Add Air Traffic Control (ATC) example

examples/CMakeLists.txt

@@ -49,3 +49,14 @@ install(
   COMPONENT dev)
 
 add_subdirectory(roundtrip)
+
+install(
+  FILES atc/publisher.cpp
+        atc/subscriber.cpp
+        atc/ATCDataModel.idl
+        atc/CMakeLists.txt
+        atc/readme.rst
+  DESTINATION "${CMAKE_INSTALL_EXAMPLESDIR}/atc"
+  COMPONENT dev)
+
+add_subdirectory(atc)

examples/atc/ATCDataModel.idl

@@ -0,0 +1,32 @@
+/*
+ * Copyright(c) 2006 to 2020 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+module ATCDataModule
+{
+  struct Position
+  {
+    short x; // latitude 
+    short y; // longitude 
+    short z; // altitude
+  };
+
+   struct Flight
+   {
+      /** Flight Call ID */
+      long ID; //@Key
+
+      Position pos;
+      // float Speed; 
+      /**  Current Region we are flying into*/
+      string CurrentRegion; 
+   };
+   #pragma keylist Flight ID
+};

examples/atc/CMakeLists.txt

@@ -0,0 +1,40 @@
+#
+# Copyright(c) 2020 to 2022 ZettaScale Technology and others
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License v. 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+# v. 1.0 which is available at
+# http://www.eclipse.org/org/documents/edl-v10.php.
+#
+# SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+#
+cmake_minimum_required(VERSION 3.16)
+project(atc LANGUAGES C CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+
+if(NOT TARGET CycloneDDS-CXX::ddscxx)
+  find_package(CycloneDDS-CXX REQUIRED)
+endif()
+
+idlcxx_generate(TARGET ATCDataModel FILES ATCDataModel.idl WARNINGS no-implicit-extensibility)
+
+add_executable(pubATC publisher.cpp)
+add_executable(subATC subscriber.cpp)
+
+# Link both executables to idl data type library and ddscxx.
+target_link_libraries(pubATC CycloneDDS-CXX::ddscxx ATCDataModel)
+target_link_libraries(subATC CycloneDDS-CXX::ddscxx ATCDataModel)
+
+# Disable the static analyzer in GCC to avoid crashing the GNU C++ compiler
+# on Azure Pipelines
+if(DEFINED ENV{SYSTEM_TEAMFOUNDATIONSERVERURI})
+  if(CMAKE_C_COMPILER_ID STREQUAL "GNU" AND ANALYZER STREQUAL "on")
+    target_compile_options(pubATC PRIVATE -fno-analyzer)
+    target_compile_options(subATC PRIVATE -fno-analyzer)
+  endif()
+endif()
+
+set_property(TARGET pubATC PROPERTY CXX_STANDARD ${cyclonedds_cpp_std_to_use})
+set_property(TARGET subATC PROPERTY CXX_STANDARD ${cyclonedds_cpp_std_to_use})

