qos();
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dds::pub::qos::PublisherQos PubNorrlandQoS = dp.default_publisher_qos();
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dds::pub::qos::PublisherQos PubLombardiaQoS = dp.default_publisher_qos();
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dds::pub::qos::PublisherQos pubSiciliaQoS = dp.default_publisher_qos();
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dds::pub::qos::PublisherQos pubZeelandQoS = dp.default_publisher_qos();
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dds::pub::qos::PublisherQos pubDrentheQoS = dp.default_publisher_qos();
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PubGotalandQoS << dds::core::policy::Partition("/Europe/Sweden/Gotaland");
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PubNorrlandQoS << dds::core::policy::Partition("/Europe/Sweden/Norrland");
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PubSardegnaQoS << dds::core::policy::Partition("/Europe/Italy/Sardegna");
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PubLombardiaQoS << dds::core::policy::Partition("/Europe/Italy/Lombardia");
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pubSiciliaQoS << dds::core::policy::Partition("/Europe/Italy/Sicilia");
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pubZeelandQoS << dds::core::policy::Partition("/Europe/Netherlands/Zeeland");
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pubDrentheQoS << dds::core::policy::Partition("/Europe/Netherlands/Drenthe");
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dds::pub::Publisher pubGotaland(dp, PubGotalandQoS);
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dds::pub::Publisher pubNorrland(dp, PubNorrlandQoS);
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dds::pub::Publisher pubSardegna(dp, PubSardegnaQoS);
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dds::pub::Publisher pubLombardia(dp, PubLombardiaQoS);
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dds::pub::Publisher pubSicilia(dp, pubSiciliaQoS);
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dds::pub::Publisher pubZeeland(dp, pubZeelandQoS);
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dds::pub::Publisher pubDrenthe(dp, pubDrentheQoS);
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/** A dds::pub::DataWriter is created on the Publisher & Topic with the associated Partition Qos. */
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dds::pub::qos::DataWriterQos dwqos = topic.qos();
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dds::pub::DataWriter<ATCDataModule::Flight> dwGotaland(pubGotaland, topic, dwqos);
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dds::pub::DataWriter<ATCDataModule::Flight> dwNorrland(pubNorrland, topic, dwqos);
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dds::pub::DataWriter<ATCDataModule::Flight> dwSardegna(pubSardegna, topic, dwqos);
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dds::pub::DataWriter<ATCDataModule::Flight> dwLombardia(pubLombardia, topic, dwqos);
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dds::pub::DataWriter<ATCDataModule::Flight> dwsicilia(pubSicilia, topic, dwqos);
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dds::pub::DataWriter<ATCDataModule::Flight> dwzeeland(pubZeeland, topic, dwqos);
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dds::pub::DataWriter<ATCDataModule::Flight> dwdrenthe(pubDrenthe, topic, dwqos);
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// std::cout << "@ With ddsi, Let the Apps discover each other a bit ZZZzzz:" << std::endl;
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//dds_sleepfor (DDS_MSECS (5000));
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std::cout << "===> Waiting for a subscriber. " << std::endl;
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while (dwdrenthe.publication_matched_status().current_count() == 0 &&
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dwzeeland.publication_matched_status().current_count() == 0 &&
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dwsicilia.publication_matched_status().current_count() == 0 &&
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dwLombardia.publication_matched_status().current_count() == 0 &&
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dwSardegna.publication_matched_status().current_count() == 0 &&
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dwNorrland.publication_matched_status().current_count() == 0 &&
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dwGotaland.publication_matched_status().current_count() == 0)
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{
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dds_sleepfor (DDS_MSECS (20));
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}
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std::cout << "===> Found a matching one ... " << std::endl;
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for (int16_t i = 0; i < 5; i++) {
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ATCDataModule::Position p1(i+800, i+20, i+93 );
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ATCDataModule::Flight FlightInstance(i, p1,"** /Europe/Sweden/Gotaland partition ** ");
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dwGotaland << FlightInstance;
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std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Sweden/Gotaland Region " << std::endl;
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dds_sleepfor (DDS_MSECS (500));
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}
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for (int16_t i = 5; i < 10; i++) {
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ATCDataModule::Position p2(i+7900, i+20, i+93 );
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ATCDataModule::Flight FlightInstance(i, p2, "** /Europe/Sweden/Norrland partition ++");
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dwNorrland << FlightInstance;
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std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Sweden/Norrland Region " << std::endl;
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dds_sleepfor (DDS_MSECS (500));
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}
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for (int16_t i = 10; i < 15; i++) {
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ATCDataModule::Position p3(i+800, i+20, i+93 );
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ATCDataModule::Flight FlightInstance(i, p3, "** /Europe/Italy/Sardegna partition &&");
