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‎examples/connext_dds/custom_transport/README.md‎

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# Example Code: Creating a Custom Transport
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**IMPORTANT:** This documentation is out of date, and details may be missing.
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If you are interested in developing a custom transport plugin for RTI Connext,
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please contact your local RTI representative or email [email protected].
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## Concept
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RTI Connext DDS interacts with the underlying network/communications transport

‎examples/connext_dds/waitset_status_cond/py/README.md‎

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# Example Code: WaitSet with Status Condition
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If you haven't used the RTI Connext Python API before, first check the
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[Getting Started Guide](https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/getting_started_guide/index.html).
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## Running the Example
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In two separate command prompt windows for the publisher and subscriber run the
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following commands from the example directory (this is necessary to ensure the
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application loads the QoS defined in *USER_QOS_PROFILES.xml*):
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```sh
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python waitset_status_cond_publisher.py
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python waitset_status_cond_subscriber.py
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```
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Note: you can run multiple publishers and subscribers at the same time.
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For the full list of arguments pass `-h`.

‎examples/connext_dds/waitset_status_cond/py/USER_QOS_PROFILES.xml‎

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<?xml version="1.0"?>
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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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<!-- Description XML QoS Profile for waitsets The QoS configuration of the
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DDS entities in the generated example is loaded from this file. This file
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is used only when it is in the current working directory or when the enviroment
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variable NDDS_QOS_PROFILES is defined and points to this file. For more information
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about XML QoS Profiles see Chapter 15 in the RTI Connext user manual. -->
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<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xsi:noNamespaceSchemaLocation="https://community.rti.com/schema/current/rti_dds_qos_profiles.xsd">
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<!-- QoS Library containing the QoS profile used in the generated example
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A QoS library is a named set of QoS profiles.
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-->
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<qos_library name="waitset_status_cond_py_Library">
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<!-- QoS profile used to configure reliable communication between the DataWriter
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and DataReader created in the example code.
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A QoS profile groups a set of related QoS.
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-->
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<qos_profile name="waitset_status_cond_py_Profile" base_name="BuiltinQosLib::Generic.StrictReliable" is_default_qos="true">
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<domain_participant_qos>
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<!-- The participant name, if it is set, will be displayed in the RTI
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Analyzer tool, making it easier for you to tell one application from another
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when you're debugging. -->
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<participant_name>
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<name>RTI Waitsets with Status Conditions Python Example</name>
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</participant_name>
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</domain_participant_qos>
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</qos_profile>
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</qos_library>
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</dds>

‎examples/connext_dds/waitset_status_cond/py/foo.py‎

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# (c) Copyright, Real-Time Innovations, 2024. 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 solely for use with RTI Connext DDS. Licensee may
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# redistribute copies of the software provided that all such copies are subject
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# to this license. The software is provided "as is", with no warranty of any
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# type, including any warranty for fitness for any purpose. RTI is under no
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# 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
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# to use the software.
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import rti.idl as idl
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@idl.struct
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class Foo:
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x: idl.int16 = 0

‎examples/connext_dds/waitset_status_cond/py/waitset_status_cond_publisher.py‎

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# (c) Copyright, Real-Time Innovations, 2024. 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 solely for use with RTI Connext DDS. Licensee may
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# redistribute copies of the software provided that all such copies are subject
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# to this license. The software is provided "as is", with no warranty of any
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# type, including any warranty for fitness for any purpose. RTI is under no
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# 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
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# to use the software.
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import argparse
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import rti.connextdds as dds
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from foo import Foo
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def publisher_main(domain_id, sample_count):
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# Create a DomainParticipant with default QoS
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participant = dds.DomainParticipant(domain_id)
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# Create a Topic and automatically register the type
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topic = dds.Topic(participant, "Example Foo", Foo)
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# Create a DataWriter with default QoS
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writer = dds.DataWriter(topic)
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# Create a Status Condition for the writer
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status_condition = dds.StatusCondition(writer)
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# Enable statuses configuration for the Status Condition
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status_condition.enabled_statuses = dds.StatusMask.PUBLICATION_MATCHED
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# Define a handler for the Status Condition
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def status_handler(_):
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status_mask = writer.status_changes
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st = writer.publication_matched_status
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if dds.StatusMask.PUBLICATION_MATCHED in status_mask:
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print(
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f"Publication matched changed => Matched readers = {st.current_count}"
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)
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status_condition.set_handler(status_handler)
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# Create a WaitSet and attach our Status Condition
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waitset = dds.WaitSet()
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waitset += status_condition
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# Instantiate a sample
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sample = Foo()
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# Write every second until the specified amount of samples is reached
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samples_sent = 0
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while (sample_count == 0) or (samples_sent < sample_count):
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# Catch control-C interrupt
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try:
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# Dispatch will call the handlers associated to the
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# WaitSet conditions when they activate
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waitset.dispatch(dds.Duration(1, 0)) # Wait up to 1s each time
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print(f"Writing Foo, count = {samples_sent}")
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sample.x = samples_sent
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writer.write(sample)
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samples_sent += 1
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except KeyboardInterrupt:
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break
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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description="RTI Connext DDS Example: Waitsets with Status Conditions (Publisher)"
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)
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parser.add_argument(
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"-d", "--domain", type=int, default=0, help="DDS Domain ID"
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)
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parser.add_argument(
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"-c", "--count", type=int, default=0, help="Number of samples to send"
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)
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args = parser.parse_args()
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assert 0 <= args.domain < 233
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assert args.count >= 0
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publisher_main(args.domain, args.count)

