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‎.github/workflows/lint_python.yml

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@@ -34,7 +34,7 @@ jobs:
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- name: Set up Python
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uses: actions/setup-python@v2
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with:
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python-version: 3.7
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python-version: 3.8
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- name: Install necessary tools
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run: pip install black==22.3.0
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- name: Perform format check in a pull request

‎README.md

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# rticonnextdds-examples
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# RTI Connext Examples
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3-
This repository includes examples on how to use specific features of RTI
4-
Connext DDS.
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This repository includes:
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To contribute enhancements or additional examples to the repository, follow the
7-
instructions on our [RTI Connext DDS Examples
8-
Wiki](https://github.com/rticommunity/rticonnextdds-examples/wiki). Your
9-
contributions will be reviewed and as soon as they are approved they will
10-
automatically be included in the [RTI Community Portal Examples
11-
Section](http://community.rti.com). See [CONTRIBUTING.md](https://github.com/rticommunity/rticonnextdds-examples/blob/master/CONTRIBUTING.md)
12-
for further information about how to contribute with new examples to this repository.
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- Code examples on how to use specific Connext features (under [examples/](./examples))
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- Supporting code for learning materials (under [tutorials/](./tutorials))
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## Cloning the repository
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To clone the repository you will need to run `git clone` as follows to download
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both the repository and its submodule dependencies:
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```bash
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git clone --recurse-submodule https://github.com/rticommunity/rticonnextdds-examples.git
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```
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If you forget to clone the repository with `--recurse-submodule`, simply run
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the following command to pull all the dependencies:
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```bash
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git submodule update --init --recursive
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```
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## Versioning
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The examples contained in the
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[master](https://github.com/rticommunity/rticonnextdds-examples/tree/master)
@@ -29,18 +41,12 @@ versions of RTI Connext DDS, please check out the appropriate branch:
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- [release/5.1.0](https://github.com/rticommunity/rticonnextdds-examples/tree/release/5.1.0)
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- [release/5.0.0](https://github.com/rticommunity/rticonnextdds-examples/tree/release/5.0.0)
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## Cloning Repository
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To clone the repository you will need to run `git clone` as follows to download
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both the repository and its submodule dependencies:
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```bash
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git clone --recurse-submodule https://github.com/rticommunity/rticonnextdds-examples.git
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```
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If you forget to clone the repository with `--recurse-submodule`, simply run
42-
the following command to pull all the dependencies:
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## How to contribute
4345

44-
```bash
45-
git submodule update --init --recursive
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```
46+
To contribute enhancements or additional examples to the repository, follow the
47+
instructions on our [RTI Connext DDS Examples
48+
Wiki](https://github.com/rticommunity/rticonnextdds-examples/wiki). Your
49+
contributions will be reviewed and as soon as they are approved they will
50+
automatically be included in the [RTI Community Portal Examples
51+
Section](http://community.rti.com). See [CONTRIBUTING.md](https://github.com/rticommunity/rticonnextdds-examples/blob/master/CONTRIBUTING.md)
52+
for further information about how to contribute with new examples to this repository.

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

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@@ -24,7 +24,7 @@ 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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const unsigned int 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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// The log messages are published as DDS topics, which allows your DDS
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// applications to subscribe to them. You can also run rtiddsspy or
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// RTI Admin Console to visualize the logs.
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for (uint i = 1; i <= iterations; ++i) {
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for (unsigned int i = 1; i <= iterations; ++i) {
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cout << "\nIteration #" << i << endl;
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dist_logger.debug("This is a debug message");
@@ -67,7 +67,7 @@ int main(int argc, char *argv[])
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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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unsigned int iterations = 50;
7171

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for (int i = 1; i < argc;) {
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const string &param = argv[i++];

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

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#
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cmake_minimum_required(VERSION 3.11)
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project(rtiexamples-lbediscovery-xml-app-creation)
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set(CMAKE_MODULE_PATH
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${CMAKE_MODULE_PATH}
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"${CMAKE_CURRENT_SOURCE_DIR}/../../../../resources/cmake"
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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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# Include ConnextDdsAddExample.cmake from resources/cmake
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include(ConnextDdsAddExample)

‎tutorials/README.md

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# RTI Connext Tutorials
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The code included in this directory is the supporting material for the tutorials
4+
in the
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[Connext Developer](https://community.rti.com/static/documentation/developers/index.html)
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page.
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Please follow the instructions for each tutorial under *Learn*.