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dwSardegna << FlightInstance;
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std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Sardegna Region " << std::endl;
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dds_sleepfor (DDS_MSECS (500));
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}
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for (int16_t i = 15; i < 20; i++) {
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ATCDataModule::Position p4(i+99, i+97, i+93 );
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ATCDataModule::Flight FlightInstance(i, p4, "** /Europe/Italy/Lombardia partition %%");
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dwLombardia << FlightInstance;
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std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Lombardia Region " << std::endl;
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dds_sleepfor (DDS_MSECS (500));
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}
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for (int16_t i = 20; i < 25; i++) {
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ATCDataModule::Position p5(i+242, i+240, i+930 );
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ATCDataModule::Flight FlightInstance(i,p5, "** /Europe/Italy/Sicilia partition $$");
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dwsicilia << FlightInstance;
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std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Sicilia Region " << std::endl;
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dds_sleepfor (DDS_MSECS (500));
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}
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for (int16_t i = 25; i < 30; i++) {
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ATCDataModule::Position p6(i+22, i+20, i+930 );
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ATCDataModule::Flight FlightInstance(i,p6, "** /Europe/Netherlands/Zeeland partition &&");
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dwzeeland << FlightInstance;
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std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Netherlands/Zeeland Region " << std::endl;
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dds_sleepfor (DDS_MSECS (500));
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}
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for (int16_t i = 30; i < 35; i++) {
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ATCDataModule::Position p7(i+22, i+20, i+930 );
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ATCDataModule::Flight FlightInstance(i,p7, "** /Europe/Netherlands/Drenthe partition &&");
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dwdrenthe << FlightInstance;
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std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Netherlands/Drenthe Region " << std::endl;
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dds_sleepfor (DDS_MSECS (500));
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}
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dds_sleepfor (DDS_MSECS (5000));
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return 0;
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}

‎examples/atc/readme.rst‎

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..
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Copyright(c) 2006 to 2022 ZettaScale Technology and others
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This program and the accompanying materials are made available under the
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terms of the Eclipse Public License v. 2.0 which is available at
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http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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v. 1.0 which is available at
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http://www.eclipse.org/org/documents/edl-v10.php.
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SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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ATC
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==========
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Description
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***********
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This example mimics, in its most simplistic form, an Air Traffic Controller System , made of two subsystems:
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A **Radar System** that, detects and publishes Flights in different region in Europe, within a dedicated Global data space,
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and an Air **Flight Visualiser system** that can build *different views* of that space, either Per country, Per Region or Per the Entire continent.
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Design
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******
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The Radar system is modelled by the Publishing program ( **pubATC** ). This program
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- Get involved in the European Global Data Space DDS domain (domainId=0),
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- Creates 6 DDS partitions that corresponds to the 6 regions shown on the Map (see Fig below), then it
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- Publishes 5 Flights with different Call signs (CIDs) as well as their respective positions .
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The European Global Data Space is organized hierarchically following this pattern: `/<Continent>/<Country>/<Region>`.
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The Air Flight Visualizer is modelled by the Subscribing program (**subATC**).
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This program allows you to Subscribe to a specific region, for example, to the region `/Europe/Sweden/Norrland` or
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at the scale of the country (`/Europe/Italy/*`) or the scale of the entire continent (`/*`), Regular expressions can be used to specify the scopes .
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The subATC program will create one subscriber to get all the data corresponding to the view you are building using the DDS concept of Partition.
