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Add new tutorials (#692)
The tutorials contain the code for the new Connext Guide.
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‎README.md‎

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# rticonnextdds-examples
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# RTI Connext Examples
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This repository includes examples on how to use specific features of RTI
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Connext DDS.
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This repository includes:
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To contribute enhancements or additional examples to the repository, follow the
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instructions on our [RTI Connext DDS Examples
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Wiki](https://github.com/rticommunity/rticonnextdds-examples/wiki). Your
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contributions will be reviewed and as soon as they are approved they will
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automatically be included in the [RTI Community Portal Examples
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Section](http://community.rti.com). See [CONTRIBUTING.md](https://github.com/rticommunity/rticonnextdds-examples/blob/master/CONTRIBUTING.md)
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for further information about how to contribute with new examples to this repository.
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- Code examples on how to use specific Connext features (under [examples/](./examples))
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- Supporting code for learning materials (under [tutorials/](./tutorials))
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## Cloning the repository
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To clone the repository you will need to run `git clone` as follows to download
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both the repository and its submodule dependencies:
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```bash
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git clone --recurse-submodule https://github.com/rticommunity/rticonnextdds-examples.git
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```
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If you forget to clone the repository with `--recurse-submodule`, simply run
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the following command to pull all the dependencies:
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```bash
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git submodule update --init --recursive
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```
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## Versioning
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The examples contained in the
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[master](https://github.com/rticommunity/rticonnextdds-examples/tree/master)
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- [release/5.1.0](https://github.com/rticommunity/rticonnextdds-examples/tree/release/5.1.0)
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- [release/5.0.0](https://github.com/rticommunity/rticonnextdds-examples/tree/release/5.0.0)
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## Cloning Repository
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To clone the repository you will need to run `git clone` as follows to download
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both the repository and its submodule dependencies:
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```bash
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git clone --recurse-submodule https://github.com/rticommunity/rticonnextdds-examples.git
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```
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If you forget to clone the repository with `--recurse-submodule`, simply run
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the following command to pull all the dependencies:
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## How to contribute
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```bash
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git submodule update --init --recursive
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```
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To contribute enhancements or additional examples to the repository, follow the
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instructions on our [RTI Connext DDS Examples
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Wiki](https://github.com/rticommunity/rticonnextdds-examples/wiki). Your
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contributions will be reviewed and as soon as they are approved they will
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automatically be included in the [RTI Community Portal Examples
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Section](http://community.rti.com). See [CONTRIBUTING.md](https://github.com/rticommunity/rticonnextdds-examples/blob/master/CONTRIBUTING.md)
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for further information about how to contribute with new examples to this repository.

‎tutorials/README.md‎

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# RTI Connext Tutorials
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The code included in this directory is the supporting material for the tutorials
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in the
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[Connext Developer](https://community.rti.com/static/documentation/developers/index.html)
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page.
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Please follow the instructions for each tutorial under *Learn*.

‎tutorials/content_filtering/c++11/CMakeLists.txt‎

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#
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# (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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#
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# RTI grants Licensee a license to use, modify, compile, and create derivative
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# works of the Software. Licensee has the right to distribute object form
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# only for use with RTI products. The Software is provided "as is", with no
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# warranty of any type, including any warranty for fitness for any purpose.
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# RTI is under no obligation to maintain or support the Software. RTI shall
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# not be liable for any incidental or consequential damages arising out of the
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# use or inability to use the software.
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#
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cmake_minimum_required(VERSION 3.11)
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project(connext-tutorial-content-filtering)
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list(APPEND CMAKE_MODULE_PATH
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"${CMAKE_CURRENT_SOURCE_DIR}/../../../resources/cmake/Modules"
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)
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include(ConnextDdsConfigureCmakeUtils)
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connextdds_configure_cmake_utils()
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# Include ConnextDdsAddExample.cmake from resources/cmake
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include(ConnextDdsAddExample)
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connextdds_call_codegen(
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IDL "home_automation"
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LANG "C++11"
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PREFIX "home_automation"
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)
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connextdds_add_application(
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TARGET "publisher"
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LANG "C++11"
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OUTPUT_NAME "home_automation_publisher"
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SOURCES
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$<TARGET_OBJECTS:home_automation_CXX11_obj>
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"${CMAKE_CURRENT_SOURCE_DIR}/home_automation_publisher.cxx"
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DEPENDENCIES
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${_CONNEXT_DEPENDENCIES}
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)
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connextdds_add_application(
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TARGET "subscriber"
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LANG "C++11"
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OUTPUT_NAME "home_automation_subscriber"
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SOURCES
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$<TARGET_OBJECTS:home_automation_CXX11_obj>
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"${CMAKE_CURRENT_SOURCE_DIR}/home_automation_subscriber.cxx"
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DEPENDENCIES
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${_CONNEXT_DEPENDENCIES}
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)
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connextdds_add_application(
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TARGET "subscriber_update_filter"
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LANG "C++11"
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OUTPUT_NAME "home_automation_subscriber_update_filter"
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SOURCES
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$<TARGET_OBJECTS:home_automation_CXX11_obj>
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"${CMAKE_CURRENT_SOURCE_DIR}/home_automation_subscriber_update_filter.cxx"
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DEPENDENCIES
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${_CONNEXT_DEPENDENCIES}
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)

