[示例demo]

CMakeLists.txt

+
+cmake_minimum_required(VERSION 3.20)
+
+project("generated_code")
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_EXTENSIONS OFF)
+# 添加 ./lib 到 CMAKE_PREFIX_PATH
+
+message(STATUS ${CMAKE_CURRENT_SOURCE_DIR})
+message(STATUS ${CMAKE_FRAMEWORK_PATH})
+# set(fastcdr_DIR "/root/Fast-DDS/install/lib/cmake/fastcdr")
+# set(foonathan_memory_DIR "/root/Fast-DDS/install/lib/foonathan_memory/cmake")
+# set(fastdds_DIR "/root/Fast-DDS/install/share/fastdds/cmake")
+
+# Find requirements
+find_package(fastcdr REQUIRED)
+find_package(fastdds 3 REQUIRED)
+if(fastdds_FOUND)
+    message(STATUS ${fastdds_VERSION})
+    message(STATUS ${fastdds_INCLUDE_DIRS})
+    message(STATUS ${fastdds_LIBRARIES})
+else()
+    message(FATAL_ERROR "Could not find Fast DDS")
+endif()
+
+message(STATUS "Configuring test...")
+# add_library(test_lib testTypeObjectSupport.cxx testPubSubTypes.cxx)
+# target_link_libraries(test_lib fastcdr fastdds)
+file(GLOB SOURCES src/*.cpp src/*.ipp src/*.cxx src/fastdds/*.cpp src/manager/*.cxx)
+message(STATUS ${SOURCES})
+add_executable(test ${SOURCES})
+target_include_directories(test PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
+
+target_link_libraries(test fastcdr fastdds
+        )
+
+
+

