/-intern-zhuangbei-simulation-simul_front-

Primary LanguageJavaScript

  • 超实时仿真项目 前端界面

    • 代码上传到nodejs文件夹下

A. FastDDS_HelloWorldExample

1. File Tree

You should download this project on your own in section A2.

.
└── workspace_DDSHelloWorld
    ├── build
    ├── CMakeLists.txt
    └── src
        ├── HelloWorld.cxx
        ├── HelloWorld.h
        ├── HelloWorld.idl
        ├── HelloWorldCdrAux.hpp
        ├── HelloWorldCdrAux.ipp
        ├── HelloWorldPublisher.cpp
        ├── HelloWorldPubSubTypes.cxx
        ├── HelloWorldPubSubTypes.h
        └── HelloWorldSubscriber.cpp

2. Environment and Start

  1. OS: Windows 10/11

  2. IDE: Visual Studio 2022 (with Desktop development with C++)

  3. eProsima Fast DDS installing.

    • Tick all boxes of environment variable setup.
    • Recommend changing the folder name to fastrtps, which has no spacing.

  4. CMake installing. Recommend: Windows x64 Installer: cmake-3.29.0-windows-x86_64.msi. Run the .msi file.

  5. Chocolatey installing. Just run the following commands:

    Set-ExecutionPolicy Bypass -Scope Process -Force; [System.Net.ServicePointManager]::SecurityProtocol = [System.Net.ServicePointManager]::SecurityProtocol -bor 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))

  6. Install dependencies just by clicking: Asio, TinyXML2.

  7. After downloading these packages, open an administrative shell with PowerShell and execute the following command:

    choco install -y -s <PATH_TO_DOWNLOADS> asio tinyxml2

    where <PATH_TO_DOWNLOADS> is the folder into which the packages have been downloaded.

  8. OpenSSL is a robust toolkit for the TLS and SSL protocols and a general-purpose cryptography library. Install it by running the following command inside an administrative shell with PowerShell:

    choco install -y openssl

    Make sure to configure your system variables:

  9. Run following commands in build/:

    cmake ..
cmake --build .
cd build/Debug/
DDSHelloWorldPublisher.exe
DDSHelloWorldSubscriber.exe

  10. Succeed!

B. rticonnextdds-getting-started

1. File Tree

You should download this project on your own in section B2.

.
└── 2_hello_world
    │  hello_world.idl
    ├─c++11
    │      application.hpp
    │      hello_world_publisher.cxx
    │      hello_world_subscriber.cxx
    │      USER_QOS_PROFILES.xml
    ├─c++98
    ├─csharp
    └─python

2. Environment and Start

  1. OS: Windows 10/11

  2. IDE: Visual Studio 2017 (with Windows 10 SDK 10.0.17134.0)

  3. Fill in the form at Try Connext for Free. Download the .exe file.

  4. Follow the instructions at Installing an Evaluation or LM Version.

    • Run the .exe file downloaded.

  5. (Follow the instructions at 2.2. Hands-On 1: Your First DataWriter and DataReader) Open a command prompt window. Run command <installdir>\resource\scripts\rtisetenv_<architecture>.bat. For example: C:\Program Files\rti_connext_dds-<version>\resource\scripts\rtisetenv_x64Win64VS2017.bat.

  6. Inside the repository you have cloned, there is a directory named 2_hello_world, which contains the HelloWorld type definition in a file named hello_world.idl. You can run following commands:

    cd 2_hello_world
rtiddsgen -language c++11 -platform <architecture> -create makefiles -create typefiles -d c++11 -ppDisable hello_world.idl

  7. Open the c++11 directory to review the code.

  8. In the 2_hello_world/c++11 directory, open hello_world_publisher.cxx in your IDE of choice.

  9. Change the Topic name from “Example HelloWorld” to “HelloWorld Topic”:

    // A Topic has a name and a datatype. Create a Topic named
// "HelloWorld Topic" with type HelloWorld
dds::topic::Topic<HelloWorld> topic(participant, "HelloWorld Topic");

  10. Modify the code to send the message “Hello world!” with a count. In the for loop in the snippet, add the highlighted line, just after the comment // Modify the data to be written here. This will set sample.msg to “Hello world!” with a count:

    // Create data sample for writing
HelloWorld sample;
for (int count = 0; running && (count < sample_count || sample_count == 0);
     count++) {
    // Modify the data to be written here
    sample.msg("Hello world! " + std::to_string(count));

    std::cout << "Writing HelloWorld, count " << count << std::endl;

    writer.write(sample);

    rti::util::sleep(dds::core::Duration(4));
}

  11. Open hello_world_subscriber.cxx. Change the Topic name from “Example HelloWorld” to “HelloWorld Topic”, just as you did in the publishing application.

    // A Topic has a name and a datatype. Create a Topic named
// "HelloWorld Topic" with type HelloWorld
dds::topic::Topic<HelloWorld> topic(participant, "HelloWorld Topic");

  12. Launch Visual Studio by typing hello_world-x64Win64VS2017.sln in the Command Prompt window.

  13. Select Build Solution from the Build menu. (You can also right-click hello_world_publisher or hello_world_subscriber and choose Build; do for each.)

  14. Make sure you have run rtisetenv_<architecture> in any new command prompt window, to avoid issues with paths and licensing. From within the 2_hello_world/c++11 directory, enter the following full path using the SAME command prompt window:

    objs\<architecture>\hello_world_publisher.exe

  15. Open another command prompt window, run rtisetenv_<architecture> if you haven’t already in that window, and from within the 2_hello_world/c++11 directory, enter the following full path:

    objs\<architecture>\hello_world_subscriber.exe

  16. You should see this in the window:

    Writing HelloWorld, count 0
...
---
HelloWorld subscriber sleeping for 4 sec...
[msg: Hello world! 1]
...

    Succeed!

    image-20240401193828066

C. FastDDS & RTI Connext DDS

Note: FastDDS and RTI Connext DDS use the same structure in the .idl file to generate their own codes, and use the same topic; you can open Publisher in one DDS and Subscriber in another DDS (as long as the DDS of both manufacturers comply with OMG's communication specifications, they could work together under the DSCP model).

D. RTI Connext DDS & RTI Connector for JS

1. File Tree

This project is provided under the root folder.

.
├─2_hello_world
│  │  hello_world.idl
│  ├─c++11
│  ├─c++98
│  ├─csharp
│  └─python
│
└─rticonnextdds-connector-js-master
   │  .eslintrc.json
   │  ...
   ├─docs
   ├─examples
   │  └─nodejs
   │      │  ShapeExample.xml
   │      ├─simple
   │      ├─transformation
   │      ├─web_http
   │      └─web_socket
   ├─node_modules
   └─test

2. Environment and Start

  1. Codes under ./2_hello_world/c++11/ and hello_world.idl were modeified. Accordingly, Follow step 12-16 in Section B2 to build the RTI Connext DDS (C++) project.

  2. Codes under ./rticonnextdds-connector-js-master/ were also modified (the original project could be got from here).

  3. Run your node.js reader as follows:

    node examples/nodejs/simple/reader.js

  4. Run your C++ publisher as step 14 in Section B2.

  5. Succeed!

3. Defining a DDS System