RTI for Connext DDS Code Generator User's Manual
Below you will find brief information for Code Generator for RTI Connext DDS. The RTI Code Generator is a tool that allows you to define and register a user data type with Connext DDS. The user data type can then be used by applications that are using Connext DDS. The RTI Code Generator generates the necessary code for your user data type to be used by Connext DDS.
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RTI Code Generator
for RTI Connext DDS
User's Manual
Version 2.3.3
Copyrights
© 2016 Real-Time Innovations, Inc.
All rights reserved.
Printed in U.S.A. First printing.
April 2016.
Trademarks
Real-Time Innovations, RTI, NDDS, RTI Data Distribution Service, DataBus, Connext, Micro DDS, the
RTI logo, 1RTI and the phrase, “Your Systems. Working as one,” are registered trademarks, trademarks or service marks of Real-Time Innovations, Inc. All other trademarks belong to their respective owners.
Copy and Use Restrictions
No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form
(including electronic, mechanical, photocopy, and facsimile) without the prior written permission of Real-
Time Innovations, Inc. The software described in this document is furnished under and subject to the RTI software license agreement. The software may be used or copied only under the terms of the license agreement.
Technical Support
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232 E. Java Drive
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Phone: (408) 990-7444
Email: [email protected]
Website: https://support.rti.com/
Chapter 2 Paths Mentioned in Documentation
Chapter 3 Command-Line Arguments for rtiddsgen
Chapter 5 Customizing the Generated Code
Chapter 6 Boosting Performance with Server Mode
Chapter 1 Introduction
RTI Code Generator creates the code needed to define and register a user data type with Connext
DDS. Using Code Generator is optional if: l
You are using dynamic types (see Managing Memory for Built-in Types (Section 3.2.7) in the RTI Connext DDS Core Libraries User’s Manual
1
).
l
You are using one of the built-in types (see Built-in Data Types (Section 3.2) in the RTI
Connext DDS Core Libraries User’s Manual).
To use Code Generator, you will need to provide a description of your data type(s) in an IDL or
XML file. You can define multiple data types in the same type-definition file. For details on these files, see the RTI Connext DDS Core Libraries User’s Manual (Sections 3.3 and 3.4).
1
This document is provided with Connext DDS. You can also access it from the RTI Community’s
Documentation page .
1
Chapter 2 Paths Mentioned in
Documentation
The documentation refers to: l
<NDDSHOME>
This refers to the installation directory for Connext DDS.
The default installation paths are: l
Mac OS X systems: l
/Applications/rti_connext_ddsversion
UNIX-based systems, non-root user: l
/home/ your user name /rti_connext_ddsversion
UNIX-based systems, root user: l
/opt/rti_connext_ddsversion
Windows systems, user without Administrator privileges: l
< your home directory >\rti_connext_ddsversion
Windows systems, user with Administrator privileges:
C:\Program Files\rti_connext_ddsversion
(for 64-bits machines) or
C:\Program Files (x86)\rti_connext_ddsversion
(for 32-bit machines)
You may also see $NDDSHOME or %NDDSHOME%, which refers to an environment variable set to the installation path.
Wherever you see <NDDSHOME> used in a path, replace it with your installation path.
Note for Windows Users: When using a command prompt to enter a command that includes the path C:\Program Files (or any directory name that has a space), enclose the path in quotation marks. For example:
2
Chapter 2 Paths Mentioned in Documentation
“C:\Program Files\rti_connext_dds-version\bin\rtiddsgen” or if you have defined the NDDSHOME environment variable:
“%NDDSHOME%\bin\rtiddsgen” l
RTI Workspace directory, rti_workspace
The RTI Workspace is where all configuration files for the applications and example files are located. All configuration files and examples are copied here the first time you run RTI Launcher or any script in <NDDSHOME>/bin. The default path to the RTI Workspace directory is: l
Mac OS X systems: l
/Users/ your user name /rti_workspace
UNIX-based systems: l
/home/ your user name /rti_workspace
Windows systems: your Windows documents folder \rti_workspace
Note: 'your Windows documents folder' depends on your version of Windows.
