void ReqRepHelloWorldRequester::init()
{
ParticipantAttributes pattr;
pattr.rtps.builtin.domainId = (uint32_t)boost::interprocess::ipcdetail::get_current_process_id() % 230;
participant_ = Domain::createParticipant(pattr);
ASSERT_NE(participant_, nullptr);
// Register type
ASSERT_EQ(Domain::registerType(participant_,&type_), true);
//Create subscriber
sattr.topic.topicKind = NO_KEY;
sattr.topic.topicDataType = "HelloWorldType";
configSubscriber("Reply");
reply_subscriber_ = Domain::createSubscriber(participant_, sattr, &reply_listener_);
ASSERT_NE(reply_subscriber_, nullptr);
//Create publisher
puattr.topic.topicKind = NO_KEY;
puattr.topic.topicDataType = "HelloWorldType";
configPublisher("Request");
request_publisher_ = Domain::createPublisher(participant_, puattr, &request_listener_);
ASSERT_NE(request_publisher_, nullptr);
initialized_ = true;
}
void PubSubData64kbWriter::init()
{
//Create participant
ParticipantAttributes pattr;
pattr.rtps.builtin.domainId = (uint32_t)boost::interprocess::ipcdetail::get_current_process_id() % 230;
participant_ = Domain::createParticipant(pattr);
ASSERT_NE(participant_, nullptr);
// Register type
Domain::registerType(participant_, &type_);
//Create publisher
PublisherAttributes puattr;
puattr.topic.topicKind = NO_KEY;
puattr.topic.topicDataType = "Data64kbType";
configPublisher(puattr);
publisher_ = Domain::createPublisher(participant_, puattr, &listener_);
ASSERT_NE(publisher_, nullptr);
initialized_ = true;
}
