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Added example for blogpost
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‎examples/routing_service/shmem_udp_gateway/CDS_config.xml‎

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<?xml version="1.0"?>
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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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<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.2.0/rti_cloud_discovery_service.xsd">
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<cloud_discovery_service name="cds_all_domains_udpv4">
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<annotation>
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<documentation><![CDATA[
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Forwards all domains using built-in UDPv4 transport.
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]]>
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</documentation>
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</annotation>
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<transport>
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<element>
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<alias>udpv4</alias>
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<receive_port>$(CDS_PORT)</receive_port>
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</element>
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</transport>
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</cloud_discovery_service>
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</dds>

‎examples/routing_service/shmem_udp_gateway/README.md‎

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# SHMEM <--> UDP Gateway
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This repository contains the necessary files to run the RTI Routing Service
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example from the "How does Connext help you meet the constraints of the
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hospital's IT department?" blogpost. Using RTI DDS Ping as a pub/sub
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application and Routing Service you will be able to create a gateway between
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a Shared Memory domain and a UDP domain that uses only 3 ports. There is also
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a second configuration option using RTI Cloud Discovery Service to use Unicast.
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## Environment variables
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For your convenience, there are 2 scripts to set up environment variables:
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- Linux: _variables.sh_
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- Windows: _variables.bat_
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These are the variables they contain, which you should modify according to your
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system:
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- **NDDSHOME**: path to the installation of RTI Connext Professional.
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- **NDDS_QOS_PROFILES**: path to the _qos.xml_ file containing QoS profiles.
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- **SHMEM_DOMAIN**: the domain for the applications using SHMEM.
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- **UDP_DOMAIN**: the domain for the applications using UDP (mainly the DomainParticipant of RTI Routing Service).
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- **APPS**: total number of DomainParticipants on the localhost. By default, Connext will try to reach out to the first 5 created applications on SHMEM, therefore, we need to increase that number if there are more than 5 applications.
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- **CDS_IP_ADDRESS**: the IP address of the host that contains RTI Cloud Discovery Service.
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- **CDS_PORT**: the UDP port that CDS will use.
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On Linux, you can use the environment variables by sourcing the file:
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```bash
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source variables.sh
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```
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On Windows, simply run it:
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```bash
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> variables.bat
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```
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For convenience, the rest of the README will use the Linux variable sign ($)
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instead of the Windows variable signs (%%).
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## Multicast example
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You will need 3 terminals to run this example.
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1. On terminal 1, source the variables script and run an RTI DDS Ping publisher
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on SHMEM acting as a local publisher:
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```bash
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source variables.sh
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$NDDSHOME/bin/rtiddsping -pub -domain $SHMEM_DOMAIN -qosProfile "example_library::shmem_profile"
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```
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2. On terminal 2, source the variables script and run an RTI DDS Ping
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subscriber on UDP acting as a remote subscriber:
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```bash
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source variables.sh
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$NDDSHOME/bin/rtiddsping -sub -domain $UDP_DOMAIN -qosProfile "example_library::multicast"
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```
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3. At this point, there should be no communication between both applications.
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They are on different domains and they're using different transports.
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On terminal 3, on the same host as the SHMEM application,
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source the variables script and start Routing Service:
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```bash
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source variables.sh
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$NDDSHOME/bin/rtiroutingservice -cfgFile RS_config_multicast.xml -cfgName gateway_SHMEM_and_UDP
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```
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4. The subscriber should now be receiving data. For instance:
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```bash
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...
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Current alive publisher tally is: 1
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rtiddsping, issue received: 0000002
