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Merge pull request #741 from iutrilladn/master
ROUTING-1322 - Improving UDP socket adapter plugin example. Adding Data-diode reference in doc.
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examples/routing_service/udp_socket_adapter/CMakeLists.txt renamed to examples/routing_service/udp_socket_adapter_dynamic/CMakeLists.txt

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#
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# (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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# (c) 2025 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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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketInputDiscoveryStreamReader.hpp"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketStreamReader.cxx"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketStreamReader.hpp"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketStreamWriter.cxx"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketStreamWriter.hpp"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/UdpSocket.cxx"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/UdpSocket.hpp"
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)

‎examples/routing_service/udp_socket_adapter_dynamic/README.md‎

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# Example Code: Routing Service C++11 Socket Adapter using Dynamic Data
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## Example Description
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This example shows how to implement a simple Routing Service Adapter plugin
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in C++11 to receive data from a UDP socket using RTI Routing Service.
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This examples uses dynamic data API and there is no need to know the data type
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information beforehand.
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The code in this directory provides the following components:
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- `src/SocketAdapter` implements the plugin that is loaded by *RTI Routing
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Service*. It responsible for creating and deleting connections.
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- `src/SocketConnection` implements a connection. This component is
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responsible for the creation and deletion of `StreamReaders`.
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- `src/SocketInputDiscoveryStreamReader` implements the logic necessary to
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propagate information about the discovered input streams (in this case
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sockets) to the Routing Service.
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- `src/SocketStreamReader` implements a `StreamReader` that reads sample
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information from a UDP socket.
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- `src/SocketStreamWriter` implements a `StreamWriter` that sends sample
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information to a UDP socket.
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For more details, please refer to the *RTI Routing Service SDK* documentation.
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## Building the C++ example
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In order to build this example, you need to define the variables
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`CONNEXTDDS_DIR` and `CONNEXTDDS_ARCH`. You can do so by exporting them
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manually, by sourcing the `rtisetenv` script for your architecture, or by
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passing them to the `cmake` command as arguments:
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```bash
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mkdir build
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cd build
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cmake -DCONNEXTDDS_DIR=<Connext DDS Directory> \ # If not exported
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-DCONNEXTDDS_ARCH=<Connext DDS Architecture> \ # If not exported
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-DBUILD_SHARED_LIBS=ON|OFF \ # ON is preferred
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-DCMAKE_BUILD_TYPE=Debug|Release ..
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cmake --build .
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cd ..
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```
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Example command for Windows:
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```bash
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cmake .. -DCONNEXTDDS_DIR="%NDDSHOME%" -DCONNEXTDDS_ARCH=x64Win64VS2015 -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -A x64 -G "Visual Studio 17 2022"
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cd ..
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```
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**Note**: You do not need to define `CONNEXTDDS_ARCH` if you only have one
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architecture target installed in your system.
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**Note**: When compiling on a Windows 64-bit machine you will need to add the
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`-A x64` parameter to the call to CMake.
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**Note:** If you are using a multi-configuration generator, such as Visual
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Studio Solutions, you can specify the configuration mode to build as follows:
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```bash
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cmake --build . --config Release|Debug
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```
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Here is more information about generating
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[Visual Studio Solutions for Windows using CMake](https://cmake.org/cmake/help/v3.16/generator/Visual%20Studio%2016%202019.html#platform-selection).
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**Note:** `BUILD_SHARED_LIBS` allows you to control if the generated library
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for this example is a static or a dynamic shared library. The following
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sections assume you are building a dynamic shared library. However, Routing
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Service also supports static linking of adapters. To use this functionality
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you would need to create an application that uses Routing Service as a library
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component and statically links to this `SocketAdapter` library.
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### Cross-compilation
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When you need to cross-compile the example, the above
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command will not work, the assigned compiler won't be the cross-compiler and
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errors may happen when linking against the cross-compiled Connext binaries.
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To fix this, you have to create a file with the architecture name and call
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CMake with a specific flag called ``-DCMAKE_TOOLCHAIN_FILE``.
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An example of the file to create with the toolchain settings (e.g. for an
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ARM architectures):
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```cmake
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set(CMAKE_SYSTEM_NAME Linux)
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set(toolchain_path "<path to>/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian")
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set(CMAKE_C_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-gcc")
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set(CMAKE_CXX_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-g++")
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```
