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RTI Connector for Connext DDS - Go\n\n[![Coverage](https://img.shields.io/badge/coverage-90.1%25-brightgreen)](https://github.com/rticommunity/rticonnextdds-connector-go/actions/workflows/build.yml)\n[![Go Report Card](https://goreportcard.com/badge/github.com/rticommunity/rticonnextdds-connector-go)](https://goreportcard.com/report/github.com/rticommunity/rticonnextdds-connector-go)\n[![Build and Test](https://github.com/rticommunity/rticonnextdds-connector-go/actions/workflows/build.yml/badge.svg)](https://github.com/rticommunity/rticonnextdds-connector-go/actions/workflows/build.yml)\n[![Go Version](https://img.shields.io/github/go-mod/go-version/rticommunity/rticonnextdds-connector-go)](https://github.com/rticommunity/rticonnextdds-connector-go/blob/master/go.mod)\n[![Go Documentation](https://godocs.io/github.com/rticommunity/rticonnextdds-connector-go?status.svg)](https://godocs.io/github.com/rticommunity/rticonnextdds-connector-go)\n\n\u003e A lightweight, easy-to-use Go binding for RTI Connext DDS that enables rapid development of distributed applications.\n\n## Table of Contents\n\n- [Overview](#overview)\n- [Key Features](#key-features)\n- [Quick Start](#quick-start)\n- [Installation](#installation)\n- [Usage Examples](#usage-examples)\n- [Platform Support](#platform-support)\n- [Development](#development)\n- [Documentation](#documentation)\n- [Contributing](#contributing)\n- [Support](#support)\n\n## Overview\n\n**RTI Connector** for Connext DDS is a lightweight, easy-to-use API that provides access to the power and functionality of [RTI Connext DDS](http://www.rti.com/products/index.html). Built on [XML-Based Application Creation](https://community.rti.com/static/documentation/connext-dds/6.0.0/doc/manuals/connext_dds/xml_application_creation/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted.pdf) and Dynamic Data, it enables rapid prototyping and development of distributed applications.\n\nOriginally created by the RTI Research Group for demos and proof-of-concepts, RTI Connector is perfect for developers who need to quickly integrate DDS communication into their Go applications without the complexity of the full RTI Connext DDS Professional SDK.\n\n## Key Features\n\n✨ **Simple API** - Easy-to-use Go interface that hides DDS complexity  \n🚀 **Rapid Development** - Get up and running with DDS in minutes  \n🔄 **Dynamic Data** - No need to generate code from type definitions  \n📄 **XML Configuration** - Define data types and QoS policies declaratively in XML  \n🌐 **Cross-Platform** - Supports Linux x64, macOS, and Windows x64  \n\n## Quick Start\n\n### Prerequisites\n\n- Go 1.21 or later\n- Supported platform (Linux x64, macOS, Windows x64)\n\n### Installation\n\n1. **Create a new project directory and initialize a Go module:**\n```bash\nmkdir my-rti-project\ncd my-rti-project\ngo mod init my-rti-project\n```\n\n2. **Get the Go package:**\n```bash\ngo get github.com/rticommunity/rticonnextdds-connector-go\n```\n\n3. **Download RTI Connector libraries:**\n```bash\ngo run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest\n```\n\n4. **Set library path (for runtime):**\n```bash\n# macOS (Apple Silicon/ARM64) - v1.4.0+\nexport DYLD_LIBRARY_PATH=$(pwd)/rticonnextdds-connector/lib/osx-arm64:$DYLD_LIBRARY_PATH\n\n# macOS (Intel/x86_64) - requires