Drive_CAN.xml

<?xml version="1.0" encoding="utf-8"?>
<!--  
-******************************************************************************
- (C) Copyright 2020-2022 Real-Time Innovations, Inc.  All rights reserved.
-
- The use of this software is governed by the terms specified in the 
- RTI Labs License Agreement, available at https://www.rti.com/terms/RTILabs. 
-
- By accessing, downloading, or otherwise using this software, you agree to 
- be bound by those terms.
-*****************************************************************************
-->
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/latest/rti_dds_profiles.xsd">
    
    <!-- CAN Service -->
    <domain_participant_library name="Drive">

        <!-- CAN Gateway interface -->
        <domain_participant name="CANGateway" domain_ref="DriveBus::can">
            <!-- Inputs -->
            <subscriber name="inputs">
                <data_reader name="SignalInfo_reader" topic_ref="Config/SignalInfo">
                    <datareader_qos base_name="DriveQosLib::CANGateway" />
                </data_reader>
                <data_reader name="Signal_reader" topic_ref="Status/SignalOut">
                    <datareader_qos base_name="DriveQosLib::CANGateway" />
                </data_reader>
                <subscriber_qos base_name="DriveQosLib::CANGateway" />
            </subscriber>
            <!-- Outputs -->
            <publisher name="outputs">
                <data_writer name="Signal_writer" topic_ref="Status/SignalIn">
                    <datawriter_qos base_name="DriveQosLib::CANGateway" />
                </data_writer>
                <publisher_qos base_name="DriveQosLib::CANGateway" />
            </publisher>
            <participant_qos base_name="DriveDeploymentQosLib::CANGateway" />
        </domain_participant>

        <!-- CAN Component interface -->
        <domain_participant name="CANComponent" domain_ref="DriveBus::can">
            <!-- Inputs -->
            <subscriber name="inputs">
                <data_reader name="SignalInfo_reader" topic_ref="Config/SignalInfo">
                    <datareader_qos base_name="DriveQosLib::CANComponent" />
                </data_reader>
                <data_reader name="Signal_reader" topic_ref="Status/SignalIn">
                    <datareader_qos base_name="DriveQosLib::CANComponent" />
                </data_reader>
                <subscriber_qos base_name="DriveQosLib::CANComponent" />
            </subscriber>
            <!-- Outputs -->
            <publisher name="outputs">
                <data_writer name="Signal_writer" topic_ref="Status/SignalOut">
                    <datawriter_qos base_name="DriveQosLib::CANComponent" />
                </data_writer>
                <publisher_qos base_name="DriveQosLib::CANComponent" />
            </publisher>
            <participant_qos base_name="DriveDeploymentQosLib::CANComponent" />
        </domain_participant>

        <!-- CAN Tunnel interface -->
        <domain_participant name="CANTunnel" domain_ref="DriveBus::can">
            <!-- Inputs -->
            <subscriber name="inputs">
                <data_reader name="Frame_reader" topic_ref="Stream/FrameIn">
                    <datareader_qos base_name="DriveQosLib::CANTunnel" />
                </data_reader>
                <subscriber_qos base_name="DriveQosLib::CANTunnel" />
            </subscriber>
            <!-- Outputs -->
            <publisher name="outputs">
                <data_writer name="Frame_writer" topic_ref="Stream/FrameOut">
                    <datawriter_qos base_name="DriveQosLib::CANTunnel" />
                </data_writer>
                <publisher_qos base_name="DriveQosLib::CANTunnel" />
            </publisher>
            <participant_qos base_name="DriveDeploymentQosLib::CANTunnel" />
        </domain_participant>

   </domain_participant_library>
</dds>