For example, on Windows 7, the folder is C:\Users\your user name\Documents; on
Windows Server 2003, the folder is C:\Documents and Settings\your user
name\Documents.
You can specify a different location for the rti_workspace directory. See the RTI Connext DDS
Core Libraries Getting Started Guide for instructions.
l
<path to examples>
Examples are copied into your home directory the first time you run RTI Launcher or any script in
<NDDSHOME>/bin. This document refers to the location of these examples as <path to
examples>. Wherever you see <path to examples>, replace it with the appropriate path.
By default, the examples are copied to rti_workspace/version/examples
So the paths are: l
Mac OS X systems: l
/Users/ your user name
/rti_workspace/ version
/examples
UNIX-based systems: l
/home/ your user name /rti_workspace/ version /examples
Windows systems:
3
Chapter 2 Paths Mentioned in Documentation your Windows documents folder \rti_workspace\ version \examples
Note: 'your Windows documents folder' is described above.
You can specify that you do not want the examples copied to the workspace. See the RTI Connext DDS
Core Libraries Getting Started Guide for instructions.
4
Chapter 3 Command-Line Arguments for rtiddsgen
On Windows systems: Before running rtiddsgen, run VCVARS32.BAT in the same command prompt that you will use to run rtiddsgen. The VCVARS32.BAT file is usually located in <Visual
Studio Installation Directory>/VC/bin. Alternatively, run rtiddsgen from the Visual Studio
Command Prompt under the Visual Studio Tools folder.
If you are generating code for Connext DDS, the options are: rtiddsgen
]
-create <typefiles| examplefiles|makefiles>
|
|
]
]
-dllExportMacroSuffix <suffix>
]
] <
>
<
-language <Ada|C|C++|C++03|C++11|C++/CLI|C#|Java>
]
]
]
-ppPath <path to preprocessor>
]
]
]
-sequenceSize <unbounded sequences size>
]
-stringSize <unbounded strings size>
5
Chapter 3 Command-Line Arguments for rtiddsgen
]
]
-update <typefiles| examplefiles|makefiles>
]
]
]
]
]
]
If you have RTI CORBA Compatibility Kit, you can use the above options, plus these:
-corba [CORBA Client header file]
]
]
]
If you are generating code for RTI Connext DDS Micro, the options are: rtiddsgen
]
-create <typefiles| examplefiles|makefiles>
|
]
] <
>]
]
]
]
-ppPath <path to preprocessor>
]
]
]
-sequenceSize <unbounded sequences size>
]
-stringSize <unbounded strings size>
]
-update <typefiles| examplefiles|makefiles>
]
]
]
]
Table 3.1 Options for rtiddsgen
describes the options.
6
Chapter 3 Command-Line Arguments for rtiddsgen
Table 3.1 Options for rtiddsgen
Option
-autoGenFiles <architecture>
-create <typefiles| examplefiles|makefiles>
-convertToIdl
-convertToXML
-convertToXsd
-corba [CORBA Client header file]
-D <name>[=<value>]
-d <outdir>
-dataReaderSuffix <suffix>
-dataWriterSuffix <suffix>
Description
Updates the auto-generated files, i.e, the typefiles and makefile/project files.
Valid options for <architecture> are listed in the RTI Connext DDS Core Platform Notes, or you can replace <architecture> with the string universal
(-autoGenFiles universal) to generate compatible publisher/subscriber code for all supported platforms. The universal architecture will not generate makefiles/project files.
This is a shortcut for:
-update typefiles -update makefiles -platform <
architecture>
Creates the files indicated (typefiles, examplefiles, or makefiles) if they do not exist.
If the files already exist, the files are not modified and a warning is printed.
There can be multiple -create options.
If both -create and -update are specified for the same file type, only the -update will be applied.
Converts the input type description file into IDL format. This option creates a new file with the same name as the input file and a .idl extension.
Converts the input type description file into XML format. This option creates a new file with the same name as the input file and a .xml extension.
Converts the input type description file into XSD format. This option creates a new file with the same name as the input file and a .xsd extension.