src/fastdds/IPCPublisher.h

+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file IPCPublisher.hpp
+ * This header file contains the declaration of the publisher functions.
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#ifndef FAST_DDS_GENERATED__IPCPublisher_HPP
+#define FAST_DDS_GENERATED__IPCPublisher_HPP
+
+#include <condition_variable>
+
+#include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/publisher/DataWriterListener.hpp>
+#include <fastdds/dds/topic/TypeSupport.hpp>
+
+#include "IPublisher.h"
+#include "test.hpp"
+#include <string>
+
+
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/log/Log.hpp>
+#include <fastdds/dds/publisher/DataWriter.hpp>
+#include <fastdds/dds/publisher/Publisher.hpp>
+#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
+#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
+
+//#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.hpp>
+#include "testPubSubTypes.hpp"
+
+using namespace eprosima::fastdds::dds;
+
+class IPCPublisherBase {
+public:
+    virtual ~IPCPublisherBase() = default;
+    virtual void stop() = 0;
+};
+
+
+template<typename MessageT>
+class IPCPublisher : public IPCPublisherBase, public eprosima::fastdds::dds::DataWriterListener
+{
+public:
+
+    IPCPublisher(const int& domain_id, const std::string& topicName) : factory_(nullptr)
+    , participant_(nullptr)
+    , publisher_(nullptr)
+    , topic_(nullptr)
+    , writer_(nullptr)
+    , type_(new typename MakePubSubType<MessageT>::Type)
+    , matched_(0)
+    , samples_sent_(0)
+    , stop_(false)
+    , topicName_(topicName) {
+         // Create the participant
+        DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
+        pqos.name("HelloSecurity_pub_participant");
+        factory_ = DomainParticipantFactory::get_shared_instance();
+        // PropertyPolicy property_policy;
+        // property_policy.properties().properties().emplace_back("fastrtps.transport", "SHM");
+
+        participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
+        if (participant_ == nullptr)
+        {
+            throw std::runtime_error("HelloSecurity Participant initialization failed");
+        }
+
+        // Register the type
+        type_.register_type(participant_);
+
+        // Create the publisher
+        PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
+        participant_->get_default_publisher_qos(pub_qos);
+        publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
+        if (publisher_ == nullptr)
+        {
+            throw std::runtime_error("HelloSecurity Publisher initialization failed");
+        }
+
+        // Create the topic
+        TopicQos topic_qos = TOPIC_QOS_DEFAULT;
+        participant_->get_default_topic_qos(topic_qos);
+        topic_ = participant_->create_topic(topicName_, type_.get_type_name(), topic_qos);
+        if (topic_ == nullptr)
+        {
+            throw std::runtime_error("HelloSecurity Topic initialization failed");
+        }
+
+        // Create the data writer
+        DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
+        publisher_->get_default_datawriter_qos(writer_qos);
+        writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
+        writer_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
+        writer_qos.history().kind = HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
+        writer_ = publisher_->create_datawriter(topic_, writer_qos, this, StatusMask::all());
+        if (writer_ == nullptr)
+        {
+            throw std::runtime_error("HelloSecurity DataWriter initialization failed");
+        }
+    };
+
+    ~IPCPublisher() {}
+
+    //! Publisher matched method
+    void on_publication_matched(
+            eprosima::fastdds::dds::DataWriter* writer,
+            const eprosima::fastdds::dds::PublicationMatchedStatus& info) override {
+        if (info.current_count_change == 1) {
+            {
+                std::lock_guard<std::mutex> lock(mutex_);
+                matched_ = info.current_count;
+            }
+            std::cout << "HelloSecurity Publisher matched." << std::endl;
+            cv_.notify_one();
+        }
+        else if (info.current_count_change == -1)
+        {
+            {
+                std::lock_guard<std::mutex> lock(mutex_);
+                matched_ = info.current_count;
+            }
+            std::cout << "HelloSecurity Publisher unmatched." << std::endl;
+        }
+        else
+        {
+            std::cout << info.current_count_change
+                    << " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
+        }
+    }
+
+    //! Run publisher
+    void run() {}
+
+    //! Trigger the end of execution
+    void stop() {
+        stop_.store(true);
+        cv_.notify_one();
+    }
+
+    std::string getTopic() const {
+        return topicName_;
+    }
+    //! Publish a sample
+    bool publish(const MessageT& msg) {
+        bool ret = false;
+        // Wait for the data endpoints discovery
+        std::unique_lock<std::mutex> matched_lock(mutex_);
+        cv_.wait(matched_lock, [&]()
+                {
+                    // at least one has been discovered
+                    return ((matched_ > 0) || is_stopped());
+                });
+
+        if (!is_stopped())
+        {
+            ret = (RETCODE_OK == writer_->write(&msg));
+        }
+        return ret;
+    }
+
+private:
+
+    //! Return the current state of execution
+    bool is_stopped() {
+        return stop_.load();
+    }
+
+    std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
+    eprosima::fastdds::dds::DomainParticipant* participant_;
+    eprosima::fastdds::dds::Publisher* publisher_;
+    eprosima::fastdds::dds::Topic* topic_;
+    eprosima::fastdds::dds::DataWriter* writer_;
+    eprosima::fastdds::dds::TypeSupport type_;
+    std::condition_variable cv_;
+    int32_t matched_;
+    std::mutex mutex_;
+    const uint32_t period_ms_ = 100; // in ms
+    uint16_t samples_sent_;
+    std::atomic<bool> stop_;
+    std::string topicName_;
+};
+
+
+#endif // FAST_DDS_GENERATED__IPCPublisher_HPP
\ No newline at end of file