examples/atc/publisher.cpp

@@ -0,0 +1,144 @@
+/*
+ * Copyright(c) 2006 to 2020 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#include <iostream>
+#include "dds/dds.hpp"
+#include "ATCDataModel.hpp"
+
+
+int main() {
+    std::cout << "Cyclone- ATC Pub" << std::endl;
+
+    /** A dds::domain::DomainParticipant is created for the default domain. */
+    dds::domain::DomainParticipant dp(0);
+    dds::topic::qos::TopicQos topicQos = dp.default_topic_qos();
+
+    /** A dds::topic::Topic is created for our sample type on the domain participant. */
+    dds::topic::Topic<ATCDataModule::Flight> topic(dp, "FlightData", topicQos);
+
+    /** 5 dds Publishers are associated to 5 different partitions. */
+    dds::pub::qos::PublisherQos PubGotalandQoS = dp.default_publisher_qos();
+    dds::pub::qos::PublisherQos PubSardegnaQoS = dp.default_publisher_qos();
+    dds::pub::qos::PublisherQos PubNorrlandQoS = dp.default_publisher_qos();
+    dds::pub::qos::PublisherQos PubLombardiaQoS = dp.default_publisher_qos();
+    dds::pub::qos::PublisherQos pubSiciliaQoS = dp.default_publisher_qos();
+    dds::pub::qos::PublisherQos pubZeelandQoS = dp.default_publisher_qos();
+    dds::pub::qos::PublisherQos pubDrentheQoS = dp.default_publisher_qos();
+
+    PubGotalandQoS  <<  dds::core::policy::Partition("/Europe/Sweden/Gotaland");
+    PubNorrlandQoS  <<  dds::core::policy::Partition("/Europe/Sweden/Norrland");
+    PubSardegnaQoS  <<  dds::core::policy::Partition("/Europe/Italy/Sardegna");
+    PubLombardiaQoS <<  dds::core::policy::Partition("/Europe/Italy/Lombardia");
+    pubSiciliaQoS   <<  dds::core::policy::Partition("/Europe/Italy/Sicilia");
+    pubZeelandQoS   << dds::core::policy::Partition("/Europe/Netherlands/Zeeland");
+    pubDrentheQoS   << dds::core::policy::Partition("/Europe/Netherlands/Drenthe");
+
+    dds::pub::Publisher pubGotaland(dp, PubGotalandQoS);
+    dds::pub::Publisher pubNorrland(dp, PubNorrlandQoS);
+    dds::pub::Publisher pubSardegna(dp, PubSardegnaQoS);
+    dds::pub::Publisher pubLombardia(dp, PubLombardiaQoS);
+    dds::pub::Publisher pubSicilia(dp, pubSiciliaQoS);
+    dds::pub::Publisher pubZeeland(dp, pubZeelandQoS);
+    dds::pub::Publisher pubDrenthe(dp, pubDrentheQoS);
+
+    /** A dds::pub::DataWriter is created on the Publisher & Topic with the associated Partition Qos. */
+    dds::pub::qos::DataWriterQos dwqos = topic.qos();
+
+    dds::pub::DataWriter<ATCDataModule::Flight> dwGotaland(pubGotaland, topic, dwqos);
+    dds::pub::DataWriter<ATCDataModule::Flight> dwNorrland(pubNorrland, topic, dwqos);
+    dds::pub::DataWriter<ATCDataModule::Flight> dwSardegna(pubSardegna, topic, dwqos);
+    dds::pub::DataWriter<ATCDataModule::Flight> dwLombardia(pubLombardia, topic, dwqos);
+    dds::pub::DataWriter<ATCDataModule::Flight> dwsicilia(pubSicilia, topic, dwqos);
+    dds::pub::DataWriter<ATCDataModule::Flight> dwzeeland(pubZeeland, topic, dwqos); 
+    dds::pub::DataWriter<ATCDataModule::Flight> dwdrenthe(pubDrenthe, topic, dwqos); 
+
+     // std::cout << "@ With ddsi, Let the Apps discover each other a bit ZZZzzz:" << std::endl;
+    //dds_sleepfor (DDS_MSECS (5000));
+
+    std::cout << "===> Waiting for a subscriber. " << std::endl;
+    while (dwdrenthe.publication_matched_status().current_count() == 0 && 
+           dwzeeland.publication_matched_status().current_count() == 0 && 
+           dwsicilia.publication_matched_status().current_count() == 0 && 
+           dwLombardia.publication_matched_status().current_count() == 0 && 
+           dwSardegna.publication_matched_status().current_count() == 0 && 
+           dwNorrland.publication_matched_status().current_count() == 0 && 
+           dwGotaland.publication_matched_status().current_count() == 0) 
+    {
+        dds_sleepfor (DDS_MSECS (20));
+    }
+    std::cout << "===> Found a matching one ... " << std::endl;
+
+    for (int16_t i = 0; i < 5; i++) {
+        ATCDataModule::Position p1(i+800, i+20, i+93 );
+        ATCDataModule::Flight FlightInstance(i, p1,"** /Europe/Sweden/Gotaland partition ** ");
+        dwGotaland << FlightInstance;
+        std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in  the /Europe/Sweden/Gotaland  Region  " << std::endl;
+
+        dds_sleepfor (DDS_MSECS (500));
+    }
+
+    for (int16_t i = 5; i < 10; i++) {
+        ATCDataModule::Position p2(i+7900, i+20, i+93 );
+        ATCDataModule::Flight FlightInstance(i, p2, "** /Europe/Sweden/Norrland partition ++");
+        dwNorrland << FlightInstance;
+        std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in  the /Europe/Sweden/Norrland  Region  " << std::endl;
+
+        dds_sleepfor (DDS_MSECS (500));
+    }
+
+    for (int16_t i = 10; i < 15; i++) {
+         ATCDataModule::Position p3(i+800, i+20, i+93 );
+        ATCDataModule::Flight FlightInstance(i, p3, "** /Europe/Italy/Sardegna partition &&");
+        dwSardegna << FlightInstance;
+        std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Sardegna   Region  " << std::endl;
+
+        dds_sleepfor (DDS_MSECS (500));	
+    }
+
+    for (int16_t i = 15; i < 20; i++) {
+         ATCDataModule::Position p4(i+99, i+97, i+93 );
+        ATCDataModule::Flight FlightInstance(i, p4, "** /Europe/Italy/Lombardia partition %%");
+        dwLombardia << FlightInstance;
+        std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Lombardia  Region  " << std::endl;
+
+        dds_sleepfor (DDS_MSECS (500));
+    }
+
+    for (int16_t i = 20; i < 25; i++) {
+         ATCDataModule::Position p5(i+242, i+240, i+930 );
+        ATCDataModule::Flight FlightInstance(i,p5, "** /Europe/Italy/Sicilia partition $$");
+        dwsicilia << FlightInstance;
+        std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Italy/Sicilia    Region  " << std::endl;
+
+        dds_sleepfor (DDS_MSECS (500));
+    }
+
+    for (int16_t i = 25; i < 30; i++) {
+         ATCDataModule::Position p6(i+22, i+20, i+930 );
+        ATCDataModule::Flight FlightInstance(i,p6, "** /Europe/Netherlands/Zeeland partition &&");
+        dwzeeland << FlightInstance;
+        std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Netherlands/Zeeland    Region  " << std::endl;
+
+        dds_sleepfor (DDS_MSECS (500));
+    }
+
+    for (int16_t i = 30; i < 35; i++) {
+         ATCDataModule::Position p7(i+22, i+20, i+930 );
+        ATCDataModule::Flight FlightInstance(i,p7, "** /Europe/Netherlands/Drenthe partition &&");
+        dwdrenthe << FlightInstance;
+        std::cout << "=> [Radar Simulator] detecting FlightID: "<< FlightInstance.ID() << " in the /Europe/Netherlands/Drenthe    Region  " << std::endl;
+
+        dds_sleepfor (DDS_MSECS (500));
+    }
+
+    dds_sleepfor (DDS_MSECS (5000));
+    return 0;
+}