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The subATC program takes at most one argument. This argument specifies the absolute name of the region i.e `/<Continent>/<Country>/<Region>`.
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Both programs use the default DDS QoS but the PartitionQoS.
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The example helps you understand the concept of partition in DDS and how it can be used to creates different
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views on the data or split the dds domain in smaller logical groups.
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Running the examples
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********************
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It is recommended to run one Publishing program (pubATC) and several Subscribing programs in different terminals .
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**Scenario1** : Subscribing to all the flights to have a global view on all the flights
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`./pubATC`
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`./subATC "*"`
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**Scenario2** : Gross grain Subscription, subscribe to an entire country view
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`./pubATC`
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`./subATC /Europe/Netherlands/*`
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**Scenario3** : Fine grain Subscription, subscribe to a give region
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`./pubATC`
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`./subATC /Europe/Netherlands/Zeeland`
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‎examples/atc/subscriber.cpp‎

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/*
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* Copyright(c) 2006 to 2020 ZettaScale Technology and others
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*
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* This program and the accompanying materials are made available under the
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* terms of the Eclipse Public License v. 2.0 which is available at
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* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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* v. 1.0 which is available at
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* http://www.eclipse.org/org/documents/edl-v10.php.
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*
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* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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*/
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#include<iostream>
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#include "dds/dds.hpp"
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#include "ATCDataModel.hpp"
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int main(int argc, char* argv[]) {
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std::cout << " Cyclone- ATC Subscriber, Flight Visualiser per Country or Region *** " << std::endl;
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/** A domain participant and topic are created identically as in the ::publisher */
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dds::domain::DomainParticipant dp(0);
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dds::topic::qos::TopicQos topicQos = dp.default_topic_qos();
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dds::topic::Topic<ATCDataModule::Flight> topic(dp, "FlightData", topicQos);
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/** A dds::pub::Sub is created on the domain participant. */
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std::string PartitionName;
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if (argc<2) {
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std::cout << "=< Specify the Region Name (Partition) , a regular expression with * or ? " << std::endl;
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std::cout << "=< for examples :*;/* ; /E*; /Europe/*; or ..." << std::endl;
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std::cout << "=< : /Europe/Italy/*; /Europe/Italy/Sardegna; /Europe/Italy/Sicilia; /Europe/Netherlands/*, ..." << std::endl;
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std::cout << "=< Enter the Region Name or Expression:" << std::endl;
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std::cin >> PartitionName;
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std::cout << " Thanks !" << std::endl;
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} else {
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PartitionName=argv[1];
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}
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//std::cout << " The partition is..:" << PartitionName <<std::endl;
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dds::sub::qos::SubscriberQos subQos = dp.default_subscriber_qos() << dds::core::policy::Partition(PartitionName);;
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dds::sub::Subscriber sub(dp, subQos);
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/** A dds::sub::DataReader is created on the Subscriber & Topic with the DataReaderQos. */
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dds::sub::qos::DataReaderQos drqos = topic.qos();
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dds::sub::DataReader<ATCDataModule::Flight> dr(sub, topic, drqos);
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bool sampleReceived = false;
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// The Subscriber is going to wait during 120 seconds then leaves , to allow receiving all the instances and their samples
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int count = 0;
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do {
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dds::sub::LoanedSamples<ATCDataModule::Flight> samples = dr.take();
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for (dds::sub::LoanedSamples<ATCDataModule::Flight>::const_iterator sample = samples.begin(); sample < samples.end(); ++sample) {
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if (sample->info().valid()) {
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std::cout << "=== [Flight Visualiser] Flight with ID :" << sample->data().ID() <<" Visualized"<<std::endl;
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std::cout << " In the Region of: \"" << sample->data().CurrentRegion() << "\"" << std::endl;
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sampleReceived = true;
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} else {
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// std::cout << "data disposed, explicitely or the DW lost his liveliness" << std::endl;
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}
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}
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dds_sleepfor (DDS_MSECS (1));
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++count;
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} while (count < 120000 ) ;
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if (!sampleReceived) {
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std::cerr << "Warning: Waited too long (120 seconds) but no sample received" << std::endl;
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}
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return 0;
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}

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