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rtiddsping, issue received: 0000003
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rtiddsping, issue received: 0000004
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rtiddsping, issue received: 0000005
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...
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```
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5. (Optional) Feel free to explore the QoS and RS config files. The relevant
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QoS profiles for this example are _shmem_profile_ and _multicast_. The RS file
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contains a _domain_route_ with 2 DPs. 1 for UDP and another one for SHMEM
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(configured through the DP QoS). It also contains 2 _auto_topic_route_ tags
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that allow the traffic to flow in the SHMEM --> UDP and SHMEM <-- UDP
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directions. In a real scenario, there would most likely be more topic routes,
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because different topics will require different DW / DR QoS policies.
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6. (Optional) You can run Wireshark and capture data to verify that the
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traffic only goes to the 3 different ports that Routing Service opens:
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Multicast discovery, Unicast discovery and Unicast user-data. Which ports are
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actually in use will depend on the domain ID you use for UDP and whether you
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started the RTI DDS Ping application on the same machine as Routing Service or
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not. Remember you can check the ports in use on this [spreadsheet](https://d2vkrkwbbxbylk.cloudfront.net/sites/default/files/knowledge_base/Port%20Assign4.2e.xls).
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6. You can now shutdown the 3 applications with Ctrl+C.
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## Multicast-less example (CDS)
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You will need 3 terminals to run this example.
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1. On terminal 1, source the variables script and run an RTI DDS Ping publisher
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on SHMEM acting as a local publisher:
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```bash
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source variables.sh
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$NDDSHOME/bin/rtiddsping -pub -domain $SHMEM_DOMAIN -qosProfile "example_library::shmem_profile"
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```
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2. Install the CDS package. For instance: _rti_cloud_discovery_service-7.2.0-host-x64Linux.rtipkg_
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3. On terminal 2, source the variables script and start CDS:
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```bash
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$NDDSHOME/bin/rticlouddiscoveryservice -cfgFile CDS_config.xml -cfgName cds_all_domains_udpv4
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```
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4. On terminal 3, source the variables script and run an RTI DDS Ping
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subscriber on UDP acting as a remote subscriber:
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```bash
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source variables.sh
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$NDDSHOME/bin/rtiddsping -sub -domain $UDP_DOMAIN -qosProfile "example_library::no_multicast"
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```
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5. At this point, there should be no communication between both applications.
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They are on different domains and they're using different transports. On
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terminal 4, on the same host as the SHMEM application, source the variables
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script and start Routing Service:
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```bash
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source variables.sh
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$NDDSHOME/bin/rtiroutingservice -cfgFile RS_config_with_CDS.xml -cfgName gateway_SHMEM_and_UDP
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```
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6. The subscriber should now be receiving data. For instance:
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```bash
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...
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Current alive publisher tally is: 1
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rtiddsping, issue received: 0000002
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rtiddsping, issue received: 0000003
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rtiddsping, issue received: 0000004
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rtiddsping, issue received: 0000005
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...
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```
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7. (Optional) Feel free to explore the QoS and RS config files. The relevant
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QoS profiles for this example are _shmem_profile_ and _no_multicast_. The RS
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file contains a _domain_route_ with 2 DPs. 1 for UDP and another one for SHMEM
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(configured through the DP QoS). It also contains 2 _auto_topic_route_ tags
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that allow the traffic to flow in the SHMEM --> UDP and SHMEM <-- UDP
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directions. In a real scenario, there would most likely be more topic routes,
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because different topics will require different DW / DR QoS policies.
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8. (Optional) You can run Wireshark and capture data to verify that the
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traffic only goes to the 2 different ports that Routing Service opens: Unicast
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discovery and Unicast user-data. Which ports are actually in use will depend
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on the domain ID you use for UDP and whether you started the RTI DDS Ping
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application on the same machine as Routing Service or not. Remember you can
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check the ports in use on this [spreadsheet](https://d2vkrkwbbxbylk.cloudfront.net/sites/default/files/knowledge_base/Port%20Assign4.2e.xls).
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8. You can now shutdown the 4 applications with Ctrl+C.