‎tutorials/application_design/README.md

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# Tutorial: Application Design
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This code is part of the Connext Application Design tutorial.
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There are multiple subfolders which contain a toolchain-specific tutorial.

‎tutorials/application_design/VehicleModeling.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<?xml-model href="https://community.rti.com/schema/7.3.0/rti_dds_profiles.xsd" type="application/xml" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<dds>
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<types>
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<const name="VIN_LENGTH" type="uint8" value="17"/>
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<typedef name="VIN" type="string" stringMaxLength="VIN_LENGTH"/>
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<struct name="Coord" extensibility="final" nested="true">
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<member name="lat" type="float64"/>
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<member name="lon" type="float64"/>
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</struct>
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<struct name="VehicleTransit" extensibility="appendable">
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<member name="vehicle_vin"
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type="nonBasic"
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nonBasicTypeName="VIN"
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key="true" />
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<member name="current_position"
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type="nonBasic"
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nonBasicTypeName="Coord" />
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<member name="current_route"
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type="nonBasic"
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nonBasicTypeName="Coord"
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sequenceMaxLength="-1"
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optional="true" /> <!-- 'no route' == standby -->
25+
</struct>
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27+
<typedef name="Percentage" type="float64" min="0.0" max="100.0"/>
28+
<struct name="VehicleMetrics" extensibility="appendable">
29+
<member name="vehicle_vin"
30+
type="nonBasic"
31+
nonBasicTypeName="VIN"
32+
key="true"/>
33+
<member name="fuel_level"
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type="nonBasic"
35+
nonBasicTypeName="Percentage"/>
36+
</struct>
37+
</types>
38+
39+
<qos_library name="VehicleModeling_Library">
40+
<qos_profile name="VehicleMetrics_Profile">
41+
<datawriter_qos base_name="BuiltinQosLib::Generic.BestEffort">
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<deadline>
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<period>
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<sec>10</sec>
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<nanosec>0</nanosec>
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</period>
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</deadline>
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</datawriter_qos>
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<datareader_qos base_name="BuiltinQosLib::Generic.BestEffort">
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<deadline>
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<period>
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<sec>15</sec>
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<nanosec>0</nanosec>
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</period>
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</deadline>
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</datareader_qos>
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</qos_profile>
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<qos_profile name="VehicleTransit_Profile">
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<datawriter_qos base_name="BuiltinQosLib::Generic.StrictReliable">
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<durability>
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<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
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</durability>
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</datawriter_qos>
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<datareader_qos base_name="BuiltinQosLib::Generic.KeepLastReliable">
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<durability>
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<kind>TRANSIENT_LOCAL_DURABILITY_QOS</kind>
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</durability>
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</datareader_qos>
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</qos_profile>
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</qos_library>
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<domain_library name="DomainLibrary">
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<domain name="VehicleDomain" domain_id="0">
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<topic name="VehicleMetricsTopic" register_type_ref="VehicleMetrics" />
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<topic name="VehicleTransitTopic" register_type_ref="VehicleTransit" />
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</domain>
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</domain_library>
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<domain_participant_library name="ParticipantLibrary">
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<domain_participant name="PublisherApp" domain_ref="DomainLibrary::VehicleDomain">
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<publisher name="Publisher">
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<data_writer name="MetricsWriter" topic_ref="VehicleMetricsTopic">
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<datawriter_qos base_name="VehicleModeling_Library::VehicleMetrics_Profile" />
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</data_writer>
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<data_writer name="TransitWriter" topic_ref="VehicleTransitTopic">
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<datawriter_qos base_name="VehicleModeling_Library::VehicleTransit_Profile" />
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</data_writer>
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</publisher>
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</domain_participant>
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<domain_participant name="SubscriberApp" domain_ref="DomainLibrary::VehicleDomain">
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<subscriber name="Subscriber">
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<data_reader name="MetricsReader" topic_ref="VehicleMetricsTopic">
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<datareader_qos base_name="VehicleModeling_Library::VehicleMetrics_Profile" />
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</data_reader>
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<data_reader name="TransitReader" topic_ref="VehicleTransitTopic">
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<datareader_qos base_name="VehicleModeling_Library::VehicleTransit_Profile" />
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</data_reader>
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</subscriber>
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</domain_participant>
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</domain_participant_library>
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</dds>

‎tutorials/application_design/py/README.md

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# Tutorial: Data Persistence
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This code is part of the Connext Application Design tutorial and is included
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here in full for convenience.
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Please see the tutorial for instructions.
