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Add Modern C++ DL example (#632)
Updated cmake-utils to include the new Modern C++ DL imported target
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‎examples/connext_dds/CMakeLists.txt‎

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@@ -75,6 +75,7 @@ if(NOT DEFINED CONNEXTDDS_CONNEXT_DDS_EXAMPLES)
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"custom_transport"
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"deadline_contentfilter"
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# "discovery_snapshot"
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"distributed_logger"
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"dynamic_data_using_publisher_subscriber"
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"flat_data_api"
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"flat_data_latency"

‎examples/connext_dds/distributed_logger/README.md‎

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# Example Code: Distributed Logger
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## Concept
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RTI Distributed Logger is an API that allows publishing log messages to a DDS Topic.
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This will allow your distributed application to send log messages that can be monitored
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using tools such as RTI Spy or RTI Admin Console.
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It is also possible to use the API directly, creating your own logging infrastructure.
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## Example Description
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Similar examples are available in other programming languages in the
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`rti_workspace/<version>/examples/distributed_logger/<language>/`
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folder created under your home directory when RTI Connext is installed.
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This example shows a simple application running Distributed Logger to
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log several messages using different configurations.
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The log messages can then be visualized using RTI Tools such as RTI Spy
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or RTI Admin Console.
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For example, you may find RTI Spy in your RTI Connext DDS installation
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and run it from a terminal as follows:
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```sh
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cd rti_connext_dds-7.2.0/bin
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./rtiddsspy -printSample
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```
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Once the Distributed Logger example is running in a different terminal,
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you should start seeing state information along with the logged messages
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on RTI Spy:
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```txt
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RTI Connext DDS Spy built with DDS version: 7.2.0
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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rtiddsspy is listening for data, press CTRL+C to stop it.
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[...]
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09:02:38 New data from 192.168.1.228 : topic="rti/distlog" type="com::rti::dl::LogMessage"
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hostAndAppId:
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rtps_host_id: 16867916
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rtps_app_id: 1940525435
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level: 400
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category: ""
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message: "This is a warning message"
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messageId: 1
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[...]
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```
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To learn more about the *Distributed Logger*, refer to the Connext DDS
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API online documentation. (Eg.
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[Modern C++ Distributed Logger](https://community.rti.com/static/documentation/connext-dds/7.2.0/doc/api/connext_dds/distributed_logger/api_cpp2/index.html)).

‎examples/connext_dds/distributed_logger/c++11/CMakeLists.txt‎

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#
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# (c) 2023 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 (DistLoggerExample)
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# Find RTI Connext dependencies
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list(APPEND CMAKE_MODULE_PATH
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"${CMAKE_CURRENT_SOURCE_DIR}/../../../../resources/cmake/Modules"
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)
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include(ConnextDdsConfigureCmakeUtils)
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connextdds_configure_cmake_utils()
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find_package(
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RTIConnextDDS "7.2.0"
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REQUIRED
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COMPONENTS
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core
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distributed_logger
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)
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# Main application
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add_executable(${PROJECT_NAME}
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"${CMAKE_CURRENT_SOURCE_DIR}/DistLoggerExample.cxx"
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)
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target_link_libraries(${PROJECT_NAME}
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PRIVATE
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RTIConnextDDS::cpp2_api
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RTIConnextDDS::distributed_logger_cpp2
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)
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target_include_directories(${PROJECT_NAME}
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PRIVATE
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"${CMAKE_CURRENT_SOURCE_DIR}"
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"${CONNEXTDDS_INCLUDE_DIRS}"
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)
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set_target_properties(${PROJECT_NAME}
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PROPERTIES CXX_STANDARD 11)

‎examples/connext_dds/distributed_logger/c++11/DistLoggerExample.cxx‎

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//
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// (c) 2023 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 <rti/util/util.hpp> // for rti::util::sleep()
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#include <rti/distlogger/DistLogger.hpp>
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using namespace std;
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using namespace dds::domain;
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using namespace rti::dist_logger;
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void distlogger_example_main(
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const string application_kind,
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const int domain_id,
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const int sleep,
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const uint iterations)
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{
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// First, create the options to personalize Distributed Logger.
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// If no options are provided, default ones will be created.
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DistLoggerOptions options;
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options.domain_id(domain_id);
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options.application_kind(application_kind);
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// Then, set the created options.
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// You can only call set_options before getting the Distributed Logger
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// instance. Once an instance has been created, attempting to call
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// set_options will throw an exception.
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DistLogger::set_options(options);
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// Instantiate Distributed Logger
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DistLogger dist_logger = DistLogger::get_instance();
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// RTI Distributed Logger provides the ability to interact with its
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// topics directly. However, for the sake of simplicity in this example,
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// you may use RTI Tools such as RTI Spy or RTI Admin Console to visualize
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// the logging.
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for (uint i = 1; i <= iterations; ++i) {
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cout << "\nIteration #" << i << endl;
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// Log messages using the appropiate log levels for your messages.
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dist_logger.debug("This is a debug message");
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dist_logger.warning("This is a warning message");
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dist_logger.error("This is an error message");
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rti::util::sleep(dds::core::Duration(sleep));
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}
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// The DistLogger instance must be finalized for clean-up
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// before the the participant factory is finalized.
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DistLogger::finalize();
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}
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int main(int argc, char *argv[])
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{
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const string application = "Modern C++ Distributed Logger Example";
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int domain_id = 0;
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int sleep = 1;
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uint iterations = 50;
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for (int i = 1; i < argc;) {
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const string &param = argv[i++];
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if ((param == "-d" || param == "--domain_id") && i < argc) {
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domain_id = atoi(argv[i++]);
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} else if ((param == "-i" || param == "--iterations") && i < argc) {
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iterations = atoi(argv[i++]);
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} else if ((param == "-s" || param == "--sleep") && i < argc) {
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sleep = atoi(argv[i++]);
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} else {
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cout << argv[0] << " [options]\n"
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<< "\t-d, --domain_id <domain ID> (default: 0)\n"
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<< "\t-s, --sleep <seconds between iterations> (default: 1)\n"
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<< "\t-i, --iterations <number of iterations> (default: 50)\n"
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<< "\t-h, --help Display this message.\n"
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<< endl;
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return -1;
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}
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}
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try {
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distlogger_example_main(application, domain_id, sleep, iterations);
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// Finalize Domain Participant Factory
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dds::domain::DomainParticipant::finalize_participant_factory();
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} catch (const exception &ex) {
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// This will catch DDS exceptions
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cerr << "Exception in distlogger_example_main: " << ex.what() << endl;
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return -1;
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}
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return 0;
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}

