rticonnextdds-connector-go – github.com/rticommunity/rticonnextdds-connector-go Index | Files | Directories

package rti

import "github.com/rticommunity/rticonnextdds-connector-go"

Package rti implements functions of RTI Connector for Connext DDS in Go

Index

Constants 

const (
	// DDSRetCodeNoData is a Return Code from CGO for no data return
	DDSRetCodeNoData = 11
	// DDSRetCodeTimeout is a Return Code from CGO for timeout code
	DDSRetCodeTimeout = 10
	// DDSRetCodeOK is a Return Code from CGO for good state
	DDSRetCodeOK = 0
)

Variables 

var ErrNoData = errors.New("DDS Exception: No Data")

ErrNoData is returned when there is no data available in the DDS layer 

var ErrTimeout = errors.New("DDS Exception: Timeout")

ErrTimeout is returned when there is a timeout in the DDS layer

Types

type Connector 

type Connector struct {
	Inputs  []Input
	Outputs []Output
	// contains filtered or unexported fields
}

Connector is a container managing DDS inputs and outputs

func NewConnector 

func NewConnector(configName, url string) (*Connector, error)

NewConnector is a constructor of Connector.

url is the location of XML documents in URL format. For example: 

File specification: file:///usr/local/default_dds.xml
String specification: str://"<dds><qos_library>…</qos_library></dds>"

If you omit the URL schema name, Connector will assume a file name. For example: 

File Specification: /usr/local/default_dds.xml

func (*Connector) Delete 

func (connector *Connector) Delete() error

Delete is a destructor of Connector

func (*Connector) GetInput 

func (connector *Connector) GetInput(inputName string) (*Input, error)

GetInput returns an input object

func (*Connector) GetOutput 

func (connector *Connector) GetOutput(outputName string) (*Output, error)

GetOutput returns an output object

func (*Connector) Wait 

func (connector *Connector) Wait(timeoutMs int) error

Wait is a function to block until data is available on an input

type Identity 

type Identity struct {
	WriterGUID     [16]byte `json:"writer_guid"`
	SequenceNumber int      `json:"sequence_number"`
}

Identity is the structure for identifying

type Infos 

type Infos struct {
	// contains filtered or unexported fields
}

Infos is a sequence of info samples used by an input to read DDS meta data

func (*Infos) GetIdentity 

func (infos *Infos) GetIdentity(index int) (Identity, error)

GetIdentity is a function to get the identity of a writer that sent the sample

func (*Infos) GetIdentityJSON 

func (infos *Infos) GetIdentityJSON(index int) (string, error)

GetIdentityJSON is a function to get the identity of a writer in JSON

func (*Infos) GetInstanceState 

func (infos *Infos) GetInstanceState(index int) (string, error)

GetInstanceState is a function used to get a instance state in string (one of "ALIVE", "NOT_ALIVE_DISPOSED" or "NOT_ALIVE_NO_WRITERS").

func (*Infos) GetLength 

func (infos *Infos) GetLength() (int, error)

GetLength is a function to return the length of the

func (*Infos) GetReceptionTimestamp 

func (infos *Infos) GetReceptionTimestamp(index int) (int64, error)

GetReceptionTimestamp is a function to get the reception timestamp of a sample

func (*Infos) GetRelatedIdentity 

func (infos *Infos) GetRelatedIdentity(index int) (Identity, error)

GetRelatedIdentity is a function used for request-reply communications.

func (*Infos) GetRelatedIdentityJSON 

func (infos *Infos) GetRelatedIdentityJSON(index int) (string, error)

GetRelatedIdentityJSON is a function used for get related identity in JSON.

func (*Infos) GetSampleState 

func (infos *Infos) GetSampleState(index int) (string, error)

GetSampleState is a function used to get a sample state in string (either "READ" or "NOT_READ").

func (*Infos) GetSourceTimestamp 

func (infos *Infos) GetSourceTimestamp(index int) (int64, error)

GetSourceTimestamp is a function to get the source timestamp of a sample

func (*Infos) GetViewState 

func (infos *Infos) GetViewState(index int) (string, error)

GetViewState is a function used to get a view state in string (either "NEW" or "NOT NEW").

func (*Infos) IsValid 

func (infos *Infos) IsValid(index int) (bool, error)

IsValid is a function to check validity of the element and return a boolean

type Input 

type Input struct {
	Samples *Samples
	Infos   *Infos
	// contains filtered or unexported fields
}

Input subscribes to DDS data

func (*Input) GetMatchedPublications 

func (input *Input) GetMatchedPublications() (string, error)

Note that Connector Outputs are automatically assigned a name from the *data_writer name* in the XML configuration.

func (*Input) Read 

func (input *Input) Read() error

Read is a function to read DDS samples from the DDS DataReader and allow access them via the Connector Samples. The Read function does not remove DDS samples from the DDS DataReader's receive queue.

func (*Input) Take 

func (input *Input) Take() error

Take is a function to take DDS samples from the DDS DataReader and allow access them via the Connector Samples. The Take function removes DDS samples from the DDS DataReader's receive queue.

func (*Input) WaitForPublications 

func (input *Input) WaitForPublications(timeoutMs int) (int, error)

Waits until this input matches or unmatches a compatible DDS subscription. If the operation times out, it will raise :class:`TimeoutError`. Parameters: 

timeout: The maximum time to wait in milliseconds. Set -1 if you want infinite.