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Then you can call CMake like this:
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```bash
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cmake -DCONNEXTDDS_DIR=<connext dir> -DCMAKE_TOOLCHAIN_FILE=<toolchain file created above>
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-DCONNEXTDDS_ARCH=<connext architecture> ..
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```
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## Running the C++ example
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To run the example, you just need to run the following commands from the top
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level folder. This example has been written to allow easy experimentation with
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the RTI DDSPing tool shipped with *RTI Connext DDS* installer bundle. If you wish
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to create a real Routing Service adapter, you should modify the code and XML accordingly.
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There are 2 configurations (`-cfgName`) in the Routing Service XML file:
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- **SocketAdapterToDDS** - It reads data from a UDP socket using the
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SocketAdapter and outputs it to DDS. You can visualize the ouptut by running:
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- **DDSToSocketAdapter** - It sends data from DDS to a UDP socket. You can
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publish DDS data by running command:
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To run Routing Service, you will need first to set up your environment as
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follows.
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Before running the RTI Routing Service, you need to specify where the
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`SocketAdapterCpp` library is located as shown below:
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Linux:
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```bash
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$export RTI_LD_LIBRARY_PATH=$NDDSHOME/lib/<Connext DDS Architecture>:<Path to SocketAdapterCpp library, the build/ folder>
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```
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Windows:
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```bash
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set PATH=%NDDSHOME%/lib/<Connext DDS Architecture>;<Path to SocketAdapterCpp library, the build/Release folder>
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```
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The SocketAdapterCpp library will be in the `./build` folder.
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```bash
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# From the build/ directory
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$NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName SocketAdapterToDDS
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```
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Here is an output from a sample run:
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```bash
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$export RTI_LD_LIBRARY_PATH=~/$NDDSHOME/lib/$CONNEXT_ARCH:~/udp_socket_adapter_dynamic/build/
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$ $NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName SocketAdapterToDDS
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RTI Routing Service 7.3.0 executing (with name SocketAdapterToSocketAdapter)
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```
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Now you'll need to send data to the UDP sockets. By default, DDS Ping data is
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expected on `127.0.0.1:10203`. You can change both the expected type and topic name
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and the UDP socket configuration on `RsSocketAdapter.xml`.
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To run a simple test, run in different terminals:
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```bash
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$export RTI_LD_LIBRARY_PATH=~/$NDDSHOME/lib/$CONNEXT_ARCH:~/udp_socket_adapter_dynamic/build/
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$ $NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName DDSToSocketAdapter
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RTI Routing Service 7.3.0 executing (with configuration=DDSToSocketAdapter)
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```
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```bash
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$NDDSHOME/bin/rtiddsping -publisher -domainId 0
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```
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## Running a data-diode example
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You can configure a data-diode scenario by using two Routing Services instances;
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- One using **DDSToSocketAdapter** configuration to publish DDS data over a one direction UDP socket
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- The other using **SocketAdapterToDDS** configuration to convert back to DDS samples
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```
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┌───────────┐ ┌─────────────┐ ┌─────────────┐ ┌───────────┐
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│ Connext │ │ Routing │ ┌────────────────┐ │ Routing │ │ Connext │
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│ App ├─►│ Service ├───►│ UDP DATA DIODE ├──►│ Service ├─►│ App │
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│ │ │ DDS TO UDP │ └────────────────┘ │ UDP TO DDS │ │ │
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└───────────┘ └─────────────┘ └─────────────┘ └───────────┘
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```
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To run this example in a local machine:
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```bash
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$export RTI_LD_LIBRARY_PATH=~/$NDDSHOME/lib/$CONNEXT_ARCH:~/udp_socket_adapter_dynamic/build/
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$ $NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName SocketAdapterToDDS
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RTI Routing Service 7.3.0 executing (with configuration=SocketAdapterToDDS)
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```
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And in a different terminal:
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```bash
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$export RTI_LD_LIBRARY_PATH=~/$NDDSHOME/lib/$CONNEXT_ARCH:~/udp_socket_adapter_dynamic/build/
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$ $NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName DDSToSocketAdapter
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RTI Routing Service 7.3.0 executing (with configuration=DDSToSocketAdapter)
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```
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Using the default configuration from RsSocketAdapter.xml, you need to publish DDS Ping data
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on domain id 0 and subscribe to DSS Ping data on domain id 1:
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```bash
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$NDDSHOME/bin/rtiddsping -publisher -domainId 0
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```
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```bash
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$NDDSHOME/bin/rtiddsping -subscriber -domainId 1
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```
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## Requirements
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To run this example you will need:
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- RTI Connext Professional version 6.0.0 or higher.
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- CMake version 3.10 or higher.
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- A target platform with support for RTI Routing Service and C++11.
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- Python3.