‎examples/connext_dds/distributed_logger/c++11/README.md‎

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# Example Code: Modern C++ Distributed Logger Application
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## Example Structure
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The following files are part of the example:
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- `DistLoggerExample.cxx`
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- `distlogSupport.h`
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> **Note**:
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>
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> The `distlogSupport.h` header is necessary to use Modern C++ Distributed
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> Logger in RTI Connextdds 7.2.0.
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>
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> **Note**:
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>
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> The `CMakeLists.txt` file in this example uses the latest version
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> of `FindRTIConnextDDS.cmake` from the
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> [cmake-utils](https://github.com/rticommunity/rticonnextdds-cmake-utils)
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> repository to find the Modern C++ Distributed Logger libraries.
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> If you are using RTI Connext 7.2.0, you may want to use a newer version from
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> that repository as well.
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## Building the Example
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In order to build this example, you need to define the variable `CONNEXTDDS_DIR`
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You can do so by exporting it manually, by sourcing the `rtisetenv` script for
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your architecture, or by passing it to the `cmake` command as arguments:
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```sh
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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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-DBUILD_SHARED_LIBS=ON|OFF \
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-DCMAKE_BUILD_TYPE=Debug|Release ..
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cmake --build .
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```
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> **Note**:
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>
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> You do not need to define `CONNEXTDDS_ARCH` if you only have one architecture
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> target installed in your system.
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>
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> **Note**:
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>
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> When using a multi-configuration generator, make sure you specify
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> the `--config` parameter in your call to `cmake --build .`. In general,
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> it's a good practice to always provide it.
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This will produce a binary directory (*build*) where the application
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can be found.
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> **Note:**
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>
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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. To
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> fix this, you have to create a file with the architecture name and call CMake
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> with a specific flag called `-DCMAKE_TOOLCHAIN_FILE`. An example of the file to
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> create with the toolchain settings (e.g. for an 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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```sh
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cmake -DCONNEXTDDS_DIR=<connext dir> \
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-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 Example
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### Example Application
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Run the application in a terminal as follows:
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On *Windows* systems run:
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```sh
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DistLoggerExample.exe [options]
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```
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On *UNIX* systems run:
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```sh
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./DistLoggerExample [options]
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```
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where the options are:
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- `-d, --domain`: Domain ID.
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**Default**: 0.
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- `-s, --sleep`: Number of seconds to sleep between iterations.
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**Default**: 1.
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- `-i, --iterations`: Number of logging iterations.
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**Default**: 50.
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- `-h, --help`: Displays application usage and exits.
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You should see the messages that are being logged on each iteration printed
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on the terminal.
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### Visualizing the log messages
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Once the example application is running, open RTI Spy or
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RTI Admin Console.
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You should be able to visualize the logging messages being sent
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by the application.
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To learn more about RTI Tools, refer to their section in the
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[Connext DDS documentation](https://community.rti.com/documentation).
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## Customizing the Build
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### Configuring Build Type and Generator
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By default, CMake will generate build files using the most common generator for
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your host platform (e.g., Makefiles on Unix-like systems and Visual Studio
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Solutions on Windows). You can use the following CMake variables to modify the
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default behavior:
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- `-DCMAKE_BUILD_TYPE` - specifies the build mode. Valid values are `Release`
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and `Debug`. See the [CMake documentation for more details
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(Optional)](https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html).
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- `-DBUILD_SHARED_LIBS` - specifies the link mode. Valid values are `ON` for
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dynamic linking and `OFF` for static linking. See [CMake documentation for
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more details
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(Optional)](https://cmake.org/cmake/help/latest/variable/BUILD_SHARED_LIBS.html).
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- `-G` - CMake generator. The generator is the native build system used to
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build the source code. All the valid values are described in the CMake
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documentation for [CMake
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Generators](https://cmake.org/cmake/help/latest/manual/cmake-generators.7.html).
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For example, to build an example in Debug/Dynamic mode run CMake as follows:
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```sh
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cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_SHARED_LIBS=ON .. -G "Visual Studio 15 2017" -A x64
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```
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### Configuring Connext Installation Path and Architecture
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The CMake build infrastructure will try to guess the location of your Connext
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installation and the Connext architecture based on the default settings
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for your host platform. If you installed Connext in a custom location, you
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can use the `CONNEXTDDS_DIR` variable to indicate the path to your RTI Connext
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installation folder. 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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Also, if you installed libraries for multiple target architectures on your system
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(i.e., you installed more than one target `.rtipkg` file), you can use the
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`CONNEXTDDS_ARCH` variable to indicate the architecture of the specific libraries
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you want to link against. For example:
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```sh
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cmake -DCONNEXTDDS_ARCH=x64Linux3gcc5.4.0 ..
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```

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