This option is only available when using the RTI CORBA Compatibility Kit for Connext
DDS (available for purchase as a separate product and described in the RTI Connext DDS
Core Libraries User’s Manual).
Defines preprocessor macros.
On Windows systems, enclose the argument in quotation marks:
-D "<name>[=<value>]"
Generates the output in the specified directory. By default, Code Generator will generate files in the directory where the input type-definition file is found.
Only applies if
-corba [CORBA Client header file]
is also specified.
Assigns a suffix to the name of a DataReader interface.
By default, the suffix is DataReader. Therefore, given the type Foo, the name of the
DataReader interface will be FooDataReader.
Only applies if
-corba [CORBA Client header file]
is also specified.
Assigns a suffix to the name of a DataWriter interface. By default, the suffix is
DataWriter. Therefore, given the type Foo, the name of the DataWriter interface will be
FooDataWriter.
7
Chapter 3 Command-Line Arguments for rtiddsgen
Table 3.1 Options for rtiddsgen
Option Description
-disableXSDValidation
Causes
Code Generator not to check that the input XSD file is well-formed.
The use of this option is not recommended in general, as
Code Generator may receive invalid inputs.
-dllExportMacroSuffix <suffix>
-enableEscapeChar
-example <architecture>
Defines the suffix of the macro that is used to export symbols when building Windows
DLLs. The default macro is NDDS_USER_DLL_EXPORT. When this option is specified, the name of the macro is NDDS_USER_DLL_EXPORT_<Suffix>.
Enables use of the escape character '_' in IDL identifiers.
Generates type files, example files, and a makefile.
This is a shortcut for:
-create typefiles -create examplefiles -create makefiles -platform <architecture>
Valid options for <architecture> are listed in the RTI Connext DDS Core Libraries
Platform Notes or you can replace <architecture> with the string universal
(-example universal) to generate compatible publisher/subscriber code for all supported platforms. The universal architecture will not generate makefiles/project files.
-express
-I <directory>
Generates the C# project files needed to build with Microsoft Visual Studio Express.
This option is only compatible with architectures i86Win32VS2008 and i86Win32VS2010. Newer versions of Microsoft Visual Studio Express Edition do not need this flag.
Adds to the list of directories to be searched for type-definition files (IDL or XML files).
Note: A type-definition file in one format cannot include a file in another format.
Indicates that the input file is an IDL file, regardless of the file extension.
Indicates that the input file is an XML file, regardless of the file extension.
-inputIdl
-inputXml
-inputXsd
IDLInputFile.idl
Indicates that the input file is an XSD file, regardless of the file extension.
A file containing IDL descriptions of your data types. If
is not used, the file must have a '.idl' extension.
Prints out the command-line options for rtiddsgen.
-help
For Connext DDS Core:
-language
<Ada|C|C++|C++03|C++11|C++/CLI|C#|Java>
Specifies the language to use for the generated files. The default language is C++.
For Connext DDS Micro:
-language <C|C++>
8
Chapter 3 Command-Line Arguments for rtiddsgen
Table 3.1 Options for rtiddsgen
Option
-metp
-micro
-namespace
-noCopyable
-notypecode
-obfuscate
-orb <CORBA ORB>
-package <packagePrefix>
-platform <architecture>
-ppDisable
Description
Generates code for the Multi-Encapsulation Type Support (METP) library.
The METP library requires a special version of RTI Connext DDS DDS Core; please contact [email protected] for more information.
Generates code and support files for Connext DDS Micro, instead of Connext DDS
Professional. Use -micro -help to list the options supported by Code Generator when targeting RTI Connext DDS Micro.
Specifies the use of C++ namespaces. (For C++ only. For C++/CLI and C#, it is implied—namespaces are always used.)
Forces
Code Generator to put ‘copy’ logic into the corresponding TypeSupport class, rather than the type itself. This option is only used for Java code generation.
Disables type-code support.
If you are using a large data type (more than 64 K) and type-code support, you will see a warning when type-code information is sent. Code Generator has a type-code size limit of
64K. To avoid the warning when working with data types with type codes larger than
64K, turn off type-code support by using -notypecode.
Type-code support must be enabled if you are going to use ContentFilteredTopics with the default SQL filter.