src/fastdds/IPCSubscriber.h

+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file IPCSubscriber.hpp
+ * This header file contains the declaration of the subscriber functions.
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#ifndef FAST_DDS_GENERATED__IPCSubscriber_HPP
+#define FAST_DDS_GENERATED__IPCSubscriber_HPP
+
+#include <condition_variable>
+
+#include <fastdds/dds/domain/DomainParticipant.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/subscriber/DataReaderListener.hpp>
+#include <fastdds/dds/topic/TypeSupport.hpp>
+#include <string>
+#include "test.hpp"
+#include "IPublisher.h"
+
+#include <fastdds/dds/core/status/SubscriptionMatchedStatus.hpp>
+#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
+#include <fastdds/dds/subscriber/DataReader.hpp>
+#include <fastdds/dds/subscriber/qos/DataReaderQos.hpp>
+#include <fastdds/dds/subscriber/qos/SubscriberQos.hpp>
+#include <fastdds/dds/subscriber/SampleInfo.hpp>
+#include <fastdds/dds/subscriber/Subscriber.hpp>
+
+#include "testPubSubTypes.hpp"
+#include <type_traits>
+
+
+using namespace eprosima::fastdds::dds;
+
+class IPCSubscriberBase {
+public:
+    virtual ~IPCSubscriberBase() = default;
+
+    virtual void stop() = 0;
+};
+
+
+template<typename MessageT>
+class IPCSubscriber : public IPCSubscriberBase,
+        public eprosima::fastdds::dds::DataReaderListener
+{
+public:
+    //static_assert(has_register_type<MessageSubType>::value, "MessageSubType must have a register_type member function that takes a DomainParticipant");
+    // 订阅者数据接收回调
+    typedef std::function<void(const MessageT& sample)> IPCSubscriberDataCallBack;
+
+    //std::unique_ptr<typename MakePubSubType<MessageT>::Type> messageSubType_;
+    
+
+    IPCSubscriber(const int& domain_id, const std::string& topicName): factory_(nullptr)
+        , participant_(nullptr)
+        , subscriber_(nullptr)
+        , topic_(nullptr)
+        , reader_(nullptr)
+        , type_(new typename MakePubSubType<MessageT>::Type)
+        //, type_(new OneMessagePubSubType)
+        , samples_received_(0)
+        , stop_(false)
+        ,topicName_(topicName)
+    {
+        // Create the participant
+        DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
+        pqos.name("OneMessage_sub_participant");
+        factory_ = DomainParticipantFactory::get_shared_instance();
+        participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
+        if (participant_ == nullptr)
+        {
+            throw std::runtime_error("HelloSecurity Participant initialization failed");
+        }
+
+        // Register the type
+        // MessageSubType* aa = new MessageSubType;
+        // type_ = *((eprosima::fastdds::dds::TypeSupport*)aa);
+        type_.register_type(participant_);
+
+        // Create the subscriber
+        SubscriberQos sub_qos = SUBSCRIBER_QOS_DEFAULT;
+        participant_->get_default_subscriber_qos(sub_qos);
+        subscriber_ = participant_->create_subscriber(sub_qos, nullptr, StatusMask::none());
+        if (subscriber_ == nullptr)
+        {
+            throw std::runtime_error("HelloSecurity Subscriber initialization failed");
+        }
+
+        // Create the topic
+        TopicQos topic_qos = TOPIC_QOS_DEFAULT;
+        participant_->get_default_topic_qos(topic_qos);
+        topic_ = participant_->create_topic(topicName_, type_.get_type_name(), topic_qos);
+        if (topic_ == nullptr)
+        {
+            throw std::runtime_error("HelloSecurity Topic initialization failed");
+        }
+
+        // Create the reader
+        DataReaderQos reader_qos = DATAREADER_QOS_DEFAULT;
+        subscriber_->get_default_datareader_qos(reader_qos);
+        reader_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
+        reader_qos.durability().kind = DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;
+        reader_qos.history().kind = HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;
+        reader_ = subscriber_->create_datareader(topic_, reader_qos, this, StatusMask::all());
+        if (reader_ == nullptr)
+        {
+            throw std::runtime_error("HelloSecurity DataReader initialization failed");
+        }
+    }
+
+
+    virtual ~IPCSubscriber() {
+        if (nullptr != participant_)
+        {
+            // Delete DDS entities contained within the DomainParticipant
+            participant_->delete_contained_entities();
+
+            // Delete DomainParticipant
+            factory_->delete_participant(participant_);
+        }
+    }
+
+    //! Subscription callback
+    void on_data_available(
+            eprosima::fastdds::dds::DataReader* reader) override {
+        MessageT sample_;
+        SampleInfo info;
+        while ((!is_stopped()) && (RETCODE_OK == reader->take_next_sample(&sample_, &info)))
+        {
+            if ((info.instance_state == ALIVE_INSTANCE_STATE) && info.valid_data)
+            {
+                //std::cout << "Sample '" << std::to_string(++samples_received_) << "  RECEIVED " << sample_.securityData() << std::endl;
+                std::cout << "Sample '" << std::to_string(++samples_received_) << "  RECEIVED " << std::endl; 
+                if(m_callBack != nullptr) {
+                    m_callBack(sample_);
+                }
+            }
+        }
+    }
+
+    //! Subscriber matched method
+    void on_subscription_matched(
+            eprosima::fastdds::dds::DataReader* reader,
+            const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override {
+        if (info.current_count_change == 1)
+        {
+            std::cout << "HelloSecurity Subscriber matched." << std::endl;
+        }
+        else if (info.current_count_change == -1)
+        {
+            std::cout << "HelloSecurity Subscriber unmatched." << std::endl;
+        }
+        else
+        {
+            std::cout << info.current_count_change
+                    << " is not a valid value for SubscriptionMatchedStatus current count change" << std::endl;
+        }
+    }
+
+    //! Run subscriber
+    void run(){
+        std::unique_lock<std::mutex> lck(terminate_cv_mtx_);
+        terminate_cv_.wait(lck, [this]
+                {
+                    return is_stopped();
+                });
+    }
+
+    //! Trigger the end of execution
+    void stop() {
+        stop_.store(true);
+        terminate_cv_.notify_all();
+    }
+
+    void setDataHandler(IPCSubscriberDataCallBack callBack) {
+        m_callBack = callBack;
+    }
+
+    void startListen();
+
+    std::string getTopic() const {
+        return topicName_;
+    }
+
+private:
+    IPCSubscriberDataCallBack m_callBack = nullptr;
+
+    //! Return the current state of execution
+    bool is_stopped() {
+        return stop_.load();
+    }
+
+    std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
+    eprosima::fastdds::dds::DomainParticipant* participant_;
+    eprosima::fastdds::dds::Subscriber* subscriber_;
+    eprosima::fastdds::dds::Topic* topic_;
+    eprosima::fastdds::dds::DataReader* reader_;
+    eprosima::fastdds::dds::TypeSupport type_;
+    //MessageSubType type_;
+    uint16_t samples_received_;
+    std::atomic<bool> stop_;
+    mutable std::mutex terminate_cv_mtx_;
+    std::condition_variable terminate_cv_;
+    std::string topicName_;
+};
+
+#endif // FAST_DDS_GENERATED__IPCSubscriber_HPP
\ No newline at end of file

