Skip to content

README.md

Latest commit

 

History

History
121 lines (90 loc) · 3.79 KB

README.md

File metadata and controls

121 lines (90 loc) · 3.79 KB
Raw

rticonnextdds-connector: Python

Installation and Platform support

Check here and here. If you still have trouble write on the RTI Community Forum

Available examples

In this directory you can find 1 set of examples

  • simple: shows how to write samples and how to read/take

API Overview:

require the connector library

If you want to use the rticonnextdds_connector you have to import it:

import rticonnextdds_connector as rti

instantiate a new connector

To create a new connector you have to pass an xml file and a configuration name. For more information on the XML format check the XML App Creation guide or have a look to the ShapeExample.xml file included in this directory.

connector = rti.Connector("MyParticipantLibrary::Zero","./ShapeExample.xml");

write a sample

To write a sample first we have to get a reference to the output port:

output = connector.getOutput("MyPublisher::MySquareWriter")

then we have to set the instance's fields:

output.instance.setNumber("x", 1);
output.instance.setNumber("y", 2);
output.instance.setNumber("shapesize", 30);
output.instance.setString("color", "BLUE");

and then we can write:

output.write();

setting the instance's fields:

The content of an instance can be set:

  • Field by field:
output.instance.setNumber("y", 2);

The APIs to do that are only 3: setNumber(fieldName, number); setBoolean(fieldName, boolean); and setString(fieldName, string);.

Nested fields can be accessed with the dot notation: "x.y.z", and array with square brakets: "x.y[1].z". For more info on how to access fields, check Section 6.4 'Data Access API' of the RTI Prototyper Getting Started Guide

reading/taking data

To read/take samples first we have to get a reference to the input port:

input = connector.getInput("MySubscriber::MySquareReader");

then we can call the read() or take() API:

input.read();

or

 input.take();

The read/take operation can return multiple samples. So we have to iterate on an array:

    input.take();
    numOfSamples = input.samples.getLength();
    for j in range (1, numOfSamples+1):
        if input.infos.isValid(j):
            x = input.samples.getNumber(j, "x");
            y = input.samples.getNumber(j, "y");
            size = input.samples.getNumber(j, "shapesize");
            color = input.samples.getString(j, "color");
            toPrint = "Received x: " + repr(x) + " y: " + repr(y) + " size: " + repr(size) + " color: " + repr(color);
            print toPrint;
}

accessing samples fields after a read/take

A read() or take() operation can return multiple samples. They are stored in an array.

  • Field by field:
 numOfSamples = input.samples.getLength();
 for j in range (1, numOfSamples+1):
     if input.infos.isValid(j):
         x = input.samples.getNumber(j, "x");
         y = input.samples.getNumber(j, "y");
         size = input.samples.getNumber(j, "shapesize");
         color = input.samples.getString(j, "color");
         toPrint = "Received x: " + repr(x) + " y: " + repr(y) + " size: " + repr(size) + " color: " + repr(color);
         print toPrint;
 }

The APIs to do that are only 3: getNumber(indexm fieldName); getBoolean(index, fieldName); and getString(index, fieldName);.