examples/atc/readme.rst

@@ -0,0 +1,69 @@
+..
+   Copyright(c) 2006 to 2022 ZettaScale Technology and others
+
+   This program and the accompanying materials are made available under the
+   terms of the Eclipse Public License v. 2.0 which is available at
+   http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+   v. 1.0 which is available at
+   http://www.eclipse.org/org/documents/edl-v10.php.
+
+   SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+
+ATC
+==========
+
+Description
+***********
+
+This example mimics, in its most simplistic form, an Air Traffic Controller System , made of two subsystems:
+
+A **Radar System** that, detects and publishes Flights in different region in Europe, within a dedicated Global data space, 
+and an Air **Flight Visualiser system** that can build *different views* of that space, either Per country, Per Region or Per the Entire continent.
+
+Design
+******
+
+The Radar system is modelled by the Publishing program ( **pubATC** ). This program
+
+- Get involved in the European Global Data Space DDS domain (domainId=0),
+- Creates 6 DDS partitions that corresponds to the 6 regions shown on the Map (see Fig below), then it
+- Publishes 5 Flights with different Call signs (CIDs) as well as their respective positions .
+
+The European Global Data Space is organized hierarchically following this pattern: `/<Continent>/<Country>/<Region>`.
+
+The Air Flight Visualizer is modelled by the Subscribing program (**subATC**).
+This program allows you to Subscribe to a specific region, for example, to the region `/Europe/Sweden/Norrland` or
+at the scale of the country (`/Europe/Italy/*`) or the scale of the entire continent (`/*`), Regular expressions can be used to specify the scopes .
+
+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.
+
+The subATC program takes at most one argument. This argument specifies the absolute name of the region i.e `/<Continent>/<Country>/<Region>`.
+
+Both programs use the default DDS QoS but the PartitionQoS.
+
+The example helps you understand the concept of partition in DDS and how it can be used to creates different 
+views on the data or split the dds domain in smaller logical groups.
+
+
+Running the examples
+********************
+
+It is recommended to run one Publishing program (pubATC) and several Subscribing programs in different terminals .
+
+**Scenario1** : Subscribing to all the flights to have a global view on all the flights
+
+`./pubATC`
+
+`./subATC "*"`
+
+**Scenario2**  : Gross grain Subscription, subscribe to an entire country view
+
+`./pubATC`
+
+`./subATC /Europe/Netherlands/*`
+
+**Scenario3**  : Fine grain Subscription, subscribe to a give region
+
+`./pubATC`
+
+`./subATC /Europe/Netherlands/Zeeland`

