rticonnextdds-connector-go
所属分类：其他
开发工具：C
文件大小：0KB
下载次数：0
上传日期：2023-05-22 15:19:21
上 传 者：
sh-1993
说明： 用于Connext DDS的RTI连接器是一种轻量级技术，可以使用Go.、。，
(RTI Connector for Connext DDS is a lightweight technology that enables DDS data to be accessed with Go.,)
文件列表:
.golangci.yaml (3277, 2023-05-19)
.travis.yml (678, 2023-05-19)
CONTRIBUTING.md (860, 2023-05-19)
Dockerfile (340, 2023-05-19)
LICENSE.md (703, 2023-05-19)
Makefile (922, 2023-05-19)
build_dynamic.go (925, 2023-05-19)
build_static.go (607, 2023-05-19)
examples/ (0, 2023-05-19)
examples/array/ (0, 2023-05-19)
examples/array/ShapeArrayExample.xml (2506, 2023-05-19)
examples/array/reader/ (0, 2023-05-19)
examples/array/reader/reader.go (2109, 2023-05-19)
examples/array/writer/ (0, 2023-05-19)
examples/array/writer/writer.go (1818, 2023-05-19)
examples/dockerfiles/ (0, 2023-05-19)
examples/dockerfiles/simple_reader/ (0, 2023-05-19)
examples/dockerfiles/simple_reader/Dockerfile (454, 2023-05-19)
examples/dockerfiles/simple_writer/ (0, 2023-05-19)
examples/dockerfiles/simple_writer/Dockerfile (454, 2023-05-19)
examples/go_struct/ (0, 2023-05-19)
examples/go_struct/ShapeExample.xml (2462, 2023-05-19)
examples/go_struct/reader/ (0, 2023-05-19)
examples/go_struct/reader/json_reader.go (2099, 2023-05-19)
examples/go_struct/writer/ (0, 2023-05-19)
examples/go_struct/writer/json_writer.go (1794, 2023-05-19)
examples/module/ (0, 2023-05-19)
examples/module/ShapeModuleExample.xml (2057, 2023-05-19)
examples/module/reader/ (0, 2023-05-19)
examples/module/reader/reader.go (2119, 2023-05-19)
... ...
rticonnextdds-connector-go
=======
[](https://codecov.io/gh/rticommunity/rticonnextdds-connector-go)
[](https://goreportcard.com/report/github.com/rticommunity/rticonnextdds-connector-go)
[](https://github.com/rticommunity/rticonnextdds-connector-go/actions/workflows/build.yml)
### RTI Connector for Connext DDS
*RTI Connector* for Connext DDS is a quick and easy way to access the power and
functionality of [RTI Connext DDS](http://www.rti.com/products/index.html).
It is based on [XML-Based Application Creation](https://community.rti.com/static/documentation/connext-dds/6.0.0/doc/manuals/connext_dds/xml_application_creation/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted.pdf) and Dynamic Data.
*Connector* was created by the RTI Research Group to quickly and easily develop demos
and proofs of concept. It can be useful for anybody that needs
a quick way to develop an application communicating over the Connext DDS Databus.
Thanks to the binding with multiple programming languages, you can integrate
with many other available technologies.
The *Connector* library is provided in binary form for [select architectures](https://github.com/rticommunity/rticonnextdds-connector/tree/master/lib). Language bindings and examples are provided in source format.
Go *Connector* leverages [cgo](https://golang.org/cmd/cgo) to call its C library;
this detail is hidden in a Go wrapper.