Generates an obfuscated IDL file from the input file. Note that even if the input type is
XML, this option generates an obfuscated IDL file.
Only applies if
-corba [CORBA Client header file]
is also specified.
Specifies the CORBA ORB. The majority of generated code is independent of the ORB.
However, for some IDL features, the generated code depends on the ORB. Code
Generator generates code compatible with ACE-TAO or JacORB. To select an ACE_
TAO version, use the -orb option. The default is ACE_TAO1.6.
Specifies the root package into which generated classes will be placed. It applies to Java only. If the type-definition file contains module declarations, those modules will be considered subpackages of the package specified here.
Required if -create makefiles or -update makefiles is used.
Valid options for <architecture> are listed in the RTI Connext DDS Core Libraries
Platform Notes or you can replace <architecture> with the string universal
(-platform universal) to generate compatible publisher/subscriber code for all supported platforms. The universal architecture will not generate makefiles/project files.
Disables the preprocessor.
9
Chapter 3 Command-Line Arguments for rtiddsgen
Table 3.1 Options for rtiddsgen
Option
-ppOption <option>
-ppPath <path to preprocessor>
-reader
-replace
Description
Specifies a preprocessor option. This option can be used multiple times to provide the command-line options for the specified preprocessor. See
-ppPath <path to preprocessor> .
Specifies the preprocessor. If you only specify the name of an executable (not a complete path to that executable), the executable must be found in your Path. The default value is
cpp for non-Windows architectures and cl.exe for Windows architectures.
If you use -ppPath to provide the full path and filename for cl.exe or the cpp preprocessor, you must also use
to set the following preprocessor options:
If you use a non-default path for cl.exe, you also need to set:
-ppOption /nologo -ppOption /C -ppOption /E -ppOption /X
If you use a non-default path for cpp, you also need to set:
-ppOption -C
Generates support for a DataReader (only with
Deprecated option. Instead, use
-update <typefiles| examplefiles|makefiles>
for the proper files (typefiles, examplefiles, makefiles).
This option is maintained for backwards compatibility. It allows Code Generator to overwrite any existing generated files.
If it is not present and existing files are found,
Code Generator will print a warning but will not overwrite them.
-sequenceSize
<unbounded sequences size>
Sets the size assigned to unbounded sequences. The default value is 100 elements.
-sharedLib
-stringSize
<unbounded strings size>
-typeSequenceSuffix <suffix>
-U <name>
Generates makefiles that compile with the Connext DDS shared libraries (by default, the makefile will link with the static libraries)
Sets the size assigned to unbounded strings, not counting a terminating NULL character.
The default value is 255 bytes.
This option can only be used with the
-corba [CORBA Client header file]
option.
Assigns a suffix to the names of the implicit sequences defined for IDL types. By default, the suffix is Seq. Therefore, given the type 'Foo' the name of the implicit sequence will be
FooSeq.
Cancels any previous definition of <name>.
10
Chapter 3 Command-Line Arguments for rtiddsgen
Table 3.1 Options for rtiddsgen
Option
-unboundedSupport
Description
Generates code that supports unbounded sequences and strings. This option is not supported in Ada. When the option is used, the command-line options -sequenceSize and
-stringSize are ignored.
This option also affects the way unbounded sequences are deserialized. When a sequence is being received into a sample from the DataReader's cache, the old memory for the sequence will be deallocated and memory of sufficient size to hold the deserialized data will be allocated. When initially constructed, sequences will not preallocate any elements having a maximum of zero elements.
For more information on using the -unboundedSupport, including some required QoS settings, see these sections in the RTI Connext DDS Core Libraries User's Manual: l
Section 20.1.3, Writer-Side Memory Management when Using Java l
Section 20.2.2, Reader-Side Memory Management when Using Java
-update <typefiles| examplefiles|makefiles>
-use42eAlignment
-use52CKeyhash
-use52JavaKeyhash
-V <name< [=<value>]
Creates the files indicated if they do not exist.
Is the files already exist, this overwrites the files without printing a warning.
There can be multiple -update options.
If both -create and -update are specified for the same file type, only the -update will be applied.