‎examples/routing_service/shmem_udp_gateway/RS_config_multicast.xml‎

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<?xml version="1.0"?>
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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
6+
redistribute copies of the software provided that all such copies are subject
7+
to this license. The software is provided "as is", with no warranty of any
8+
type, including any warranty for fitness for any purpose. RTI is under no
9+
obligation to maintain or support the software. RTI shall not be liable for
10+
any incidental or consequential damages arising out of the use or inability
11+
to use the software. -->
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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/7.2.0/rti_routing_service.xsd">
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<routing_service name="gateway_SHMEM_and_UDP">
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<annotation>
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<documentation>
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Routes all topics between domain 0 (SHMEM) and domain 1 (UDPv4)
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</documentation>
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</annotation>
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<!-- The administration tag enables remote administration, and is
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required when using Admin Console. -->
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<administration>
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<domain_id>99</domain_id>
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<distributed_logger>
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<enabled>true</enabled>
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<filter_level>WARNING</filter_level>
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</distributed_logger>
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</administration>
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<!-- This is the Monitoring configuration for all the entities in
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this routing service, and is required when using Admin Console. -->
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<monitoring>
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<!-- The domain id where to publish the monitoring information -->
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<domain_id>99</domain_id>
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<!-- How often to publish it -->
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<status_publication_period>
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<sec>5</sec>
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<nanosec>0</nanosec>
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</status_publication_period>
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<!-- How often to compute statistics -->
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<statistics_sampling_period>
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<sec>1</sec>
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<nanosec>0</nanosec>
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</statistics_sampling_period>
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</monitoring>
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<domain_route name="TwoWayDomainRoute">
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<participant name="SHMEM_DP">
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<domain_id>$(SHMEM_DOMAIN)</domain_id>
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<!-- You should use your own QoS profiles here -->
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<domain_participant_qos base_name="example_library::shmem_profile"/>
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</participant>
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<participant name="UDP_DP">
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<domain_id>$(UDP_DOMAIN)</domain_id>
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<!-- You should use your own QoS profiles here -->
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<domain_participant_qos base_name="example_library::multicast"/>
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</participant>
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<session name="SHMEM_to_UDP_session">
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<auto_topic_route name="SHMEM_to_UDP_route">
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<publish_with_original_info>true</publish_with_original_info>
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<input participant="SHMEM_DP">
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<allow_topic_name_filter>*</allow_topic_name_filter>
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<allow_registered_type_name_filter>*</allow_registered_type_name_filter>
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<deny_topic_name_filter>rti/*</deny_topic_name_filter>
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<creation_mode>ON_DOMAIN_OR_ROUTE_MATCH</creation_mode>
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<!-- You should use your own QoS profiles here -->
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<datareader_qos base_name="BuiltinQosLib::Generic.Common"/>
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</input>
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<output participant="UDP_DP">
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<allow_topic_name_filter>*</allow_topic_name_filter>
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<allow_registered_type_name_filter>*</allow_registered_type_name_filter>
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<deny_topic_name_filter>rti/*</deny_topic_name_filter>
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<creation_mode>ON_DOMAIN_OR_ROUTE_MATCH</creation_mode>
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<!-- You should use your own QoS profiles here -->
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<datawriter_qos base_name="BuiltinQosLib::Generic.Common"/>
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</output>
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</auto_topic_route>
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</session>
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<session name="UDP_to_SHMEM_session">
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<auto_topic_route name="UDP_to_SHMEM_route">
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<publish_with_original_info>true</publish_with_original_info>
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<input participant="UDP_DP">
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<allow_topic_name_filter>*</allow_topic_name_filter>
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<allow_registered_type_name_filter>*</allow_registered_type_name_filter>
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<deny_topic_name_filter>rti/*</deny_topic_name_filter>
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<creation_mode>ON_DOMAIN_OR_ROUTE_MATCH</creation_mode>
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<!-- You should use your own QoS profiles here -->
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<datareader_qos base_name="BuiltinQosLib::Generic.Common"/>
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</input>
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<output participant="SHMEM_DP">
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<allow_topic_name_filter>*</allow_topic_name_filter>
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<allow_registered_type_name_filter>*</allow_registered_type_name_filter>
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<deny_topic_name_filter>rti/*</deny_topic_name_filter>
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<creation_mode>ON_DOMAIN_OR_ROUTE_MATCH</creation_mode>
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<!-- You should use your own QoS profiles here -->
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<datawriter_qos base_name="BuiltinQosLib::Generic.Common"/>
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</output>
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</auto_topic_route>
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</session>
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</domain_route>
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</routing_service>
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</dds>

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