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ParticipantLibrary.xml
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<?xml version="1.0" encoding="UTF-8"?>
<!-- (c) 2024 Copyright, Real-Time Innovations, Inc. (RTI) All rights reserved.
RTI grants Licensee a license to use, modify, compile, and create derivative
works of the software solely for use with RTI Connext DDS. Licensee may
redistribute copies of the software provided that all such copies are
subject to this license. The software is provided "as is", with no warranty
of any type, including any warranty for fitness for any purpose. RTI is
under no obligation to maintain or support the software. RTI shall not be
liable for any incidental or consequential damages arising out of the use or
inability to use the software. -->
<dds xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:noNamespaceSchemaLocation="http://community.rti.com/schema/7.3.0/rti_dds_profiles.xsd"
version="7.3.0">
<domain_participant_library name="MedicalDemoParticipantLibrary">
<domain_participant name="dp/Arm" domain_ref="ConnextDomainLib::OperationalDataDomain">
<domain_participant_qos base_name="DpQosLib::Arm"/>
<publisher name="p/publisher">
<publisher_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_writer name="dw/DeviceStatus" topic_ref="t/DeviceStatus">
<datawriter_qos base_name="DataFlowLibrary::Status"/>
</data_writer>
<data_writer name="dw/DeviceHeartbeat" topic_ref="t/DeviceHeartbeat">
<datawriter_qos base_name="DataFlowLibrary::Heartbeat"/>
</data_writer>
</publisher>
<subscriber name="s/subscriber">
<subscriber_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_reader name="dr/MotorControl" topic_ref="t/MotorControl">
<datareader_qos base_name="DataFlowLibrary::Command"/>
</data_reader>
<data_reader name="dr/DeviceCommand" topic_ref="t/DeviceCommand">
<content_filter name="filter" kind="builtin.sql">
<expression>device = 'ARM'</expression>
</content_filter>
<datareader_qos base_name="DataFlowLibrary::Command"/>
</data_reader>
</subscriber>
</domain_participant>
<domain_participant name="dp/ArmController" domain_ref="ConnextDomainLib::OperationalDataDomain">
<domain_participant_qos base_name="DpQosLib::ArmController"/>
<publisher name="p/publisher">
<publisher_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_writer name="dw/MotorControl" topic_ref="t/MotorControl">
<datawriter_qos base_name="DataFlowLibrary::Command"/>
</data_writer>
<data_writer name="dw/DeviceStatus" topic_ref="t/DeviceStatus">
<datawriter_qos base_name="DataFlowLibrary::Status"/>
</data_writer>
<data_writer name="dw/DeviceHeartbeat" topic_ref="t/DeviceHeartbeat">
<datawriter_qos base_name="DataFlowLibrary::Heartbeat"/>
</data_writer>
</publisher>
<subscriber name="s/subscriber">
<subscriber_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_reader name="dr/DeviceCommand" topic_ref="t/DeviceCommand">
<content_filter name="filter" kind="builtin.sql">
<expression>device = 'ARM_CONTROLLER'</expression>
</content_filter>
<datareader_qos base_name="DataFlowLibrary::Command"/>
</data_reader>
</subscriber>
</domain_participant>
<domain_participant name="dp/Orchestrator" domain_ref="ConnextDomainLib::OperationalDataDomain">
<domain_participant_qos base_name="DpQosLib::Orchestrator"/>
<publisher name="p/publisher">
<publisher_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_writer name="dw/DeviceCommand" topic_ref="t/DeviceCommand">
<datawriter_qos base_name="DataFlowLibrary::Command"/>
</data_writer>
</publisher>
<subscriber name="s/subscriber">
<subscriber_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_reader name="dr/DeviceStatus" topic_ref="t/DeviceStatus">
<datareader_qos base_name="DataFlowLibrary::Status"/>
</data_reader>
<data_reader name="dr/DeviceHeartbeat" topic_ref="t/DeviceHeartbeat">
<datareader_qos base_name="DataFlowLibrary::Heartbeat"/>
</data_reader>
</subscriber>
</domain_participant>
<domain_participant name="dp/PatientSensor" domain_ref="ConnextDomainLib::OperationalDataDomain">
<domain_participant_qos base_name="DpQosLib::PatientSensor"/>
<publisher name="p/publisher">
<publisher_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_writer name="dw/Vitals" topic_ref="t/Vitals">
<datawriter_qos base_name="DataFlowLibrary::Streaming"/>
</data_writer>
<data_writer name="dw/DeviceStatus" topic_ref="t/DeviceStatus">
<datawriter_qos base_name="DataFlowLibrary::Status"/>
</data_writer>
<data_writer name="dw/DeviceHeartbeat" topic_ref="t/DeviceHeartbeat">
<datawriter_qos base_name="DataFlowLibrary::Heartbeat"/>
</data_writer>
</publisher>
<subscriber name="s/subscriber">
<subscriber_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_reader name="dr/DeviceCommand" topic_ref="t/DeviceCommand">
<content_filter name="filter" kind="builtin.sql">
<expression>device = 'PATIENT_SENSOR'</expression>
</content_filter>
<datareader_qos base_name="DataFlowLibrary::Command"/>
</data_reader>
</subscriber>
</domain_participant>
<domain_participant name="dp/PatientMonitor" domain_ref="ConnextDomainLib::OperationalDataDomain">
<domain_participant_qos base_name="DpQosLib::PatientMonitor"/>
<publisher name="p/publisher">
<publisher_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_writer name="dw/DeviceStatus" topic_ref="t/DeviceStatus">
<datawriter_qos base_name="DataFlowLibrary::Status"/>
</data_writer>
<data_writer name="dw/DeviceHeartbeat" topic_ref="t/DeviceHeartbeat">
<datawriter_qos base_name="DataFlowLibrary::Heartbeat"/>
</data_writer>
</publisher>
<subscriber name="s/subscriber">
<subscriber_qos base_name="BuiltinQosLib::Generic.Common"/>
<data_reader name="dr/DeviceCommand" topic_ref="t/DeviceCommand">
<content_filter name="filter" kind="builtin.sql">
<expression>device = 'PATIENT_MONITOR'</expression>
</content_filter>
<datareader_qos base_name="DataFlowLibrary::Command"/>
</data_reader>
<data_reader name="dr/Vitals" topic_ref="t/Vitals">
<datareader_qos base_name="DataFlowLibrary::Streaming"/>
</data_reader>
</subscriber>
</domain_participant>
</domain_participant_library>
</dds>