‎examples/connext_dds/waitset_status_cond/py/waitset_status_cond_subscriber.py‎

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# (c) Copyright, Real-Time Innovations, 2024. 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 solely for use with RTI Connext DDS. Licensee may
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# redistribute copies of the software provided that all such copies are subject
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# to this license. The software is provided "as is", with no warranty of any
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# type, including any warranty for fitness for any purpose. RTI is under no
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# 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
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# to use the software.
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import argparse
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import rti.connextdds as dds
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from foo import Foo
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def subscriber_main(domain_id, sample_count):
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# Create a DomainParticipant with default QoS
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participant = dds.DomainParticipant(domain_id)
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# Create a Topic and automatically register the type
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topic = dds.Topic(participant, "Example Foo", Foo)
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# Create a DataReader with default QoS
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reader = dds.DataReader(topic)
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# Create a Status Condition for the reader
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status_condition = dds.StatusCondition(reader)
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# Enable statuses configuration for the Status Condition
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status_condition.enabled_statuses = (
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dds.StatusMask.LIVELINESS_CHANGED | dds.StatusMask.DATA_AVAILABLE
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)
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# This counter will keep track of the samples we have processed
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samples_read = 0
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# Define a handler for the Status Condition
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def status_handler(_):
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status_mask = reader.status_changes
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# Handle liveliness status changes
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if dds.StatusMask.LIVELINESS_CHANGED in status_mask:
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st = reader.liveliness_changed_status
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print(f"Liveliness changed => Active writers = {st.alive_count}")
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# Handle when there's new data available
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if dds.StatusMask.DATA_AVAILABLE in status_mask:
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nonlocal samples_read
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for data in reader.take_data():
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samples_read += 1
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print(data)
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status_condition.set_handler(status_handler)
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# Create a WaitSet and attach our Status Condition
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waitset = dds.WaitSet()
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waitset += status_condition
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# Loop until the application is shut down or the sample count is reached
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while (sample_count == 0) or (samples_read < sample_count):
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# Catch control-C interrupt
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try:
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# Dispatch will call the handlers associated to the
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# WaitSet conditions when they activate
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waitset.dispatch(dds.Duration(4, 0)) # Wait up to 4s each time
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except KeyboardInterrupt:
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break
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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description="RTI Connext DDS Example: Waitsets with Status Conditions (Subscriber)"
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)
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parser.add_argument(
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"-d", "--domain", type=int, default=0, help="DDS Domain ID"
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)
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parser.add_argument(
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"-c",
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"--count",
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type=int,
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default=0,
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help="Number of samples to receive",
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)
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args = parser.parse_args()
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assert 0 <= args.domain < 233
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assert args.count >= 0
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subscriber_main(args.domain, args.count)

‎examples/connext_secure/certificate_revocation_list/c++11/USER_QOS_PROFILES.xml‎

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</element>
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<element>
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<name>com.rti.serv.secure.files_poll_interval</name>
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<value>5000</value>
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<value>5</value>
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</element>
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<!--
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Needed to allow a previously-revoked participant to fail

‎examples/routing_service/udp_socket_adapter/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
5+
# works of the Software. Licensee has the right to distribute object form
6+
# only for use with RTI products. The Software is provided "as is", with no
7+
# warranty of any type, including any warranty for fitness for any purpose.
8+
# 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(SocketAdapterCpp)
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# Find RTI Connext dependencies
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list(APPEND CMAKE_MODULE_PATH
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"${CMAKE_CURRENT_SOURCE_DIR}/../../../resources/cmake/Modules"
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)
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include(ConnextDdsConfigureCmakeUtils)
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connextdds_configure_cmake_utils()
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find_package(
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RTIConnextDDS "7.3.0"
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REQUIRED
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COMPONENTS
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core
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routing_service
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)
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# It may not be necessary to include the hpp files
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add_library(${PROJECT_NAME}
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketAdapter.cxx"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketAdapter.hpp"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketConnection.cxx"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketConnection.hpp"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/SocketInputDiscoveryStreamReader.cxx"
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"${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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"${CMAKE_CURRENT_SOURCE_DIR}/src/UdpSocket.cxx"
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"${CMAKE_CURRENT_SOURCE_DIR}/src/UdpSocket.hpp"
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)
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)
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set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD_REQUIRED ON)
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target_link_libraries(${PROJECT_NAME}
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RTIConnextDDS::routing_service_infrastructure
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RTIConnextDDS::cpp2_api
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)
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# To differentiate between debug and release builds
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set_target_properties(${PROJECT_NAME}
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PROPERTIES
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DEBUG_POSTFIX "d"
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)

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