### Examples
#### Simple Reader
```golang
package main
import (
rti "github.com/rticommunity/rticonnextdds-connector-go"
"log"
)
func main() {
// Create a connector defined in the XML configuration
connector, err := rti.NewConnector("MyParticipantLibrary::Zero", "./ShapeExample.xml")
if err != nil {
log.Panic(err)
}
// Delete the connector when this main function returns
defer connector.Delete()
// Get an input from the connector
input, err := connector.GetInput("MySubscriber::MySquareReader")
if err != nil {
log.Panic(err)
}
// Get values from a received sample and print them
for {
connector.Wait(-1)
input.Take()
numOfSamples, _ := input.Samples.GetLength()
for i := 0; i < numOfSamples; i++ {
valid, _ := input.Infos.IsValid(i)
if valid {
color, _ := input.Samples.GetString(i, "color")
x, _ := input.Samples.GetInt(i, "x")
y, _ := input.Samples.GetInt(i, "y")
shapesize, _ := input.Samples.GetInt(i, "shapesize")
log.Println("---Received Sample---")
log.Printf("color: %s\n", color)
log.Printf("x: %d\n", x)
log.Printf("y: %d\n", y)
log.Printf("shapesize: %d\n", shapesize)
}
}
}
}
```
#### Simple Writer
```golang
package main
import (
"github.com/rticommunity/rticonnextdds-connector-go"
"log"
"time"
)
func main() {
// Create a connector defined in the XML configuration
connector, err := rti.NewConnector("MyParticipantLibrary::Zero", "./ShapeExample.xml")
if err != nil {
log.Panic(err)
}
// Delete the connector when this main function returns
defer connector.Delete()
// Get an output from the connector
output, err := connector.GetOutput("MyPublisher::MySquareWriter")
if err != nil {
log.Panic(err)
}
// Set values to the instance and write the instance
for i := 0; i < 10; i++ {
output.Instance.SetInt("x", i)
output.Instance.SetInt("y", i*2)
output.Instance.SetInt("shapesize", 30)
output.Instance.SetString("color", "BLUE")
output.Write()
log.Println("Writing...")
time.Sleep(time.Second * 1)
}
}
```
#### XML Configurations
```xml
UDPV4 | SHMEM
```
Please see [examples](examples/README.md) for usage details.
### Getting started
#### Using Go Modules
Be sure you have golang installed (we tested with golang v1.19).
Import:
```golang
import "github.com/rticommunity/rticonnextdds-connector-go"
```
Build:
```bash
$ go build reader.go
```
A dependency to the latest stable version of rticonnextdds-connector-go should be automatically added to your `go.mod` file.
Run:
To run your application, you need to add the Connector C library to your library path.
```bash
$ export LD_LIBRARY_PATH=$GOPATH//go/pkg/mod/github.com/rticommunity/rticonnextdds-connector-go\@{version}-{YYYYMMDDHHmm}-{commit_id}/rticonnextdds-connector/lib/linux-x64:$LD_LIBRARY_PATH
$ ./simple_reader
```
### Platform support
Go *Connector* builds its library for few [select architectures](https://github.com/rticommunity/rticonnextdds-connector/tree/master/lib). If you need another architecture, please contact your RTI account manager or sales@rti.com.
If you want to check the version of the libraries you can run the following command:
``` bash
strings ./rticonnextdds-connector/lib/linux-x64/librtiddsconnector.so | grep BUILD
```
### Threading model
The *Connector* Native API does not yet implement any mechanism for thread safety. Originally, the *Connector* native code was built to work with *RTI Prototyper* and Lua. That was a single-threaded loop. RTI then introduced support for JavaScript, Python, and Go. For now, you are responsible for protecting calls to *Connector*. Thread safety
may be implemented in the future.
### Support
*Connector* is an experimental RTI product. If you have questions, please use the [RTI Community Forum](https://community.rti.com/forums/technical-questions). If you would like to report a bug or have a feature request, please create an [issue](https://github.com/rticommunity/rticonnextdds-connector-go/issues).
### Documentation
The best way to get started with *Connector* is to look at the
examples; you will see that it is very easy to use.
### Contributing
Contributions to the code, examples, documentation are really appreciated. Please follow the steps below for contributions.
1. [Sign the CLA](CONTRIBUTING.md).
1. Create a fork and make your changes.
1. Run tests and linters (make test lint).
1. Push your branch.
1. Open a new [pull request](https://github.com/rticommunity/rticonnextdds-connector-go/compare).
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