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ESPP PC Code

This folder contains some test python scripts for loading the espp static library built within the espp/lib folder into c++ on a host system running Linux, MacOS, or Windows.

Table of Contents

Setup

First, install the espp library from the espp/lib folder. If you haven't done so yet, navigate to the espp/lib folder and run the following, which installs espp into <repo>/install:

# if macos/linux:
./build.sh
# if windows
./build.ps1

Then build the tests here; they find_package(espp) from that install prefix (the ./build.sh / ./build.ps1 scripts pass -DCMAKE_PREFIX_PATH=<repo>/install for you):

# if macos/linux:
./build.sh
# if windows
./build.ps1

Quick Start

To run a test, you can simply run the executable from the terminal:

# if windows:
./build/Release/udp_client.exe
# if macos / linux:
./build/udp_client

RTPS tests

rtps_pubsub, rtps_publisher, and rtps_subscriber exercise the rtps component end to end (SPDP/SEDP discovery + best-effort CDR-over-RTPS user data).

  • rtps_pubsub [advertised_ipv4] [run_seconds] is self-contained: it runs a publisher and a subscriber in one process and exits 0 if samples were received.
  • rtps_publisher [topic] [advertised_ipv4] [period_ms] and rtps_subscriber [topic] [advertised_ipv4] are standalone and interoperate with each other, with the Python rtps_publisher.py/rtps_subscriber.py (and rtps_host.py) in ../python, and with embedded ESPP RTPS participants.
# self-contained smoke test (auto-detects the local IPv4):
./build/rtps_pubsub
# cross-process / cross-language (use a real interface IP on both sides):
./build/rtps_subscriber espp/test/counter 192.168.1.50   # terminal 1
./build/rtps_publisher  espp/test/counter 192.168.1.50   # terminal 2

Note: RTPS discovery is multicast, so these require a multicast-capable network.