src/fastdds/IPublisher.h

+#ifndef FAST_DDS_GENERATED__IPublisher_HPP
+#define FAST_DDS_GENERATED__IPublisher_HPP
+
+#include <string>
+#include "testPubSubTypes.hpp"
+
+// 定义 PubSubType 模板类
+template <typename T>
+class PubSubType {
+    // 可以在这里添加一些通用的成员函数或数据成员
+};
+// 定义基础模板结构体，用于生成新的类型名称
+template <typename T, typename = void>
+struct MakePubSubType;
+
+// 默认实现，可以抛出编译错误或提供默认类型
+template <typename T>
+struct MakePubSubType<T, void> {
+    using Type = void;
+    static_assert(std::is_void<Type>::value, "No appropriate MessageSubType found for MessageT");
+};
+
+// 特化 MakePubSubType 以关联 HelloSecurity 和 HelloSecurityPubSubType
+template <>
+struct MakePubSubType<HelloSecurity> {
+    using Type = HelloSecurityPubSubType;
+};
+
+template <>
+struct MakePubSubType<OneMessage> {
+    using Type = OneMessagePubSubType;
+};
+
+
+// 抽象接口类，使用模板参数
+template<typename T>
+class IPublisher {
+public:
+    virtual ~IPublisher() {}
+
+    virtual bool publish(const T& msg) = 0;
+
+    std::string topicName_;
+
+    std::string getTopic() const {
+        return topicName_;
+    }
+
+    virtual void stop() = 0;
+};
+
+#endif
\ No newline at end of file

