Property qos Python example

examples/connext_dds/property_qos/py/README.md

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+# Example code: Using Property QoS
+
+If you haven't used the RTI Connext Python API before, first check the
+[Getting Started Guide](https://community.rti.com/static/documentation/connext-dds/7.0.0/doc/manuals/connext_dds_professional/getting_started_guide/index.html).
+
+## Building the Example :wrench:
+
+First use **rtiddsgen** to generate the python type file from
+`numbers.idl`:
+
+```sh
+<install dir>/bin/rtiddsgen -language python -platform universal numbers.idl
+```
+
+Where `<install dir>` refers to your RTI Connext installation.
+
+You will see messages that look like:
+
+```plaintext
+INFO com.rti.ndds.nddsgen.Main Running rtiddsgen version 4.3.0, please wait ...
+WARN com.rti.ndds.nddsgen.emitters.FileEmitter File exists and will not be overwritten : some/path/numbers.py
+INFO com.rti.ndds.nddsgen.Main Done
+```
+
+This is normal and is only informing you that some of the files that **rtiddsgen**
+can generate were already available in the repository.
+
+## Running the Example
+
+In two separate command prompt windows for the publisher and subscriber. Run the
+following commands from the example directory (this is necessary to ensure the
+application loads the QoS defined in USER_QOS_PROFILES.xml):
+
+```sh
+python numbers_publisher.py
+python numbers_subscriber.py
+```
+
+The applications accept up to two arguments:
+
+1.  The `<domain_id>`. Both applications must use the same domain id in order to
+    communicate. The default is 0.
+
+2.  How long the examples should run, measured in samples. The default is
+    infinite.
+
+While generating the output below, we used values that would capture the most
+interesting behavior.
+
+```plaintext
+Publisher Output
+================
+Ok, send_socket_buffer_size....modified
+Ok, recv_socket_buffer_size....modified
+New UDPv4 send socket buffer size is: 65507
+New UDPv4 receive socket buffer size is: 65507
+Writing numbers, count 0
+Writing numbers, count 1
+Writing numbers, count 2
+Writing numbers, count 3
+
+Subscriber Output
+=================
+Ok, send_socket_buffer_size....modified
+Ok, recv_socket_buffer_size....modified
+New UDPv4 send socket buffer size is: 65507
+New UDPv4 receive socket buffer size is: 65507
+numbers subscriber sleeping for 4 sec...
+   number: 500
+   halfNumber: 250.000000
+numbers subscriber sleeping for 4 sec...
+   number: 250
+   halfNumber: 125.000000
+numbers subscriber sleeping for 4 sec...
+   number: 125
+   halfNumber: 62.500000
+numbers subscriber sleeping for 4 sec...
+```

examples/connext_dds/property_qos/py/USER_QOS_PROFILES.xml

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+<?xml version="1.0"?>
+<!--
+ (c) 2005-2014 Copyright, Real-Time Innovations, Inc.  All rights reserved.
+ RTI grants Licensee a license to use, modify, compile, and create derivative
+ works of the Software.  Licensee has the right to distribute object form only
+ for use with RTI products.  The Software is provided "as is", with no warranty
+ of any type, including any warranty for fitness for any purpose. RTI is under
+ no obligation to maintain or support the Software.  RTI shall not be liable for
+ any incidental or consequential damages arising out of the use or inability to
+ use the software.
+ -->
+<!-- 
+Description
+XML QoS Profile for numbers
+
+The QoS configuration of the DDS entities in the generated example is 
+loaded from this file.
+
+This file is used only when it is in the current working directory
+or when the enviroment variable
+NDDS_QOS_PROFILES is defined and points to this file.
+
+For more information about XML QoS Profiles see Chapter 15 in the 
+RTI Connext user manual.
+-->
+<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+     xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.0.0/rti_dds_qos_profiles.xsd">
+    <!-- QoS Library containing the QoS profile used in the generated example.
+
+        A QoS library is a named set of QoS profiles.
+    -->
+    <qos_library name="numbers_Library">
+
+        <!-- QoS profile used to configure reliable communication between the DataWriter 
+             and DataReader created in the example code.
+
+             A QoS profile groups a set of related QoS.
+        -->
+        <qos_profile name="numbers_Profile" is_default_qos="true">
+            <!-- QoS used to configure the data writer created in the example code -->                
+            <datawriter_qos>
+                <reliability>
+                    <kind>RELIABLE_RELIABILITY_QOS</kind>
+                    <max_blocking_time>
+                        <sec>60</sec>
+                    </max_blocking_time>
+                </reliability>                
+
+                <history>
+                    <kind>KEEP_ALL_HISTORY_QOS</kind>
+                </history>
+
+                <protocol>
+                    <rtps_reliable_writer>
+                        <min_send_window_size>50</min_send_window_size>
+                        <max_send_window_size>50</max_send_window_size>
+                    </rtps_reliable_writer>
+                </protocol>
+
+            </datawriter_qos>
+
+            <!-- QoS used to configure the data reader created in the example code -->                
+            <datareader_qos>
+
+                <reliability>
+                    <kind>RELIABLE_RELIABILITY_QOS</kind>
+                </reliability>
+
+                <history>
+                    <kind>KEEP_ALL_HISTORY_QOS</kind>
+                </history>
+
+            </datareader_qos>
+
+            <domain_participant_qos>
+                <!--
+                The participant name, if it is set, will be displayed in the
+                RTI Analyzer tool, making it easier for you to tell one
+                application from another when you're debugging.
+                -->
+                <participant_name>
+                    <name>RTI Property QoS Example</name>
+                </participant_name>
+                <property>
+                    <value>
+                        <!-- transport properties for example -->
+                        <element>
+                            <name>dds.transport.UDPv4.builtin.recv_socket_buffer_size</name>
+                            <value>65507</value>
+                        </element>
+                        <element>
+							<name>dds.transport.UDPv4.builtin.send_socket_buffer_size</name>
+							<value>65507</value>
+						</element>
+                    </value>
+                </property>
+
+            </domain_participant_qos>
+        </qos_profile>
+
+    </qos_library>
+</dds>