‎tutorials/content_filtering/c++11/README.md‎

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# Tutorial: Content Filtering
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This code is part of the Connext
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[Content Filtering](https://community.rti.com/static/documentation/developers/learn/content-filtering.html)
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tutorial.
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## Building the Example :wrench:
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You can build the example following the instructions in the tutorial, or you can
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build it using CMake as follows.
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1. Generate the build files:
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```sh
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mkdir build
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cd build
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cmake ..
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```
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This command will try to find the location of your Connext installation. If it
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can't find it, specify it with the ``-DCONNEXTDDS_DIR`` option, for example:
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```sh
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cmake -DCONNEXTDDS_DIR=/home/rti/rti_connext_dds-x.y.z ..
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```
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If you are compiling for windows you may also need to specify the
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[generator](https://cmake.org/cmake/help/latest/manual/cmake-generators.7.html),
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and platform.
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```sh
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cmake .. -G "Visual Studio 17 2022" -A x64
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```
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2. Build the applications:
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```sh
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cmake --build .
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```
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If you are using a multi-configuration generator, such as Visual Studio
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solutions, you can specify the configuration mode to build as follows:
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```sh
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cmake --build . --config Release|Debug
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```
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## Running the Example :rocket:
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See the tutorial for instructions.

‎tutorials/content_filtering/c++11/USER_QOS_PROFILES.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<!--
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(c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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RTI grants Licensee a license to use, modify, compile, and create derivative
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works of the Software. Licensee has the right to distribute object form only
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for use with RTI products. The Software is provided "as is", with no warranty
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of any type, including any warranty for fitness for any purpose. RTI is under
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no obligation to maintain or support the Software. RTI shall not be liable for
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any incidental or consequential damages arising out of the use or inability to
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use the software.
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-->
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<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="https://community.rti.com/schema/current/rti_dds_profiles.xsd">
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<qos_library name="MyLibrary">
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<qos_profile name="MyProfile" is_default_qos="true">
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<base_name>
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<element>BuiltinQosLib::Generic.StrictReliable</element>
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</base_name>
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</qos_profile>
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</qos_library>
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</dds>

‎tutorials/content_filtering/c++11/home_automation.idl‎

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/*
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* (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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*
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* RTI grants Licensee a license to use, modify, compile, and create derivative
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* works of the Software. Licensee has the right to distribute object form
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* only for use with RTI products. The Software is provided "as is", with no
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* warranty of any type, including any warranty for fitness for any purpose.
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* RTI is under no obligation to maintain or support the Software. RTI shall
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* not be liable for any incidental or consequential damages arising out of the
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* use or inability to use the software.
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*/
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struct DeviceStatus {
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@key string sensor_name;
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string room_name;
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boolean is_open;
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};

‎tutorials/content_filtering/c++11/home_automation_publisher.cxx‎

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//
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// (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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//
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// RTI grants Licensee a license to use, modify, compile, and create derivative
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// works of the Software. Licensee has the right to distribute object form
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// only for use with RTI products. The Software is provided "as is", with no
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// warranty of any type, including any warranty for fitness for any purpose.
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// RTI is under no obligation to maintain or support the Software. RTI shall
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// not be liable for any incidental or consequential damages arising out of the
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// use or inability to use the software.
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//
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#include <iostream>
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#include <thread>
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#include <rti/rti.hpp>
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#include "home_automation.hpp"
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void publish_sensor(
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const std::string &sensor_name,
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const std::string &room_name)
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{
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dds::domain::DomainParticipant participant(0);
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dds::topic::Topic<DeviceStatus> topic(participant, "WindowStatus");
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dds::pub::DataWriter<DeviceStatus> writer(topic);
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DeviceStatus device_status { sensor_name, room_name, false };
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for (int i = 0; i < 1000; i++) {
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device_status.is_open(!device_status.is_open());
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writer.write(device_status);
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std::this_thread::sleep_for(std::chrono::seconds(2));
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}
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}
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int main(int argc, char **argv)
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{
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std::string sensor_name = (argc > 1) ? argv[1] : "Window1";
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std::string room_name = (argc > 2) ? argv[2] : "LivingRoom";
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publish_sensor(sensor_name, room_name);
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}