src/main.cpp

+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file testmain.cxx
+ * This file acts as a main entry point to the application.
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#include <csignal>
+#include <cstring>
+#include <functional>
+#include <iostream>
+#include <stdexcept>
+#include <thread>
+#include <chrono>
+
+#include "test.hpp"
+#include "manager/IPC.h"
+
+using eprosima::fastdds::dds::Log;
+
+volatile sig_atomic_t keep_running = 1;
+
+
+std::function<void(int)> stop_handler;
+void signal_handler(
+        int signum)
+{
+    keep_running = 0;
+    stop_handler(signum);
+}
+
+std::string parse_signal(
+        const int& signum)
+{
+    switch (signum)
+    {
+        case SIGINT:
+            return "SIGINT";
+        case SIGTERM:
+            return "SIGTERM";
+#ifndef _WIN32
+        case SIGQUIT:
+            return "SIGQUIT";
+        case SIGHUP:
+            return "SIGHUP";
+#endif // _WIN32
+        default:
+            return "UNKNOWN SIGNAL";
+    }
+}
+
+int main(
+        int argc,
+        char** argv)
+{
+    eprosima::fastdds::dds::Log::SetVerbosity(eprosima::fastdds::dds::Log::Info);
+    // 获取日志输出的文件句柄，如果需要的话
+    // eprosima::fastdds::dds::Log::SetCategoryFilter(eprosima::fastdds::dds::Log::Kind::Info, "my_log_file.txt");
+    //EPROSIMA_LOG_INFO(TEST, "LOG INFO start 1 ...........");
+    auto ret = EXIT_SUCCESS;
+    int domain_id = 0;
+    if (argc != 2 || (strcmp(argv[1], "p") != 0 && strcmp(argv[1], "s") != 0))
+    {
+        std::cout << "Error: Incorrect arguments." << std::endl;
+        std::cout << "Usage: " << std::endl << std::endl;
+        std::cout << argv[0] << " publisher|subscriber" << std::endl << std::endl;
+        ret = EXIT_FAILURE;
+    }
+    else
+    {
+        // 发布者
+        if(strcmp(argv[1], "p") == 0) {
+           IPCPublisherInstance.createPublisher<HelloSecurity>("Topic1", 10);
+           IPCPublisherInstance.createPublisher<OneMessage>("Topic2", 10);
+        }
+
+        // 观察者
+        if(strcmp(argv[1], "s") == 0) {
+            auto commandSubscriber = IPCSubscriberInstance.createSubscriber<HelloSecurity>("Topic1", 10);
+            commandSubscriber->setDataHandler([](const HelloSecurity& sample){
+                cout << "---------------recv message: "<< sample.securityData() << endl;
+            });
+
+            auto commandSubscriber1 = IPCSubscriberInstance.createSubscriber<OneMessage>("Topic2", 0);
+            commandSubscriber1->setDataHandler([](const OneMessage& sample){
+                cout << "-------------recv message: a = " << sample.a() << " b = " << sample.b() << 
+                    " --- vector size = " << sample.sequenceTest().size() << endl;
+            });
+
+        }
+
+        stop_handler = [&](int signum)
+                {
+                    std::cout << "\n" << parse_signal(signum) << " received, stopping " << argv[1]
+                              << " execution." << std::endl;
+                    IPCPublisherInstance.stopAll();
+                    IPCSubscriberInstance.stopAll();
+                };
+
+        signal(SIGINT, signal_handler);
+        signal(SIGTERM, signal_handler);
+        signal(SIGQUIT, signal_handler);
+        signal(SIGHUP, signal_handler);
+
+        //thread.join();
+    }
+
+    while (keep_running)
+    {
+        std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+         if(strcmp(argv[1], "p") == 0) {
+            HelloSecurity msg;
+            msg.securityData("123456");
+            IPCPublisherInstance.getPublisherByTopic<HelloSecurity>("Topic1")->publish(msg);
+
+            OneMessage msg1;
+            msg1.a(1);
+            msg1.b(2);
+            std::vector<int16_t> vec{1,2,3,4,5};
+            msg1.sequenceTest(vec);
+            IPCPublisherInstance.getPublisherByTopic<OneMessage>("Topic2")->publish(msg1);
+         }
+    }
+
+    Log::Reset();
+    return ret;
+}

src/manager/BaseManager.h

+/***
+ * @Description: 单例基类
+ * @Author: jizhou
+ * @Date: 2023-07-13 18:38:58
+ * @LastEditors: jizhou
+ * @LastEditTime: 2023-07-16 23:43:02
+ * @FilePath: /EnvironmentAccess/src/manager/BaseManager.h
+ */
+#ifndef FAST_DDS_GENERATED__BaseManager
+#define FAST_DDS_GENERATED__BaseManager
+
+template<class T>
+class BaseManager {
+public:
+    /***
+     * @brief: 默认构造函数
+     * @return {*}
+     */
+    BaseManager() = default;
+    /***
+     * @brief: 默认析构函数
+     * @return {*}
+     */
+    virtual ~BaseManager() = default;
+    /***
+     * @brief: 移动构造函数
+     * @return {*}
+     */
+    BaseManager(T&&) = delete;
+    /***
+     * @brief: 赋值构造函数
+     * @return {*}
+     */
+    BaseManager &operator=(const T&) = delete;
+    /***
+     * @brief: 拷贝构造函数
+     * @return {*}
+     */
+    BaseManager(const T&) = delete;
+    /***
+     * @brief: 接引用函数
+     * @return {*}
+     */
+    T* operator&() = delete;
+    /***
+     * @brief: 对外获取单例接口
+     * @return {*}
+     */
+    static T& getInstance() {
+        static T instance;
+        return instance;
+    }
+};
+
+#endif
\ No newline at end of file