Makes the generated code compatible with RTI Data Distribution Service 4.2e. This option should be used when compatibility with 4.2e is required and the topic data types contain double, long long, unsigned long long, or long double members. The usage of this option also requires setting the following properties to "1" in the DataWriter and
DataReader QoS: l
DataWriter QoS: dds.data_writer.type_support.use_42e_alignment
l
DataReader QoS: dds.data_reader.type_support.use_42e_alignment
This option should be used when generating Java and .NET code for keyed mutable types in order to have keyhash generation that is compatible with C/C+/C03/C+11.
This option should be used when compatibility with 5.2 and earlier is required in Java and
.NET when using keyed mutable types
Defines a user variable that can be used in the templates as $userVarList.name or
$userVarList.name.equals(value). The variables defined with this option are case sensitive.
11
Chapter 3 Command-Line Arguments for rtiddsgen
Table 3.1 Options for rtiddsgen
Option
-verbosity [1-3]
-version
-writer
XMLInputFile.xml
Description
Sets the Code Generator verbosity:
1: Exceptions
2: Exceptions and warnings
3: Exceptions, warnings and information (Default)
Displays the version of
Code Generator being used, such as 2.x.y, as well as the version of the templates being used (xxxx-xxxx-xxxx).
Generates support for a DataWriter (only with
A file containing XML descriptions of your data types. If
is not used, the file must have an .xml extension.
Note: Before using a makefile created by Code Generatorto compile an application, make sure the
${NDDSHOME} environment variable is set as described in the RTI Connext DDS Core Libraries
Getting Started Guide.
12
Chapter 4 Generated Files
The following tables show the files that Code Generator creates for an example IDL file called
Hello.idl.
l
Table 4.1 C, C++, C++/CLI, C# Files Created for Example “Hello.idl”
l
Table 4.2 Java Files Created for Example “Hello.idl”
l
Table 4.3 Ada Files Created for Example “Hello.idl”
Table 4.1 C, C++, C++/CLI, C# Files Created for Example “Hello.idl”
Generated Files Description
The following files are required for the user data type. The source files should be compiled and linked with your application. The header files are required to use the data type in source.
You should not modify these files unless you intend to customize the generated code supporting your type.
Hello.[c,cxx, cpp]
HelloSupport.[c, cxx, cpp]
HelloPlugin.[c,cxx, cpp]
Hello.h
HelloSupport.h
HelloPlugin.h
Generated code for the data types. These files contain the implementation for your data types.
Header files that contain declarations used in the implementation of your data types.
The following optional files are generated when you use the -example <architecture> command-line option. You may modify and use these files as a way to create simple applications that publish or subscribe to the user data type.
Hello_publisher.[c, cxx, cpp, cs]
Example code for an application that publishes the user data type. This example shows the basic steps to create all of the DDS objects needed to send data.
You will need to modify the code to set and change the values being sent in the data structure. Otherwise, just compile and run.
13
Chapter 4 Generated Files
Table 4.1 C, C++, C++/CLI, C# Files Created for Example “Hello.idl”
Generated Files
Hello_subscriber.[c, cxx, cpp,cs]
Hello.sln,
Hello_publisher.v[c, cs, cx]proj, Hello_ subscriber.v[c, cs, cx]proj makefile_Hello_<architecture>
Description
Example code for an application that subscribes to the user data type. This example shows the basic steps to create all of the DDS objects needed to receive data using a “listener” function.
No modification of this file is required. It is ready for you to compile and run.
Microsoft Visual Studio solution and project files, generated only for Visual
Studio-based architectures. To compile the generated source code, open the workspace file and build the two projects.
Makefile for non-Visual-Studios-based architectures. An example
<architecture> is i86Linux2.6gcc4.4.5.
Table 4.2 Java Files Created for Example “Hello.idl”
Data Type Generated Files Description
Since the Java language requires individual files to be created for each class,
Code Generator will generate a source file for every IDL construct that translates into a class in Java.
