rticommunity · juanlu-rti · Nov 18, 2025 · Jul 7, 2025 · Jul 7, 2025 · Jul 7, 2025
diff --git a/...service/udp_socket_adapter/CMakeLists.txt → ...udp_socket_adapter_dynamic/CMakeLists.txt b/...service/udp_socket_adapter/CMakeLists.txt → ...udp_socket_adapter_dynamic/CMakeLists.txt
@@ -1,5 +1,5 @@
 #
-# (c) 2024 Copyright, Real-Time Innovations, Inc.  All rights reserved.
+# (c) 2025 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
@@ -37,6 +37,8 @@ add_library(${PROJECT_NAME}
     "${CMAKE_CURRENT_SOURCE_DIR}/src/SocketInputDiscoveryStreamReader.hpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/SocketStreamReader.cxx"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/SocketStreamReader.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/SocketStreamWriter.cxx"
+    "${CMAKE_CURRENT_SOURCE_DIR}/src/SocketStreamWriter.hpp"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/UdpSocket.cxx"
     "${CMAKE_CURRENT_SOURCE_DIR}/src/UdpSocket.hpp"
 )

diff --git a/examples/routing_service/udp_socket_adapter_dynamic/README.md b/examples/routing_service/udp_socket_adapter_dynamic/README.md
@@ -0,0 +1,213 @@
+# Example Code: Routing Service C++11 Socket Adapter using Dynamic Data
+
+## Example Description
+
+This example shows how to implement a simple Routing Service Adapter plugin
+in C++11 to receive data from a UDP socket using RTI Routing Service.
+
+This examples uses dynamic data API and there is no need to know the data type
+information beforehand.
+
+The code in this directory provides the following components:
+
+-   `src/SocketAdapter` implements the plugin that is loaded by *RTI Routing
+Service*. It responsible for creating and deleting connections.
+-   `src/SocketConnection` implements a connection. This component is
+responsible for the creation and deletion of `StreamReaders`.
+-   `src/SocketInputDiscoveryStreamReader` implements the logic necessary to
+propagate information about the discovered input streams (in this case
+sockets) to the Routing Service.
+-   `src/SocketStreamReader` implements a `StreamReader` that reads sample
+information from a UDP socket.
+-   `src/SocketStreamWriter` implements a `StreamWriter` that sends sample
+information to a UDP socket.
+
+
+For more details, please refer to the *RTI Routing Service SDK* documentation.
+
+## Building the C++ example
+
+In order to build this example, you need to define the variables
+`CONNEXTDDS_DIR` and `CONNEXTDDS_ARCH`. You can do so by exporting them
+manually, by sourcing the `rtisetenv` script for your architecture, or by
+passing them to the `cmake` command as arguments:
+
+```bash
+mkdir build
+cd build
+cmake -DCONNEXTDDS_DIR=<Connext DDS Directory> \     # If not exported
+      -DCONNEXTDDS_ARCH=<Connext DDS Architecture> \ # If not exported
+      -DBUILD_SHARED_LIBS=ON|OFF \                   # ON is preferred
+      -DCMAKE_BUILD_TYPE=Debug|Release ..
+cmake --build .
+cd ..
+```
+
+Example command for Windows:
+
+```bash
+cmake .. -DCONNEXTDDS_DIR="%NDDSHOME%" -DCONNEXTDDS_ARCH=x64Win64VS2015 -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -A x64 -G "Visual Studio 17 2022"
+cd ..
+```
+
+**Note**: You do not need to define `CONNEXTDDS_ARCH` if you only have one
+architecture target installed in your system.
+
+**Note**: When compiling on a Windows 64-bit machine you will need to add the
+`-A x64` parameter to the call to CMake.
+
+**Note:** If you are using a multi-configuration generator, such as Visual
+Studio Solutions, you can specify the configuration mode to build as follows:
+
+```bash
+cmake --build . --config Release|Debug
+```
+
+Here is more information about generating
+[Visual Studio Solutions for Windows using CMake](https://cmake.org/cmake/help/v3.16/generator/Visual%20Studio%2016%202019.html#platform-selection).
+
+**Note:** `BUILD_SHARED_LIBS` allows you to control if the generated library
+for this example is a static or a dynamic shared library. The following
+sections assume you are building a dynamic shared library. However, Routing
+Service also supports static linking of adapters. To use this functionality
+you would need to create an application that uses Routing Service as a library
+component and statically links to this `SocketAdapter` library.
+
+### Cross-compilation
+
+When you need to cross-compile the example, the above
+command will not work, the assigned compiler won't be the cross-compiler and
+errors may happen when linking against the cross-compiled Connext binaries.
+To fix this, you have to create a file with the architecture name and call
+CMake with a specific flag called ``-DCMAKE_TOOLCHAIN_FILE``.
+An example of the file to create with the toolchain settings (e.g. for an
+ARM architectures):
+
+```cmake
+set(CMAKE_SYSTEM_NAME Linux)
+set(toolchain_path "<path to>/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian")
+set(CMAKE_C_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-gcc")
+set(CMAKE_CXX_COMPILER "${toolchain_path}/bin/arm-linux-gnueabihf-g++")
+```
+
+Then you can call CMake like this:
+
+```bash
+cmake -DCONNEXTDDS_DIR=<connext dir> -DCMAKE_TOOLCHAIN_FILE=<toolchain file created above>
+      -DCONNEXTDDS_ARCH=<connext architecture> ..
