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Color values are just regular RGB values. The transparency value should be ignored.

Usage example

Warning: The usage of the function cpm::init also allows the user to set command line parameters. To seperate different LCC test domains, e.g. when different students want to use the LCC at the same time in the same network, it is possible to set parameters such as --dds_domain. Another important parameter, --dds_initial_peer, can also be set for the LCC. These two parameters must also be set accordingly for your own programs, such as your own visualization implementations. So, if you set these parameters for the LCC yourself or call the LCC using a script that sets these parameters, always use them for any other program that is based on the cpm library for communication as well. (Or set the domain ID etc yourself if you do not wish to use the cpm library, which is not recommended)

This example can also be found in the Lab's Git.

#include <chrono>
#include <iostream>
#include <thread>

#include <dds/pub/ddspub.hpp>

#include "cpm/init.hpp"
#include "cpm/Logging.hpp"
#include "cpm/ParticipantSingleton.hpp"
#include "cpm/get_topic.hpp"
#include "cpm/get_time_ns.hpp"
#include "Color.hpp"
#include "Visualization.hpp"

int main(int argc, char *argv[]) {
    //Initialize the cpm library
    cpm::init(argc, argv);
    cpm::Logging::Instance().set_id("Visualization_test");

    std::cout << "Creating visualization sender..." << std::endl;

    //Create a RTI DataWriter to send visualization messages to the LCC in a reliable way, using the cpm's 'standard participant' for communication which is already properly initialized
    dds::pub::DataWriter<Visualization> viz_writer(dds::pub::Publisher(cpm::ParticipantSingleton::Instance()), cpm::get_topic<Visualization>("visualization"), dds::pub::qos::DataWriterQos() << dds::core::policy::Reliability::Reliable());

    //Creation of a line visualization message ----------------------------
    Visualization viz;
    viz.id("1");
    viz.type(VisualizationType::LineStrips);
    viz.time_to_live(3000000000);
    viz.size(1.0);

    Point2D point1(0.0, 0.0);
    Point2D point2(1.0, 1.0);
    Point2D point3(2.0, -2.0);
    Point2D point4(3.0, 3.0);
    Point2D point5(4.0, -4.0);
    std::vector<Point2D> viz_points {point1, point2, point3, point4, point5};
    viz.points(rti::core::vector<Point2D>(viz_points)); //In newer RTI versions, a conversion of the vector data structure to RTI's own implementation might become obsolete, but it is required here

    Color viz_color(255, 0, 255, 255);
    viz.color(viz_color);
    //Message created -----------------------------------------------------

    //Always wait a bit between sending messages, or else messages might get lost
    usleep(100000);

    std::cout << "Sending visualization line..." << std::endl;

    //Send the line visualization message to the LCC
    viz_writer.write(viz);

    //Creation of a polygon message ---------------------------------------
    Visualization viz2;
    viz2.id("2");
    viz2.type(VisualizationType::Polygon);
    viz2.time_to_live(5000000000);
    viz2.size(0.05);

    Point2D point1_2(0.0, 0.0);
    Point2D point2_2(0.5, 0.5);
    Point2D point3_2(1.0, 0.0);
    std::vector<Point2D> viz2_points {point1_2, point2_2, point3_2};
    viz2.points(rti::core::vector<Point2D>(viz2_points));

    Color viz2_color(255, 255, 0, 255);
    viz2.color(viz2_color);
    //Message created -----------------------------------------------------

    usleep(100000);

    std::cout << "Sending visualization polygon..." << std::endl;

    //Send the polygon message
    viz_writer.write(viz2);

    //Creation of a string message ----------------------------------------
    Visualization viz3;
    viz3.id("3");
    viz3.type(VisualizationType::StringMessage);
    viz3.time_to_live(10000000000);
    viz3.size(1.0);

    Point2D point1_3(0.2, 0.2);
    std::vector<Point2D> viz3_points {point1_3};
    viz3.points(rti::core::vector<Point2D>(viz3_points));

    Color viz3_color(255, 255, 255, 0);
    viz3.color(viz3_color);

    viz3.string_message("Hello LCC!");
    //Message created -----------------------------------------------------

    usleep(100000);

    std::cout << "Sending visualization string..." << std::endl;

    //Send the string message
    viz_writer.write(viz3);

    std::cout << "Shutting down..." << std::endl;

    return 0;
}