Constants
Enums
Hello.java
Hello.java
Class associated with the constant
Class associated with enum type
Structures/Unions
Hello.java
HelloSeq.java
HelloDataReader.java
HelloDataWriter.java
HelloTypeSupport.java
Structure/Union class
Sequence class
DDS DataReader and DataWriter classes
Support (serialize, deserialize, etc.) class
Typedef of sequences or arrays
Hello.java
HelloSeq.java
HelloTypeSupport.java
Wrapper class
Sequence class
Support (serialize, deserialize, etc.) class
The following optional files are generated when you use the -example <architecture> command-line option. You may modify and use these files as a way to create simple applications that publish or subscribe to the user data type.
14
Chapter 4 Generated Files
Table 4.2 Java Files Created for Example “Hello.idl”
Data Type
Structures/Unions
Structures/Unions/
Typedefs/Enums
Generated Files
HelloPublisher.java
HelloSubscriber.java
Description
Example code for applications that publish or subscribe to the user data type. You should modify the code in the publisher application to set and change the value of the published data. Otherwise, both files should be ready to compile and run.
Makefile for non-Windows-based architectures. An example <architecture> is i86Linux2.6gcc4.4.5jdk.
makefile_Hello_
<architecture>
HelloTypeCode.java
(Note: this is not generated if you use notypecode)
Type code class associated with the IDL type, Hello
Table 4.3 Ada Files Created for Example “Hello.idl”
Generated Files Description
Hello[.h,.c]
HelloSupport[.h,.c]
HelloPlugin[.h,.c] hello_idl_file[.adb, .ads]
Generated code for the data types, which contain the implementation for the data types, and header files that contain declarations used in the implementation of the data types.
hello_idl_file-hello_datawriter
[.adb,.ads] hello_idl_file-hello_datareader
[.adb,.ads] hello_idl_file-hello_typesupport
[.adb,.ads] hello_idl_file-hello_publisher
[.adb,.ads]
(in the samples/ directory) hello_idl_file-hello_subscriber
[.adb,.ads]
(in the samples/ directory) hello_idl_file-hello_subscriberlistener
[.adb,.ads]
(in the samples/ directory)
DataReader and DataWriter classes and serialize/deserialize methods.
Example code for an application that publishes the user data type. You will need to modify the code to set and change the values being sent in the data structure. Otherwise, just compile and run.
The subscriberlistener file implements the on_data_available() callback.
15
Chapter 4 Generated Files
Table 4.3 Ada Files Created for Example “Hello.idl”
Generated Files
hello.gpr
hello_c.gpr
hello-samples.gpr (in the samples directory)
Description
Project files using Ada-like syntax.These files define the build-related characteristics of the application. These characteristics include the list of sources, the location of those sources, the location of the generated object files, the name of the main program, and the options for the various tools involved in the build process. Each of them is for a different set of files (hellosamples is for the examples, hello_c is for the c files and hello is for rest of the ada files.)
16
Chapter 5 Customizing the Generated
Code
Code Generator allows you to customize the generated code for different languages by changing the provided templates. This version does not allow you to create new output files.
You can load new templates using the following command in an existing template, where
<pathToTemplate> is relative to the <NDDSHOME>/resource/app/app_
support/rtiddsgen/templates folder:
#parse(“<pathToTemplate>/template.vm”)
If that template.vm file contains macros, you can use it within the original template. If
template.vm contains just plain text without macros, that text will be included directly in the original file.
You can customize the behavior of a template by using the predefined set of variables provided with Code Generator. For more information, see the tables in RTI_rtiddsgen_template_
variables.xlsx.
This file contains two different sheets: Language-Templates and Template variables. The
Language-Template sheet shows the correspondence between the Velocity Templates used and the generated files for each language. If, for example, we want to add a method in C in the Hello.c file, we would need to modify the template typeBody.vm under the templates/c directory.
The scope of a template can be: l
type: If we generate a file with that template for each type in the IDL file. For example in
Java, where we generate a TypeSupport file for each type in the IDL.
l
file: If we generate a file with that template for each IDL file. For example in C, we generate a single plugin file containing all the types Plugin information.
17
Chapter 5 Customizing the Generated Code l
lastTopLevelType: If we generate a file with that template for the last top-level type in the IDL file.
