Drive.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/7.3.0/rti_dds_profiles.xsd">

    <!-- Data Types -->
    <types>
        <include file="res/types/data/sensing/Camera_t.xml" />
        <include file="res/types/data/sensing/Lidar_t.xml" />
        <include file="res/types/data/perception/Track_t.xml" />
        <include file="res/types/data/perception/Lane_t.xml" />
        <include file="res/types/data/planning/Alert_t.xml" />
        <include file="res/types/data/actuation/Steering_t.xml" />
        <include file="res/types/data/gateway/CAN_t.xml" />
    </types>

    <!-- Databus Library -->
    <domain_library name="DriveBus">

        <!-- main databus -->
        <domain name="main">

            <!-- Camera -->
            <register_type name="dds::sensing::Camera"
                type_ref="dds::sensing::Camera" />
            <topic name="Stream/Camera"
                register_type_ref="dds::sensing::Camera" />

            <!-- Lidar -->
            <register_type name="dds::sensing::Lidar"
                type_ref="dds::sensing::Lidar" />
            <topic name="Stream/Lidar"
                register_type_ref="dds::sensing::Lidar" />


            <!-- Track -->
            <register_type name="dds::perception::Track"
                type_ref="dds::perception::Track" />
            <topic name="Status/Track"
                register_type_ref="dds::perception::Track" />

            <!-- TrackInfo -->
            <register_type name="dds::perception::TrackInfo"
                type_ref="dds::perception::TrackInfo" />
            <topic name="Config/TrackInfo"
                register_type_ref="dds::perception::TrackInfo" />


            <!-- Lane -->
            <register_type name="dds::perception::Lane"
                type_ref="dds::perception::Lane" />
            <topic name="Status/Lane"
                register_type_ref="dds::perception::Lane" />

            <!-- LaneInfo -->
            <register_type name="dds::perception::LaneInfo"
                type_ref="dds::perception::LaneInfo" />
            <topic name="Config/LaneInfo"
                register_type_ref="dds::perception::LaneInfo" />


            <!-- Alert -->
            <register_type name="dds::planning::Alert"
                type_ref="dds::planning::Alert" />
            <topic name="Status/Alert"
                register_type_ref="dds::planning::Alert" />


            <!-- SteeringDesired -->
            <register_type name="dds::actuation::SteeringDesired"
                type_ref="dds::actuation::SteeringDesired" />
            <topic name="Status/SteeringDesired"
                register_type_ref="dds::actuation::SteeringDesired" />

            <!-- SteeringActual -->
            <register_type name="dds::actuation::SteeringActual"
                type_ref="dds::actuation::SteeringActual" />
            <topic name="Status/SteeringActual"
                register_type_ref="dds::actuation::SteeringActual" />

        </domain>


        <!-- DDS-CAN databus -->
        <domain name="can">

            <!-- CANSignalInfo -->
            <register_type name="dds::can::CANSignalInfo"
                type_ref="dds::can::CANSignalInfo" />
            <topic name="Config/SignalInfo"
                register_type_ref="dds::can::CANSignalInfo" />

            <!-- CANSignalIn and CANSignalOut -->
            <register_type name="dds::can::CANSignal"
                type_ref="dds::can::CANSignal" />
            <topic name="Status/SignalIn"
                register_type_ref="dds::can::CANSignal" />
            <topic name="Status/SignalOut"
                register_type_ref="dds::can::CANSignal" />

            <!-- CANFrameIn and CANFrameOut -->
            <register_type name="dds::can::CANFrame"
                type_ref="dds::can::CANFrame" />
            <topic name="Stream/FrameIn"
                register_type_ref="dds::can::CANFrame" />
            <topic name="Stream/FrameOut"
                register_type_ref="dds::can::CANFrame" />

        </domain>
    </domain_library>
</dds>