Return: The change in the current number of matched outputs. If a positive number is returned, the input has matched with new publishers. If a negative number is returned the input has unmatched from an output. It is possible for multiple matches and/or unmatches to be returned (e.g., 0 could be returned, indicating that the input matched the same number of writers as it unmatched).

type Instance 

type Instance struct {
	// contains filtered or unexported fields
}

Instance is used by an output to write DDS data

func (*Instance) Set 

func (instance *Instance) Set(v interface{}) error

Set is a function that consumes an interface of multiple samples with different types and value TODO - think about a new name for this a function (e.g. SetType, SetFromType, FromType)

func (*Instance) SetBoolean 

func (instance *Instance) SetBoolean(fieldName string, value bool) error

SetBoolean is a function to set boolean to a fieldname of the samples

func (*Instance) SetByte 

func (instance *Instance) SetByte(fieldName string, value byte) error

SetByte is a function to set a byte to a fieldname of the samples

func (*Instance) SetFloat32 

func (instance *Instance) SetFloat32(fieldName string, value float32) error

SetFloat32 is a function to set a value of type float32 into samples

func (*Instance) SetFloat64 

func (instance *Instance) SetFloat64(fieldName string, value float64) error

SetFloat64 is a function to set a value of type float64 into samples

func (*Instance) SetInt 

func (instance *Instance) SetInt(fieldName string, value int) error

SetInt is a function to set a value of type int into samples

func (*Instance) SetInt16 

func (instance *Instance) SetInt16(fieldName string, value int16) error

SetInt16 is a function to set a value of type int16 into samples

func (*Instance) SetInt32 

func (instance *Instance) SetInt32(fieldName string, value int32) error

SetInt32 is a function to set a value of type int32 into samples

func (*Instance) SetInt64 

func (instance *Instance) SetInt64(fieldName string, value int64) error

SetInt64 is a function to set a value of type int64 into samples

func (*Instance) SetInt8 

func (instance *Instance) SetInt8(fieldName string, value int8) error

SetInt8 is a function to set a value of type int8 into samples

func (*Instance) SetJSON 

func (instance *Instance) SetJSON(blob []byte) error

SetJSON is a function to set JSON string in the form of slice of bytes into Instance

func (*Instance) SetRune 

func (instance *Instance) SetRune(fieldName string, value rune) error

SetRune is a function to set rune to a fieldname of the samples

func (*Instance) SetString 

func (instance *Instance) SetString(fieldName, value string) error

SetString is a function that set a string to a fieldname of the samples

func (*Instance) SetUint 

func (instance *Instance) SetUint(fieldName string, value uint) error

SetUint is a function to set a value of type uint into samples

func (*Instance) SetUint16 

func (instance *Instance) SetUint16(fieldName string, value uint16) error

SetUint16 is a function to set a value of type uint16 into samples

func (*Instance) SetUint32 

func (instance *Instance) SetUint32(fieldName string, value uint32) error

SetUint32 is a function to set a value of type uint32 into samples

func (*Instance) SetUint64 

func (instance *Instance) SetUint64(fieldName string, value uint64) error

SetUint64 is a function to set a value of type uint64 into samples

func (*Instance) SetUint8 

func (instance *Instance) SetUint8(fieldName string, value uint8) error

SetUint8 is a function to set a value of type uint8 into samples

type Output 

type Output struct {
	Instance *Instance
	// contains filtered or unexported fields
}

Output publishes DDS data

func (*Output) ClearMembers 

func (output *Output) ClearMembers() error

ClearMembers is a function to initialize a DDS data instance in an output

func (*Output) GetMatchedSubscriptions 

func (output *Output) GetMatchedSubscriptions() (string, error)

Note that Connector Inputs are automatically assigned a name from the *data_reader name* in the XML configuration.

func (*Output) WaitForSubscriptions 

func (output *Output) WaitForSubscriptions(timeoutMs int) (int, error)

Return: The change in the current number of matched outputs. If a positive number is returned, the input has matched with new publishers. If a negative number is returned the input has unmatched from an output. It is possible for multiple matches and/or unmatches to be returned (e.g., 0 could be returned, indicating that the input matched the same number of writers as it unmatched).

func (*Output) Write 

func (output *Output) Write() error

Write is a function to write a DDS data instance in an output

func (*Output) WriteWithParams 

func (output *Output) WriteWithParams(jsonStr string) error

WriteWithParams is a function to write a DDS data instance with parameters The supported parameters are: action: One of "write" (default), "dispose" or "unregister" source_timestamp: The source timestamp, an integer representing the total number of nanoseconds identity: A dictionary containing the keys "writer_guid" (a list of 16 bytes) and "sequence_number" (an integer) that uniquely identifies this sample. related_sample_identity: Used for request-reply communications. It has the same format as "identity" For example:: output.Write( 

  identity={"writer_guid":[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15], "sequence_number":1},
	 timestamp=1000000000)

type SampleHandler 

type SampleHandler func(samples *Samples, infos *Infos)