+```
+
+## Running the C++ example
+
+To run the example, you just need to run the following commands from the top
+level folder. This example has been written to allow easy experimentation with
+the RTI DDSPing tool shipped with *RTI Connext DDS* installer bundle. If you wish 
+to create a real Routing Service adapter, you should modify the code and XML accordingly.
+
+There are 2 configurations (`-cfgName`) in the Routing Service XML file:
+
+-   **SocketAdapterToDDS** - It reads data from a UDP socket using the
+SocketAdapter and outputs it to DDS. You can visualize the ouptut by running:
+
+-   **DDSToSocketAdapter** - It sends data from DDS to a UDP socket. You can 
+publish DDS data by running command:
+
+
+To run Routing Service, you will need first to set up your environment as
+follows.
+
+Before running the RTI Routing Service, you need to specify where the
+`SocketAdapterCpp` library is located as shown below:
+
+Linux:
+
+```bash
+$export RTI_LD_LIBRARY_PATH=$NDDSHOME/lib/<Connext DDS Architecture>:<Path to SocketAdapterCpp library, the build/ folder>
+```
+
+Windows:
+
+```bash
+set PATH=%NDDSHOME%/lib/<Connext DDS Architecture>;<Path to SocketAdapterCpp library, the build/Release folder>
+```
+
+The SocketAdapterCpp library will be in the `./build` folder.
+
+```bash
+# From the build/ directory
+$NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName SocketAdapterToDDS
+```
+
+Here is an output from a sample run:
+
+```bash
+$export RTI_LD_LIBRARY_PATH=~/$NDDSHOME/lib/$CONNEXT_ARCH:~/udp_socket_adapter_dynamic/build/
+
+$ $NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName SocketAdapterToDDS
+RTI Routing Service 7.3.0 executing (with name SocketAdapterToSocketAdapter)
+```
+
+Now you'll need to send data to the UDP sockets. By default, DDS Ping data is
+expected on `127.0.0.1:10203`. You can change both the expected type and topic name 
+and the UDP socket configuration on `RsSocketAdapter.xml`.
+
+To run a simple test, run in different terminals:
+
+```bash
+$export RTI_LD_LIBRARY_PATH=~/$NDDSHOME/lib/$CONNEXT_ARCH:~/udp_socket_adapter_dynamic/build/
+
+$ $NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName DDSToSocketAdapter
+RTI Routing Service 7.3.0 executing (with configuration=DDSToSocketAdapter)
+```
+
+
+```bash
+ $NDDSHOME/bin/rtiddsping -publisher -domainId 0
+```
+
+## Running a data-diode example
+
+You can configure a data-diode scenario by using two Routing Services instances;
+- One using **DDSToSocketAdapter** configuration to publish DDS data over a one direction UDP socket
+- The other using **SocketAdapterToDDS** configuration to convert back to DDS samples
+```                                                                                        
+  ┌───────────┐  ┌─────────────┐                         ┌─────────────┐  ┌───────────┐ 
+  │  Connext  │  │   Routing   │    ┌────────────────┐   │   Routing   │  │  Connext  │ 
+  │    App    ├─►│   Service   ├───►│ UDP DATA DIODE ├──►│   Service   ├─►│    App    │ 
+  │           │  │ DDS TO UDP  │    └────────────────┘   │ UDP TO DDS  │  │           │ 
+  └───────────┘  └─────────────┘                         └─────────────┘  └───────────┘ 
+```                                                                                        
+To run this example in a local machine:
+```bash
+$export RTI_LD_LIBRARY_PATH=~/$NDDSHOME/lib/$CONNEXT_ARCH:~/udp_socket_adapter_dynamic/build/
+
+$ $NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName SocketAdapterToDDS
+RTI Routing Service 7.3.0 executing (with configuration=SocketAdapterToDDS)
+```
+And in a different terminal:
+```bash
+$export RTI_LD_LIBRARY_PATH=~/$NDDSHOME/lib/$CONNEXT_ARCH:~/udp_socket_adapter_dynamic/build/
+
+$ $NDDSHOME/bin/rtiroutingservice -cfgFile RsSocketAdapter.xml -cfgName DDSToSocketAdapter
+RTI Routing Service 7.3.0 executing (with configuration=DDSToSocketAdapter)
+```
+
+Using the default configuration from RsSocketAdapter.xml, you need to publish DDS Ping data 
+on domain id 0 and subscribe to DSS Ping data on domain id 1:
+
+```bash
+ $NDDSHOME/bin/rtiddsping -publisher -domainId 0
+```
+
+```bash
+ $NDDSHOME/bin/rtiddsping -subscriber -domainId 1
+```
+
+## Requirements
+
+To run this example you will need:
+
+- RTI Connext Professional version 6.0.0 or higher.
+- CMake version 3.10 or higher.