examples/connext_dds/property_qos/py/numbers.idl

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+/*
+ * (c) 2013-2019 Copyright, Real-Time Innovations, Inc.  All rights reserved.
+ *
+ * RTI grants Licensee a license to use, modify, compile, and create derivative
+ * works of the Software.  Licensee has the right to distribute object form
+ * only for use with RTI products.  The Software is provided "as is", with no
+ * warranty of any type, including any warranty for fitness for any purpose.
+ * RTI is under no obligation to maintain or support the Software.  RTI shall
+ * not be liable for any incidental or consequential damages arising out of the
+ * use or inability to use the software.
+ */
+
+struct numbers {
+	int32 number;
+	float halfNumber;
+};

examples/connext_dds/property_qos/py/numbers_publisher.py

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+
+# (c) Copyright, Real-Time Innovations, 2022.  All rights reserved.
+# RTI grants Licensee a license to use, modify, compile, and create derivative
+# works of the software solely for use with RTI Connext DDS. Licensee may
+# redistribute copies of the software provided that all such copies are subject
+# to this license. The software is provided "as is", with no warranty of any
+# type, including any warranty for fitness for any purpose. RTI is under no
+# obligation to maintain or support the software. RTI shall not be liable for
+# any incidental or consequential damages arising out of the use or inability
+# to use the software.
+
+import time
+import sys
+import rti.connextdds as dds
+
+from numbers import numbers
+
+class numbersPublisher:
+
+    NEW_SOCKET_BUFFER_SIZE_STRING = "65507"
+
+    @staticmethod
+    def create_participant(domain_id: int):
+
+        participant_qos = dds.DomainParticipantQos()
+
+        # Set the send socket buffer size
+        participant_qos.property["dds.transport.UDPv4.builtin.send_socket_buffer_size"] = numbersPublisher.NEW_SOCKET_BUFFER_SIZE_STRING
+
+        # Set the recv socket buffer size
+        participant_qos.property["dds.transport.UDPv4.builtin.recv_socket_buffer_size"] = numbersPublisher.NEW_SOCKET_BUFFER_SIZE_STRING
+
+        # Create the participant
+        participant = dds.DomainParticipant(domain_id, participant_qos)
+
+        return participant
+
+
+    @staticmethod
+    def check_participant(participant: dds.DomainParticipant):
+        participant_qos = participant.qos
+        send_socket = participant_qos.property.get("dds.transport.UDPv4.builtin.send_socket_buffer_size")
+        recv_socket = participant_qos.property.try_get("dds.transport.UDPv4.builtin.recv_socket_buffer_size")
+
+        if send_socket is None:
+            print("Error impossible to find send_socket_buffer_size")
+            return False
+        elif send_socket != numbersPublisher.NEW_SOCKET_BUFFER_SIZE_STRING:
+            print("Error, send_socket_buffer_size...not modified")
+            return False
+        else:
+            print("Ok, send_socket_buffer_size....modified")
+
+        if recv_socket is None:
+            print("Error impossible to find recv_socket_buffer_size")
+            return False
+        elif recv_socket != numbersPublisher.NEW_SOCKET_BUFFER_SIZE_STRING:
+            print("Error, recv_socket_buffer_size...not modified")
+            return False
+        else:
+            print("Ok, recv_socket_buffer_size....modified")
+
+        print(f"New UDPv4 send socket buffer size is: {send_socket}")
+        print(f"New UDPv4 receive socket buffer size is: {recv_socket}")
+
+        return True
+
+    @staticmethod
+    def run_publisher(domain_id: int, sample_count: int):
+
+        # A DomainParticipant allows an application to begin communicating in
+        # a DDS domain. Typically there is one DomainParticipant per application.
+        # DomainParticipant QoS is configured in USER_QOS_PROFILES.xml
+        participant = dds.DomainParticipant(domain_id)
+
+        # If you want to change the DomainParticipant's QoS programmatically
+        # rather than using the XML file, you will need to add the following lines
+        # to your code and comment out the create_participant call above.
+
+        # In this case, we set the transport settings in the XML by default, but
+        # in the create_participant call, we set up the transport
+        # properties using the Properties QoS in code.
+
+        # participant = numbersPublisher.create_participant(domain_id)
+
+        if(numbersPublisher.check_participant(participant) != True):
+            print("check_participant error")
+
+        # A Topic has a name and a datatype.
+        topic = dds.Topic(participant, "Example numbers", numbers)
+
+        # This DataWriter will write data on Topic "Example numbers"
+        # DataWriter QoS is configured in USER_QOS_PROFILES.xml
+        writer = dds.DataWriter(participant.implicit_publisher, topic)
+        sample = numbers()    
+
+        sample.number = 1000
+        sample.halfNumber = sample.number / 2    
+
+        for count in range(sample_count):
+            # Catch control-C interrupt
+            try:
+                print(f"Writing numbers, count {count}")
+                writer.write(sample)
+
+                sample.number = int(sample.halfNumber)
+                sample.halfNumber = sample.number / 2
+
+                time.sleep(1)
+            except KeyboardInterrupt:
+                break
+
+        print("preparing to shut down...")
+
+
+if __name__ == "__main__":
+    numbersPublisher.run_publisher(
+            domain_id=0,
+            sample_count=sys.maxsize)