safety_fault_detection: A C repository from dgochenour

=====================
C Engagement_t w/ Dynamic Discovery Example
=====================

An example publication and subscription pair to send and receive simple strings.

An example publication and subscription pair to send and receive simple strings.
Discovery of endpoints is done with the dynamic-endpoint discovery.

Purpose
=======

This example shows how to perform basic publish-subscribe communication.

This example differs from the HelloWorld example in that endpoint discovery is 
done dynamically: state of remote endpoints are propagated automatically by 
built-in discovery endpoints, and the user does not need to manually configure 
remote endpoint state.

For convenience, complete source code, a sample makefile for Linux and VxWorks, 
and a sample project for Windows has been provided.


Source Overview
===============

A simple "Engagement_t" type, containing a message string, is defined in 
Engagement_t.idl.

For the type to be useable by Connext Micro, type-support files must be 
generated that implement a type-plugin interface.  The example Makefile 
will generate these support files, by invoking rtiddsgen.  Note that rtiddsgen
can be invoked manually, with an example command like this:

    ${RTIMEHOME}/rtiddsgen/scripts/rtiddsgen -micro -language C Engagement_t.idl

The generated source files are Engagement_t.c, Engagement_tSupport.c, and 
Engagement_tPlugin.c. Associated header files are also generated.
 
The DataWriter and DataReader of the type are managed in Engagement_t_publisher.c
and Engagement_t_subscriber.c, respectively. The DomainParticipant of each is 
managed in Engagement_tApplication.c
  


Example Files Overview
======================

Engagement_tApplication.c:
This file contains the logic for creating an application.  This includes steps 
for configuring discovery and creating a DomainParticipant.  This file also 
includes code for registering a type with the DomainParticipant.

Engagement_t_publisher.c:
This file contains the logic for creating a Publisher and a DataWriter, and 
sending data.  

Engagement_t_subscriber.c:
This file contains the logic for creating a Subscriber and a DataReader, a 
DataReaderListener, and listening for data.

Engagement_tPlugin.c:
This file creates the plugin for the Engagement_t data type.  This file contains 
the code for serializing and deserializing the Engagement_t type, creating, 
copying, printing and deleting the Engagement_t type, determining the size of the 
serialized type, and handling hashing a key, and creating the plug-in.

Engagement_tSupport.c
This file defines the Engagement_t type and its typed DataWriter, DataReader, and 
Sequence.

Engagement_t.c
This file contains the APIs for managing the Engagement_t type.


How to Compile and Run
======================


--------------------
Compiling with CMake
--------------------
Before compiling, set environment variable RTIMEHOME to the Connext Micro 
installation directory. 

The RTI Connext DDS Micro source bundle includes a bash (Unix) and BAT (Windows)
script to simplify the invocation of CMake. These scripts is a convenient way 
to invoke CMake with the correct options. E.g.

Linux
-----
cd "<Engagement_tApplication directory>"
rtime-make --config <Debug|Release> --build --name x64Linux3gcc4.8.2 --target Linux --source-dir . -G "Unix Makefiles" --delete

Windows
-------
cd "<Engagement_tApplication directory>"
rtime-make.bat --config <Debug|Release> --build --name i86Win32VS2010 --target Windows --source-dir . -G "Visual Studio 10 2010" --delete

Darwin
------
cd "<Engagement_tApplication directory>"
rtime-make --config <Debug|Release> --build --name x64Darwin17.3.0Clang9.0.0 --target Darwin --source-dir . -G "Unix Makefiles" --delete

The executable can be found on directory "objs"



It is also possible to compile using CMake, e.g. in case the RTI Connext DDS 
Micro source bundle is not installed.  


Linux
-----
cmake [-DCMAKE_BUILD_TYPE=<Debug|Release>] -G "Unix Makefiles" -B./<your build directory> -H. -DRTIME_TARGET_NAME=x64Linux3gcc4.8.2 -DPLATFORM_LIBS="dl;nsl;m;pthread;rt"
cmake --build ./<your build directory> [--config <Debug|Release>]

Windows
-------
cmake [-DCMAKE_BUILD_TYPE=<Debug|Release>] -G "Visual Studio 10 2010" -B./<your build directory> -H. -DRTIME_TARGET_NAME=i86Win32VS2010 -DPLATFORM_LIBS="netapi32.lib;advapi32.lib;user32.lib;winmm.lib;WS2_32.lib;"
cmake --build ./<your build directory> [--config <Debug|Release>]

Darwin
------
cmake [-DCMAKE_BUILD_TYPE=<Debug|Release>] -G "Unix Makefiles" -B./<your build directory> -H. -DRTIME_TARGET_NAME=x64Darwin17.3.0Clang9.0.0 -DPLATFORM_LIBS="dl;m;pthread"
cmake --build ./<your build directory> [--config <Debug|Release>]

The executable can be found on ./objs

------------------------------------------------------
Running Engagement_t_publisher and Engagement_t_subscriber
------------------------------------------------------

E.g. in case the Engagement_t has been compiled for Linux i86Linux2.6gcc4.4.5 run the subscriber by typing:

objs/i86Linux2.6gcc4.4.5/Engagement_t_subscriber -domain <Domain_ID> -peer <address> -sleep <sleep_time> -count <seconds_to_run>

and run the publisher by typing:

objs/i86Linux2.6gcc4.4.5/Engagement_t_publisher -domain <Domain_ID> -peer <address> -sleep <sleep_time> -count <seconds_to_run>
dgochenour/safety_fault_detection