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This code targets Python 3.8 and uses the Connext Python API.
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## How to build
10+
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The example already provides generated types (`VehicleModeling.py`), so nothing
12+
needs to be done for Python applications.
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## How to run
15+
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The publisher can be run as a file or module. The expected output contains a
17+
description of the application. It will end once the vehicle has run out of fuel.
18+
19+
```console
20+
$ python publisher.py
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Running simulation: simulation=Simulation(self._metrics_writer=<rti.connextdds.DataWriter object at 0x7f7e693cdb30>, self._transit_writer=<rti.connextdds.DataWriter object at 0x7f7e697d83f0>, self._vehicle_vin='3P524A8JB256YZOQY', self._vehicle_fuel=100.0, self._vehicle_route=[Coord(lat=10.851231171123665, lon=4.549741897319626), Coord(lat=-19.336436875210726, lon=45.5761709545348), Coord(lat=-28.473080284108043, lon=-3.3714508132107524), Coord(lat=-44.45875114267031, lon=11.536506807784141), Coord(lat=-30.68510788813299, lon=3.7515235253391954), Coord(lat=-45.485688894791096, lon=-19.45044753805537)], self._vehicle_position=Coord(lat=-9.361148743978752, lon=10.532865637410172))
22+
Vehicle '3P524A8JB256YZOQY' has reached its destination, now moving to a new location...
23+
Vehicle '3P524A8JB256YZOQY' has reached its destination, now moving to a new location...
24+
Vehicle '3P524A8JB256YZOQY' ran out of fuel!
25+
26+
```
27+
28+
The subscriber can be run as a file or a module. The expected output contains a
29+
description of the application, followed by periodic updates on the understanding
30+
of the system. It will run until interrupted.
31+
32+
```console
33+
$ python subscriber.py
34+
[[ DASHBOARD: 2024-07-11 13:28:39.503181 ]]
35+
Online vehicles: 1
36+
- Vehicle F01UV8KCSAY5EVBL3:
37+
Fuel updates: 4
38+
Last known destination: Coord(lat=-29.739379575147705, lon=8.811412382546946)
39+
Last known fuel level: 90.24212596289948
40+
Offline vehicles: 1
41+
- Vehicle V93YZUZIYQB71P77Z:
42+
Mean fuel consumption: 2.5009597229252654
43+
Known reached destinations: 3
44+
- Coord(lat=-19.42303588068077, lon=4.543146614919191)
45+
- Coord(lat=-23.903966240016082, lon=-1.5759817176247415)
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- Coord(lat=-27.18890271220428, lon=-23.879609290719095)
47+
```

‎tutorials/application_design/py/VehicleModeling.py

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#
2+
# (c) 2024 Copyright, Real-Time Innovations, Inc. All rights reserved.
3+
#
4+
# RTI grants Licensee a license to use, modify, compile, and create derivative
5+
# works of the Software solely for use with RTI products. The Software is
6+
# provided "as is", with no warranty of any type, including any warranty for
7+
# fitness for any purpose. RTI is under no obligation to maintain or support
8+
# the Software. RTI shall not be liable for any incidental or consequential
9+
# damages arising out of the use or inability to use the software.
10+
#
11+
12+
import os
13+
import sys
14+
from dataclasses import field
15+
from enum import IntEnum
16+
from typing import Optional, Sequence, Union
17+
18+
import rti.idl as idl
19+
20+
VIN_LENGTH = 17
21+
22+
VIN = str
23+
24+
25+
@idl.struct(type_annotations=[idl.final])
26+
class Coord:
27+
lat: float = 0.0
28+
lon: float = 0.0
29+
30+
31+
VehicleMetricsTopic = "VehicleMetrics"
32+
33+
34+
@idl.struct(
35+
member_annotations={
36+
"vehicle_vin": [idl.key, idl.bound(VIN_LENGTH)],
37+
"current_route": [idl.bound(100)],
38+
}
39+
)
40+
class VehicleTransit:
41+
vehicle_vin: str = ""
42+
current_position: Coord = field(default_factory=Coord)
43+
current_route: Optional[Sequence[Coord]] = None
44+
45+
46+
Percentage = float
47+
48+
VehicleTransitTopic = "VehicleTransit"
49+
50+
51+
@idl.struct(
52+
member_annotations={
53+
"vehicle_vin": [idl.key, idl.bound(VIN_LENGTH)],
54+
}
55+
)
56+
class VehicleMetrics:
57+
vehicle_vin: str = ""
58+
fuel_level: float = 0.0

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