src/manager/IPC.h

+#include "IPCPublisherManager.h"
+#include "IPCSubscriberManager.h"
+
+
+auto& IPCPublisherInstance = IPCPublisherManager::getInstance();
+
+auto& IPCSubscriberInstance = IPCSubscriberManager::getInstance();
\ No newline at end of file

src/manager/IPCPublisherManager.h

+/***
+ * @Description: 生产者管理类 内含3个不同主题发布者
+ * @Author: jizhou
+ * @Date: 2023-07-13 19:13:44
+ * @LastEditors: jizhou
+ * @LastEditTime: 2023-07-16 23:57:01
+ * @FilePath: /EnvironmentAccess/src/manager/IPCPublisherManager.h
+ */
+#ifndef FAST_DDS_GENERATED__IPCPublisherManager
+#define FAST_DDS_GENERATED__IPCPublisherManager
+
+#include <string>
+
+#include "BaseManager.h"
+#include "fastdds/IPCPublisher.h"
+
+using namespace std;
+
+class IPCPublisherManager : public BaseManager<IPCPublisherManager> {
+private:
+    /***
+     * @brief: 构造函数
+     * @return {*}
+     */
+    IPCPublisherManager() = default;
+
+
+    std::map<std::string, std::shared_ptr<IPCPublisherBase>> publishers_;
+    
+public:
+    /***
+     * @brief: 析构函数
+     * @return {*}
+     */
+    
+    ~IPCPublisherManager() = default;
+
+    friend class BaseManager;
+
+     template<typename MessageT>
+    std::shared_ptr<IPCPublisher<MessageT>> createPublisher(const std::string& topic, size_t qos_profile_depth) {
+        auto publisher = std::make_shared<IPCPublisher<MessageT>>(0, topic);
+        publishers_[topic] = publisher;
+        return publisher;
+    }
+
+    template<typename MessageT>
+    std::shared_ptr<IPCPublisher<MessageT>> getPublisherByTopic(const std::string& topic) {
+        auto it = publishers_.find(topic);
+        if (it != publishers_.end()) {
+            return std::dynamic_pointer_cast<IPCPublisher<MessageT>>(it->second);
+        }
+        return nullptr;
+    }
+
+    //publish("topic",<T>xxxxx)
+    
+    void stopAll() {
+        auto iter = publishers_.begin();
+        for(; iter!= publishers_.end(); iter++) {
+            iter->second->stop();
+        }
+    }
+
+};
+
+#endif
\ No newline at end of file

src/manager/IPCSubscriberManager.h

+/***
+ * @Description: 生产者管理类 内含3个不同主题发布者
+ * @Author: jizhou
+ * @Date: 2023-07-13 19:13:44
+ * @LastEditors: jizhou
+ * @LastEditTime: 2023-07-16 23:57:01
+ * @FilePath: /EnvironmentAccess/src/manager/IPCSubscriberManager.h
+ */
+#ifndef FAST_DDS_GENERATED__IPCSubscriberManager
+#define FAST_DDS_GENERATED__IPCSubscriberManager
+
+#include <string>
+
+#include "BaseManager.h"
+#include "fastdds/IPCSubscriber.h"
+
+using namespace std;
+
+class IPCSubscriberManager : public BaseManager<IPCSubscriberManager> {
+private:
+    /***
+     * @brief: 构造函数
+     * @return {*}
+     */
+    IPCSubscriberManager() = default;
+
+
+    std::map<std::string, std::shared_ptr<IPCSubscriberBase>> subscribers_;
+    
+public:
+    /***
+     * @brief: 析构函数
+     * @return {*}
+     */
+    ~IPCSubscriberManager() = default;
+
+    friend class BaseManager;
+
+     template<typename MessageT>
+    std::shared_ptr<IPCSubscriber<MessageT>> createSubscriber(const std::string& topic, size_t qos_profile_depth) {
+        auto subscriber = std::make_shared<IPCSubscriber<MessageT>>(0, topic);
+        subscribers_[topic] = subscriber;
+        return subscriber;
+    }
+
+    template<typename MessageT>
+    std::shared_ptr<IPCSubscriber<MessageT>> get_subscriber_by_topic(const std::string& topic) {
+        auto it = subscribers_.find(topic);
+        if (it != subscribers_.end()) {
+            return std::dynamic_pointer_cast<IPCSubscriber<MessageT>>(it->second);
+        }
+        return nullptr;
+    }
+    
+    void stopAll() {
+        auto iter = subscribers_.begin();
+        for(; iter!= subscribers_.end(); iter++) {
+            iter->second->stop();
+        }
+    }
+
+};
+
+#endif
\ No newline at end of file