This is commonly used for the publisher/subscriber examples.
l
module: If we generate a file with that template for each module in the IDL file. This is used in
Ada, where there are files that contain all the types of a module.
l
topLevelType: if we generate a file with that template for each type in the idl file. This is used in
ADA where the publisher/subscriber files are only generated for top level types
The table also shows the top_level variables that can be used for that templates. These variables are explained in the sheet Template variables. For example in Java, the main unit of variables are the constructMap which is a hashMap of variables that represent a type. In C, we will have as the main unit the constructMapList, which is a List of constructMap. In the Template variables sheet, we can see which variables are contained in each constructMap, the constructKind or type that it is applicable to and the value that it contains depending on the language we use.
One important variable that contains the constructMap for a type is the memberFieldMapList. This list represent the members contained within the type. Each member is also represented as a hashMap whose variables are also described in the Template variables sheet.
Apart from that there are environmental or general variables that are not related with the types that are defined within a hashMap called envMap.
Let’s see how to use these variables with an example. Suppose we want to generate a method in C that prints the members for a structure and, if it is an array or sequence, its corresponding size. For this IDL: module Mymodule{ struct MyStruct{ long longMember; long arrayMember [2][100]; sequence<char,2> sequenceMember; sequence <long, 5> arrayOfSequenceMember[28];
};
};
We want to generate this: void MyModule_MyStruct_specialPrint(){ printf(" longMember \n"); printf(" arrayMember is an array [2, 100] \n "); printf(" sequenceMember is a sequence <2> \n"); printf(" arrayOfSequenceMember is an array [28] is a sequence <5> ");
}
The code in the template would look like this:
## We go through all the list of types
#foreach ($node in $constructMapList)
##We only want the method for structs
#*--*##if ($node.constructKind.equals(“struct”)) void ${node. nativeFQName}_specialPrint(){
18
Chapter 5 Customizing the Generated Code
##We go through all the members and call to the macros that check if they are array or sequences
#*----*##foreach($member in $node.memberFieldMapList) print("$member.name #isAnArray($member) #isASeq($member) \n");
#*----*##end
}
#*--*##end
#end
The isAnArray macro checks if the member is an array (i.e, has the variable dimensionList) and in that case, prints it:
#macro (isAnArray $member)
#if($member.dimensionList) is an array $member.dimensionList #end
#end
The isASeq macro checks if the member is an sequence (i.e, has the variable seqSize) and in that case, prints it:
#macro (isASeq $member)
#if($member.seqSize) is a sequence <$member.seqSize> #end
#end
You can add new variables to the templates using the
command-line option when starting Code Generator. This variable will be added to the userVarList hashMap. You can refer to it in the template as $userVarList.name or $userVarList.name.equals(value).
For more information on velocity templates, see http://velocity.apache.org/engine/releases/velocity-
1.5/user-guide.html
.
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Chapter 6 Boosting Performance with
Server Mode
If you need to invoke Code Generator multiple times with different parameters and/or type files, there will be a performance penalty derived from loading the JVM and compiling the velocity templates.
To help with the above scenario, you can run Code Generator in server mode. Server mode runs a native executable that opens a TCP connection to a server instance of the code generator that is spawned the first time the executable is run, as depicted below:
When Code Generator is used in server mode, JVM is loaded a single time when the server is started; the velocity templates are also compiled a single time.
To invoke Code Generator in server mode, use the script rtiddsgen_server(.bat), which is in the
scripts directory.
The Code Generator server will automatically stop if it is not used for a certain amount of time.
The default value is 20 seconds; you can change this by editing the rtiddsgen_server script and adjusting the value of the parameter, -n_servertimeout.
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Key Features
- Generates code to define and register a user data type with Connext DDS
- Supports multiple data types in the same type-definition file
- Provides support for various programming languages
- Can be used to create simple applications that publish or subscribe to the user data type
- Allows customization of the generated code
- Can be run in server mode to improve performance
- Generates code for both Connext DDS and Connext DDS Micro
- Options to convert between different data type definition formats
- Supports preprocessor macros and user variables
- Provides support for unbounded sequences and strings