+- A target platform with support for RTI Routing Service and C++11.
+- Python3.
diff --git a/examples/routing_service/udp_socket_adapter_dynamic/RsSocketAdapter.xml b/examples/routing_service/udp_socket_adapter_dynamic/RsSocketAdapter.xml
@@ -0,0 +1,105 @@
+<?xml version="1.0"?>
+<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.3.0/rti_routing_service.xsd">
+
+    <plugin_library name="AdapterLib">
+        <adapter_plugin name="SocketAdapter">
+            <dll>SocketAdapterCpp</dll>
+            <create_function>SocketAdapter_create_adapter_plugin</create_function>
+        </adapter_plugin>
+    </plugin_library>
+
+    <!-- Demonstrates a scenario where the SocketAdapter reads ping data from a socket 
+            and the DDSAdapter writes it to a DDS domain -->
+    <routing_service name="SocketAdapterToDDS">
+        <domain_route name="SocketBridge">
+            <connection name="SocketConnection" plugin_name="AdapterLib::SocketAdapter">
+            </connection>
+            <participant name="DDSConnection">
+                <domain_id>1</domain_id>
+                <domain_participant_qos base_name="BuiltinQosLib::Generic.Common" />
+            </participant>
+            <session name="session">
+                <route>
+                    <input connection="SocketConnection">
+                        <creation_mode>IMMEDIATE</creation_mode>
+                        <registered_type_name>PingType</registered_type_name>
+                        <stream_name>PingStream</stream_name>
+                        <!-- You must set these 2 properties -->
+                        <property>
+                            <value>
+                                <!-- Receive address for UDP data -->
+                                <element>
+                                    <name>receive_address</name>
+                                    <value>127.0.0.1</value>
+                                </element>
+                                <!-- Receive port for UDP data -->
+                                <element>
+                                    <name>receive_port</name>
+                                    <value>10203</value>
+                                </element>
+                            </value>
+                        </property>
+                    </input>
+                    <dds_output participant="DDSConnection">
+                        <creation_mode>ON_DOMAIN_MATCH</creation_mode>
+                        <registered_type_name>PingType</registered_type_name>
+                        <topic_name>PingTopic</topic_name>
+                        <datawriter_qos base_name="BuiltinQosLib::Generic.Common" />
+                    </dds_output>
+                </route>
+            </session>
+        </domain_route>
+    </routing_service>
+
+    <routing_service name="DDSToSocketAdapter">
+        <domain_route name="SocketBridge">
+            <connection name="SocketConnection" plugin_name="AdapterLib::SocketAdapter">
+                <register_type name="PingType" type_ref="PingType" />
+            </connection>
+            <participant name="DDSConnection">
+                <domain_id>0</domain_id>
+                <domain_participant_qos base_name="BuiltinQosLib::Generic.Common" />
+                <register_type name="PingType" type_ref="PingType" />
+            </participant>
+            <session>
+                <route>
+                    <output connection="SocketConnection">
+                        <creation_mode>ON_ROUTE_MATCH</creation_mode>
+                        <registered_type_name>PingType</registered_type_name>
+                        <stream_name>PingStream</stream_name>
+                        <property> <!--Set
+                            the IP addresses and ports for sender and destination-->
+                            <value>
+                                <element>
+                                    <name>send_address</name>
+                                    <value>127.0.0.1</value>
+                                </element>
+                                <element>
+                                    <name>send_port</name>
+                                    <value>0</value> <!--Set
+                                    to 0 for automatic use of available port-->
+                                </element>
+                                <element>
+                                    <name>dest_address</name>
+                                    <value>127.0.0.1</value>
+                                </element>
+                                <element>
+                                    <name>dest_port</name>
+                                    <value>10203</value>
+                                </element>
+                            </value>
+                        </property>
+                    </output>
+                    <dds_input participant="DDSConnection">
+                        <creation_mode>ON_DOMAIN_MATCH</creation_mode>
+                        <registered_type_name>PingType</registered_type_name>
+                        <topic_name>PingTopic</topic_name>
+                        <datareader_qos base_name="BuiltinQosLib::Generic.Common" />
+                    </dds_input>
+                </route>
+            </session>
+        </domain_route>
+    </routing_service>
+
+</dds>
diff --git a/.../udp_socket_adapter/src/SocketAdapter.cxx → ...ket_adapter_dynamic/src/SocketAdapter.cxx b/.../udp_socket_adapter/src/SocketAdapter.cxx → ...ket_adapter_dynamic/src/SocketAdapter.cxx
@@ -1,5 +1,5 @@
 /*
- * (c) 2024 Copyright, Real-Time Innovations, Inc.  All rights reserved.
+ * (c) 2025 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

diff --git a/.../udp_socket_adapter/src/SocketAdapter.hpp → ...ket_adapter_dynamic/src/SocketAdapter.hpp b/.../udp_socket_adapter/src/SocketAdapter.hpp → ...ket_adapter_dynamic/src/SocketAdapter.hpp
@@ -1,5 +1,5 @@
 /*
- * (c) 2024 Copyright, Real-Time Innovations, Inc.  All rights reserved.
+ * (c) 2025 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