// TODO Change api of set_IP4_address to support const string.
void RTPSAsSocketReader::init(std::string &ip, uint32_t port, uint16_t nmsgs)
{
RTPSParticipantAttributes pattr;
pattr.builtin.use_SIMPLE_RTPSParticipantDiscoveryProtocol = false;
pattr.builtin.use_WriterLivelinessProtocol = false;
pattr.builtin.domainId = (uint32_t)GET_PID() % 230;
pattr.participantID = 1;
participant_ = RTPSDomain::createParticipant(pattr);
//Create readerhistory
HistoryAttributes hattr;
hattr.payloadMaxSize = 255;
history_ = new ReaderHistory(hattr);
//Create reader
ReaderAttributes rattr;
Locator_t loc;
loc.set_IP4_address(ip);
loc.port = port;
rattr.endpoint.multicastLocatorList.push_back(loc);
configReader(rattr);
reader_ = RTPSDomain::createRTPSReader(participant_, rattr, history_, &listener_);
//Add remote writer (in this case a reader in the same machine)
GUID_t guid = participant_->getGuid();
addRemoteWriter(reader_, ip, port, guid);
// Initialize list of msgs
for(uint16_t count = 0; count < nmsgs; ++count)
{
msgs_.push_back(count);
}
text_ = getText();
domainId_ = (uint32_t)GET_PID();
hostname_ = asio::ip::host_name();
std::ostringstream word;
word << text_ << "_" << hostname_ << "_" << domainId_;
word_ = word.str();
initialized_ = true;
}
// TODO Change api of set_IP4_address to support const string.
void RTPSAsSocketReader::init(std::string &ip, uint32_t port, uint16_t nmsgs)
{
RTPSParticipantAttributes pattr;
pattr.builtin.use_SIMPLE_RTPSParticipantDiscoveryProtocol = false;
pattr.builtin.use_WriterLivelinessProtocol = false;
pattr.participantID = 1;
participant_ = RTPSDomain::createParticipant(pattr);
ASSERT_NE(participant_, nullptr);
//Create readerhistory
HistoryAttributes hattr;
hattr.payloadMaxSize = 255;
history_ = new ReaderHistory(hattr);
ASSERT_NE(history_, nullptr);
//Create reader
ReaderAttributes rattr;
Locator_t loc;
loc.set_IP4_address(ip);
loc.port = port;
rattr.endpoint.multicastLocatorList.push_back(loc);
configReader(rattr);
reader_ = RTPSDomain::createRTPSReader(participant_, rattr, history_, &listener_);
ASSERT_NE(reader_, nullptr);
//Add remote writer (in this case a reader in the same machine)
GUID_t guid = participant_->getGuid();
addRemoteWriter(reader_, ip, port, guid);
// Initialize list of msgs
for(uint16_t count = 0; count < nmsgs; ++count)
{
msgs_.push_back(count);
}
initialized_ = true;
}