examples/atc/subscriber.cpp

@@ -0,0 +1,71 @@
+/*
+ * Copyright(c) 2006 to 2020 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+#include<iostream>
+#include "dds/dds.hpp"
+#include "ATCDataModel.hpp"
+
+
+int main(int argc, char* argv[]) {
+    std::cout << " Cyclone- ATC Subscriber, Flight Visualiser per Country or Region *** " << std::endl;
+
+    /** A domain participant and topic are created identically as in the ::publisher */
+    dds::domain::DomainParticipant dp(0);
+    dds::topic::qos::TopicQos topicQos = dp.default_topic_qos();
+    dds::topic::Topic<ATCDataModule::Flight> topic(dp, "FlightData", topicQos);
+
+    /** A dds::pub::Sub is created on the domain participant. */
+    std::string PartitionName;
+
+    if (argc<2) {
+        std::cout << "=< Specify the Region Name (Partition) , a regular expression with * or ? " << std::endl;
+        std::cout << "=< 	for examples :*;/* ; /E*; /Europe/*; or ..." << std::endl;
+        std::cout << "=<                   :  /Europe/Italy/*; /Europe/Italy/Sardegna; /Europe/Italy/Sicilia; /Europe/Netherlands/*, ..." << std::endl;
+        std::cout << "=<  Enter the Region Name or Expression:" << std::endl;
+
+        std::cin >> PartitionName;
+        std::cout << " Thanks !" << std::endl;
+    } else { 
+        PartitionName=argv[1];
+    }
+    //std::cout << " The partition is..:" << PartitionName <<std::endl;
+    dds::sub::qos::SubscriberQos  subQos = dp.default_subscriber_qos() << dds::core::policy::Partition(PartitionName);;
+    dds::sub::Subscriber sub(dp, subQos);
+
+    /** A dds::sub::DataReader is created on the Subscriber & Topic with the DataReaderQos. */
+    dds::sub::qos::DataReaderQos drqos = topic.qos();
+
+    dds::sub::DataReader<ATCDataModule::Flight> dr(sub, topic, drqos);
+
+    bool sampleReceived = false;
+    // The Subscriber is going to wait during 120 seconds then leaves , to allow receiving all the instances and their samples
+    int count = 0;
+    do {
+        dds::sub::LoanedSamples<ATCDataModule::Flight> samples = dr.take();
+        for (dds::sub::LoanedSamples<ATCDataModule::Flight>::const_iterator sample = samples.begin(); sample < samples.end(); ++sample) {
+            if (sample->info().valid()) {
+                std::cout << "=== [Flight Visualiser] Flight with ID :" << sample->data().ID() <<" Visualized"<<std::endl;
+                std::cout << "                        In the Region of: \"" << sample->data().CurrentRegion() << "\"" << std::endl;
+                sampleReceived = true;
+            } else {
+                // std::cout << "data disposed, explicitely or the DW lost his liveliness" << std::endl;
+            }
+        }
+
+        dds_sleepfor (DDS_MSECS (1));
+        ++count;
+    } while (count < 120000 ) ;
+
+    if (!sampleReceived) {
+        std::cerr << "Warning: Waited too long (120 seconds) but no sample received" << std::endl;
+    }
+    return 0;
+}