src/testCdrAux.hpp

+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file testCdrAux.hpp
+ * This source file contains some definitions of CDR related functions.
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#ifndef FAST_DDS_GENERATED__TESTCDRAUX_HPP
+#define FAST_DDS_GENERATED__TESTCDRAUX_HPP
+
+#include "test.hpp"
+
+constexpr uint32_t HelloSecurity_max_cdr_typesize {264UL};
+constexpr uint32_t HelloSecurity_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t TwoMessage_max_cdr_typesize {12UL};
+constexpr uint32_t TwoMessage_max_key_cdr_typesize {0UL};
+
+constexpr uint32_t OneMessage_max_cdr_typesize {16UL};
+constexpr uint32_t OneMessage_max_key_cdr_typesize {0UL};
+
+
+namespace eprosima {
+namespace fastcdr {
+
+class Cdr;
+class CdrSizeCalculator;
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const HelloSecurity& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const OneMessage& data);
+
+eProsima_user_DllExport void serialize_key(
+        eprosima::fastcdr::Cdr& scdr,
+        const TwoMessage& data);
+
+
+} // namespace fastcdr
+} // namespace eprosima
+
+#endif // FAST_DDS_GENERATED__TESTCDRAUX_HPP
+

src/testPubSubTypes.hpp

+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file testPubSubTypes.hpp
+ * This header file contains the declaration of the serialization functions.
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+
+#ifndef FAST_DDS_GENERATED__TEST_PUBSUBTYPES_HPP
+#define FAST_DDS_GENERATED__TEST_PUBSUBTYPES_HPP
+
+#include <fastdds/dds/core/policy/QosPolicies.hpp>
+#include <fastdds/dds/topic/TopicDataType.hpp>
+#include <fastdds/rtps/common/InstanceHandle.hpp>
+#include <fastdds/rtps/common/SerializedPayload.hpp>
+#include <fastdds/utils/md5.hpp>
+
+#include "test.hpp"
+
+
+#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
+#error \
+    Generated test is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
+#endif  // FASTDDS_GEN_API_VER
+
+
+/*!
+ * @brief This class represents the TopicDataType of the type HelloSecurity defined by the user in the IDL file.
+ * @ingroup test
+ */
+class HelloSecurityPubSubType : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    typedef HelloSecurity type;
+
+    eProsima_user_DllExport HelloSecurityPubSubType();
+
+    eProsima_user_DllExport ~HelloSecurityPubSubType() override;
+
+    eProsima_user_DllExport bool serialize(
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+    eProsima_user_DllExport bool deserialize(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            void* data) override;
+
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
+            const void* const data,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport void* create_data() override;
+
+    eProsima_user_DllExport void delete_data(
+            void* data) override;
+
+    //Register TypeObject representation in Fast DDS TypeObjectRegistry
+    eProsima_user_DllExport void register_type_object_representation() override;
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+    eProsima_user_DllExport inline bool is_bounded() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+    eProsima_user_DllExport inline bool is_plain(
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+    {
+        static_cast<void>(data_representation);
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+    eProsima_user_DllExport inline bool construct_sample(
+            void* memory) const override
+    {
+        static_cast<void>(memory);
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+private:
+
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
+
+};
+
+/*!
+ * @brief This class represents the TopicDataType of the type OneMessage defined by the user in the IDL file.
+ * @ingroup test
+ */
+class OneMessagePubSubType : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    typedef OneMessage type;
+
+    eProsima_user_DllExport OneMessagePubSubType();
+
+    eProsima_user_DllExport ~OneMessagePubSubType() override;
+
+    eProsima_user_DllExport bool serialize(
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+    eProsima_user_DllExport bool deserialize(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            void* data) override;
+
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
+            const void* const data,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport void* create_data() override;
+
+    eProsima_user_DllExport void delete_data(
+            void* data) override;
+
+    //Register TypeObject representation in Fast DDS TypeObjectRegistry
+    eProsima_user_DllExport void register_type_object_representation() override;
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+    eProsima_user_DllExport inline bool is_bounded() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+    eProsima_user_DllExport inline bool is_plain(