‎examples/routing_service/udp_socket_adapter_dynamic/RsSocketAdapter.xml‎

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<?xml version="1.0"?>
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<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.3.0/rti_routing_service.xsd">
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<plugin_library name="AdapterLib">
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<adapter_plugin name="SocketAdapter">
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<dll>SocketAdapterCpp</dll>
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<create_function>SocketAdapter_create_adapter_plugin</create_function>
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</adapter_plugin>
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</plugin_library>
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<!-- Demonstrates a scenario where the SocketAdapter reads ping data from a socket
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and the DDSAdapter writes it to a DDS domain -->
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<routing_service name="SocketAdapterToDDS">
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<domain_route name="SocketBridge">
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<connection name="SocketConnection" plugin_name="AdapterLib::SocketAdapter">
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</connection>
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<participant name="DDSConnection">
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<domain_id>1</domain_id>
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<domain_participant_qos base_name="BuiltinQosLib::Generic.Common" />
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</participant>
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<session name="session">
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<route>
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<input connection="SocketConnection">
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<creation_mode>IMMEDIATE</creation_mode>
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<registered_type_name>PingType</registered_type_name>
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<stream_name>PingStream</stream_name>
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<!-- You must set these 2 properties -->
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<property>
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<value>
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<!-- Receive address for UDP data -->
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<element>
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<name>receive_address</name>
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<value>127.0.0.1</value>
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</element>
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<!-- Receive port for UDP data -->
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<element>
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<name>receive_port</name>
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<value>10203</value>
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</element>
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</value>
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</property>
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</input>
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<dds_output participant="DDSConnection">
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<creation_mode>ON_DOMAIN_MATCH</creation_mode>
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<registered_type_name>PingType</registered_type_name>
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<topic_name>PingTopic</topic_name>
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<datawriter_qos base_name="BuiltinQosLib::Generic.Common" />
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</dds_output>
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</route>
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</session>
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</domain_route>
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</routing_service>
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<routing_service name="DDSToSocketAdapter">
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<domain_route name="SocketBridge">
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<connection name="SocketConnection" plugin_name="AdapterLib::SocketAdapter">
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<register_type name="PingType" type_ref="PingType" />
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</connection>
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<participant name="DDSConnection">
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<domain_id>0</domain_id>
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<domain_participant_qos base_name="BuiltinQosLib::Generic.Common" />
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<register_type name="PingType" type_ref="PingType" />
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</participant>
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<session>
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<route>
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<output connection="SocketConnection">
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<creation_mode>ON_ROUTE_MATCH</creation_mode>
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<registered_type_name>PingType</registered_type_name>
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<stream_name>PingStream</stream_name>
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<property> <!--Set
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the IP addresses and ports for sender and destination-->
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<value>
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<element>
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<name>send_address</name>
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<value>127.0.0.1</value>
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</element>
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<element>
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<name>send_port</name>
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<value>0</value> <!--Set
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to 0 for automatic use of available port-->
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</element>
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<element>
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<name>dest_address</name>
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<value>127.0.0.1</value>
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</element>
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<element>
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<name>dest_port</name>
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<value>10203</value>
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</element>
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</value>
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</property>
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</output>
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<dds_input participant="DDSConnection">
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<creation_mode>ON_DOMAIN_MATCH</creation_mode>
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<registered_type_name>PingType</registered_type_name>
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<topic_name>PingTopic</topic_name>
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<datareader_qos base_name="BuiltinQosLib::Generic.Common" />
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</dds_input>
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</route>
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</session>
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</domain_route>
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</routing_service>
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</dds>

examples/routing_service/udp_socket_adapter/src/SocketAdapter.cxx renamed to examples/routing_service/udp_socket_adapter_dynamic/src/SocketAdapter.cxx

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/*
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* (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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* (c) 2025 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

examples/routing_service/udp_socket_adapter/src/SocketAdapter.hpp renamed to examples/routing_service/udp_socket_adapter_dynamic/src/SocketAdapter.hpp

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/*
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* (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
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* (c) 2025 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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