SampleHandler is an User defined function type that takes in pointers of Samples and Infos and will handle received samples.

type Samples 

type Samples struct {
	// contains filtered or unexported fields
}

Samples is a sequence of data samples used by an input to read DDS data

func (*Samples) Get 

func (samples *Samples) Get(index int, v interface{}) error

Get is a function to retrieve all the information of the samples and put it into an interface

func (*Samples) GetBoolean 

func (samples *Samples) GetBoolean(index int, fieldName string) (bool, error)

GetBoolean is a function to retrieve a value of type boolean from the samples

func (*Samples) GetByte 

func (samples *Samples) GetByte(index int, fieldName string) (byte, error)

GetByte is a function to retrieve a value of type byte from the samples

func (*Samples) GetFloat32 

func (samples *Samples) GetFloat32(index int, fieldName string) (float32, error)

GetFloat32 is a function to retrieve a value of type float32 from the samples

func (*Samples) GetFloat64 

func (samples *Samples) GetFloat64(index int, fieldName string) (float64, error)

GetFloat64 is a function to retrieve a value of type float64 from the samples

func (*Samples) GetInt 

func (samples *Samples) GetInt(index int, fieldName string) (int, error)

GetInt is a function to retrieve a value of type int from the samples

func (*Samples) GetInt16 

func (samples *Samples) GetInt16(index int, fieldName string) (int16, error)

GetInt16 is a function to retrieve a value of type int16 from the samples

func (*Samples) GetInt32 

func (samples *Samples) GetInt32(index int, fieldName string) (int32, error)

GetInt32 is a function to retrieve a value of type int32 from the samples

func (*Samples) GetInt64 

func (samples *Samples) GetInt64(index int, fieldName string) (int64, error)

GetInt64 is a function to retrieve a value of type int64 from the samples

func (*Samples) GetInt8 

func (samples *Samples) GetInt8(index int, fieldName string) (int8, error)

GetInt8 is a function to retrieve a value of type int8 from the samples

func (*Samples) GetJSON 

func (samples *Samples) GetJSON(index int) ([]byte, error)

GetJSON is a function to retrieve a slice of bytes of a JSON string from the samples

func (*Samples) GetLength 

func (samples *Samples) GetLength() (int, error)

GetLength is a function to get the number of samples

func (*Samples) GetRune 

func (samples *Samples) GetRune(index int, fieldName string) (rune, error)

GetRune is a function to retrieve a value of type rune from the samples

func (*Samples) GetString 

func (samples *Samples) GetString(index int, fieldName string) (string, error)

GetString is a function to retrieve a value of type string from the samples

func (*Samples) GetUint 

func (samples *Samples) GetUint(index int, fieldName string) (uint, error)

GetUint is a function to retrieve a value of type uint from the samples

func (*Samples) GetUint16 

func (samples *Samples) GetUint16(index int, fieldName string) (uint16, error)

GetUint16 is a function to retrieve a value of type uint16 from the samples

func (*Samples) GetUint32 

func (samples *Samples) GetUint32(index int, fieldName string) (uint32, error)

GetUint32 is a function to retrieve a value of type uint32 from the samples

func (*Samples) GetUint64 

func (samples *Samples) GetUint64(index int, fieldName string) (uint64, error)

GetUint64 is a function to retrieve a value of type uint64 from the samples

func (*Samples) GetUint8 

func (samples *Samples) GetUint8(index int, fieldName string) (uint8, error)

GetUint8 is a function to retrieve a value of type uint8 from the samples

Source Files

build_dynamic.go info.go input.go instance.go output.go rticonnextdds_connector.go sample.go

Directories

PathSynopsis
cmd
cmd/download-libsRTI Connector Library Downloader This tool helps users download RTI Connector libraries when using go get
examples
examples/array
examples/array/reader
examples/array/writer
examples/go-get-example
examples/go_struct
examples/go_struct/reader
examples/go_struct/writer
examples/module
examples/module/reader
examples/module/writer
examples/read_and_write
examples/read_and_write/reader
examples/read_and_write/writer
examples/reader_wait
examples/reader_wait/reader
examples/reader_wait/writer
examples/request_reply
examples/request_reply/replier
examples/request_reply/requester
examples/security
examples/security/reader
examples/security/writer
examples/sequence
examples/sequence/reader
examples/sequence/writer
examples/simple
examples/simple/reader
examples/simple/writer
examples/xml_string
examples/xml_string/reader
examples/xml_string/writer
types
Version
v1.3.4 (latest)
Published
Sep 24, 2025
Platform
linux/amd64
Imports
5 packages
Last checked
7 months ago –

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