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+    {
+        static_cast<void>(data_representation);
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+    eProsima_user_DllExport inline bool construct_sample(
+            void* memory) const override
+    {
+        static_cast<void>(memory);
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+private:
+
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
+
+};
+
+/*!
+ * @brief This class represents the TopicDataType of the type TwoMessage defined by the user in the IDL file.
+ * @ingroup test
+ */
+class TwoMessagePubSubType : public eprosima::fastdds::dds::TopicDataType
+{
+public:
+
+    typedef TwoMessage type;
+
+    eProsima_user_DllExport TwoMessagePubSubType();
+
+    eProsima_user_DllExport ~TwoMessagePubSubType() override;
+
+    eProsima_user_DllExport bool serialize(
+            const void* const data,
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+    eProsima_user_DllExport bool deserialize(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            void* data) override;
+
+    eProsima_user_DllExport uint32_t calculate_serialized_size(
+            const void* const data,
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;
+
+    eProsima_user_DllExport bool compute_key(
+            eprosima::fastdds::rtps::SerializedPayload_t& payload,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport bool compute_key(
+            const void* const data,
+            eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
+            bool force_md5 = false) override;
+
+    eProsima_user_DllExport void* create_data() override;
+
+    eProsima_user_DllExport void delete_data(
+            void* data) override;
+
+    //Register TypeObject representation in Fast DDS TypeObjectRegistry
+    eProsima_user_DllExport void register_type_object_representation() override;
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+    eProsima_user_DllExport inline bool is_bounded() const override
+    {
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+    eProsima_user_DllExport inline bool is_plain(
+            eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
+    {
+        static_cast<void>(data_representation);
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
+
+#ifdef TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+    eProsima_user_DllExport inline bool construct_sample(
+            void* memory) const override
+    {
+        static_cast<void>(memory);
+        return false;
+    }
+
+#endif  // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE
+
+private:
+
+    eprosima::fastdds::MD5 md5_;
+    unsigned char* key_buffer_;
+
+};
+
+#endif // FAST_DDS_GENERATED__TEST_PUBSUBTYPES_HPP
+

src/testTypeObjectSupport.hpp

+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/*!
+ * @file testTypeObjectSupport.hpp
+ * Header file containing the API required to register the TypeObject representation of the described types in the IDL file
+ *
+ * This file was generated by the tool fastddsgen.
+ */
+
+#ifndef FAST_DDS_GENERATED__TEST_TYPE_OBJECT_SUPPORT_HPP
+#define FAST_DDS_GENERATED__TEST_TYPE_OBJECT_SUPPORT_HPP
+
+#include <fastdds/dds/xtypes/type_representation/TypeObject.hpp>
+
+
+#if defined(_WIN32)
+#if defined(EPROSIMA_USER_DLL_EXPORT)
+#define eProsima_user_DllExport __declspec( dllexport )
+#else
+#define eProsima_user_DllExport
+#endif  // EPROSIMA_USER_DLL_EXPORT
+#else
+#define eProsima_user_DllExport
+#endif  // _WIN32
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
+
+/**
+ * @brief Register HelloSecurity related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_HelloSecurity_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+/**
+ * @brief Register OneMessage related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_OneMessage_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+/**
+ * @brief Register TwoMessage related TypeIdentifier.
+ *        Fully-descriptive TypeIdentifiers are directly registered.
+ *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
+ *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
+ */
+eProsima_user_DllExport void register_TwoMessage_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifierPair& type_ids);
+
+
+#endif // DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
+
+#endif // FAST_DDS_GENERATED__TEST_TYPE_OBJECT_SUPPORT_HPP

test.idl

+struct HelloSecurity
+{
+    string securityData;
+};
+
+struct OneMessage
+{
+    short a;
+    float b;
+    sequence<short> sequenceTest;
+};
+
+struct TwoMessage
+{
+    sequence<short> sequenceTest;
+    map<char, unsigned long long> mapTest;
+};
\ No newline at end of file