‎tutorials/content_filtering/c++11/home_automation_subscriber.cxx‎

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//
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// (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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//
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// RTI grants Licensee a license to use, modify, compile, and create derivative
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// works of the Software. Licensee has the right to distribute object form
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// only for use with RTI products. The Software is provided "as is", with no
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// warranty of any type, including any warranty for fitness for any purpose.
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// RTI is under no obligation to maintain or support the Software. RTI shall
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// not be liable for any incidental or consequential damages arising out of the
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// use or inability to use the software.
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//
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#include <iostream>
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#include <thread>
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#include "rti/rti.hpp"
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#include "rti/sub/SampleProcessor.hpp"
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#include "home_automation.hpp"
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int main(int argc, char **argv)
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{
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dds::domain::DomainParticipant participant(0);
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dds::topic::Topic<DeviceStatus> topic(participant, "WindowStatus");
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dds::topic::ContentFilteredTopic<DeviceStatus> content_filtered_topic(
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topic,
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"FilterRoomAndOpenWindows",
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dds::topic::Filter("is_open = true and room_name = 'LivingRoom'"));
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dds::sub::DataReader<DeviceStatus> reader(content_filtered_topic);
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rti::sub::SampleProcessor sample_processor;
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sample_processor.attach_reader(
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reader,
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[](const rti::sub::LoanedSample<DeviceStatus> &sample) {
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if (sample.info().valid()) { // ignore samples with only
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// meta-data
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std::cout << "WARNING: " << sample.data().sensor_name()
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<< " in " << sample.data().room_name()
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<< " is open!" << std::endl;
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}
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});
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while (true) { // wait in a loop
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std::this_thread::sleep_for(std::chrono::seconds(4));
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}
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}

‎tutorials/content_filtering/c++11/home_automation_subscriber_update_filter.cxx‎

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//
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// (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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//
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// RTI grants Licensee a license to use, modify, compile, and create derivative
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// works of the Software. Licensee has the right to distribute object form
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// only for use with RTI products. The Software is provided "as is", with no
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// warranty of any type, including any warranty for fitness for any purpose.
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// RTI is under no obligation to maintain or support the Software. RTI shall
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// not be liable for any incidental or consequential damages arising out of the
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// use or inability to use the software.
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//
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#include <iostream>
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#include <thread>
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#include "rti/rti.hpp"
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#include "rti/sub/SampleProcessor.hpp"
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#include "home_automation.hpp"
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int main(int argc, char **argv)
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{
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dds::domain::DomainParticipant participant(0);
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dds::topic::Topic<DeviceStatus> topic(participant, "WindowStatus");
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dds::core::StringSeq parameters(1, "'LivingRoom'");
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dds::topic::ContentFilteredTopic<DeviceStatus> content_filtered_topic(
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topic,
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"FilterRoomAndOpenWindows",
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dds::topic::Filter(
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"is_open = true and room_name = %0",
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parameters));
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dds::sub::DataReader<DeviceStatus> reader(content_filtered_topic);
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parameters[0] = "'Kitchen'";
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content_filtered_topic.filter_parameters(
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parameters.begin(),
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parameters.end());
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rti::sub::SampleProcessor sample_processor;
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sample_processor.attach_reader(
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reader,
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[](const rti::sub::LoanedSample<DeviceStatus> &sample) {
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if (sample.info().valid()) { // ignore samples with only
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// meta-data
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std::cout << "WARNING: " << sample.data().sensor_name()
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<< " in " << sample.data().room_name()
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<< " is open!" << std::endl;
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}
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});
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while (true) { // wait in a loop
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std::this_thread::sleep_for(std::chrono::seconds(4));
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}
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}

‎tutorials/content_filtering/py/README.md‎

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# Tutorial: Content Filtering
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This code is part of the Connext
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[Content Filtering](https://community.rti.com/static/documentation/developers/learn/content-filtering.html)
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tutorial and is included here in full for convenience.
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Please see the tutorial for instructions.

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