v1.3.1\n# go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -version v1.3.1\nexport DYLD_LIBRARY_PATH=$(pwd)/rticonnextdds-connector/lib/osx-x64:$DYLD_LIBRARY_PATH\n\n# Linux  \nexport LD_LIBRARY_PATH=$(pwd)/rticonnextdds-connector/lib/linux-x64:$LD_LIBRARY_PATH\n\n# Windows (PowerShell)\n$env:PATH = \"$(pwd)\\rticonnextdds-connector\\lib\\win-x64;$env:PATH\"\n```\n\n\u003e **💡 macOS Users**: Use `osx-arm64` for Apple Silicon Macs (M1/M2/M3). Intel Mac support (`osx-x64`) requires v1.3.1. Check your architecture with `uname -m` (arm64 = Apple Silicon, x86_64 = Intel).\n\n\u003e **💡 New to RTI Connector Go?** Try the [go-get-example](examples/go-get-example/) first - it provides a complete walkthrough of this installation process with a simple working example.\n\n### Your First DDS Application\n\n1. **Create an XML configuration file** (`ShapeExample.xml`):\n\n```xml\n\u003cdds\u003e\n  \u003cqos_library name=\"QosLibrary\"\u003e\n    \u003cqos_profile name=\"DefaultProfile\" base_name=\"BuiltinQosLibExp::Generic.StrictReliable\" is_default_qos=\"true\"/\u003e\n  \u003c/qos_library\u003e\n  \n  \u003ctypes\u003e\n    \u003cstruct name=\"ShapeType\"\u003e\n      \u003cmember name=\"color\" type=\"string\" key=\"true\" stringMaxLength=\"128\"/\u003e\n      \u003cmember name=\"x\" type=\"long\"/\u003e\n      \u003cmember name=\"y\" type=\"long\"/\u003e\n      \u003cmember name=\"shapesize\" type=\"long\"/\u003e\n    \u003c/struct\u003e\n  \u003c/types\u003e\n  \n  \u003cdomain_library name=\"MyDomainLibrary\"\u003e\n    \u003cdomain name=\"MyDomain\" domain_id=\"0\"\u003e\n      \u003cregister_type name=\"ShapeType\" type_ref=\"ShapeType\"/\u003e\n      \u003ctopic name=\"Square\" register_type_ref=\"ShapeType\"/\u003e\n    \u003c/domain\u003e\n  \u003c/domain_library\u003e\n  \n  \u003cdomain_participant_library name=\"MyParticipantLibrary\"\u003e\n    \u003cdomain_participant name=\"Zero\" domain_ref=\"MyDomainLibrary::MyDomain\"\u003e\n      \u003cpublisher name=\"MyPublisher\"\u003e\n        \u003cdata_writer name=\"MySquareWriter\" topic_ref=\"Square\"/\u003e\n      \u003c/publisher\u003e\n      \u003csubscriber name=\"MySubscriber\"\u003e\n        \u003cdata_reader name=\"MySquareReader\" topic_ref=\"Square\"/\u003e\n      \u003c/subscriber\u003e\n    \u003c/domain_participant\u003e\n  \u003c/domain_participant_library\u003e\n\u003c/dds\u003e\n```\n\n2. **Create a publisher** (`publisher.go`):\n\n```go\npackage main\n\nimport (\n    \"log\"\n    \"time\"\n    \n    rti \"github.com/rticommunity/rticonnextdds-connector-go\"\n)\n\nfunc main() {\n    // Create connector\n    connector, err := rti.NewConnector(\"MyParticipantLibrary::Zero\", \"./ShapeExample.xml\")\n    if err != nil {\n        log.Fatal(err)\n    }\n    defer connector.Delete()\n\n    // Get output (writer)\n    output, err := connector.GetOutput(\"MyPublisher::MySquareWriter\")\n    if err != nil {\n        log.Fatal(err)\n    }\n\n    // Publish data\n    for i := 0; i \u003c 10; i++ {\n        output.Instance.SetString(\"color\", \"BLUE\")\n        output.Instance.SetInt(\"x\", i*10)\n        output.Instance.SetInt(\"y\", i*20)\n        output.Instance.SetInt(\"shapesize\", 30)\n        \n        output.Write()\n        log.Printf(\"Published sample %d\", i)\n        time.Sleep(time.Second)\n    }\n}\n```\n\n3. **Create a subscriber** (`subscriber.go`):\n\n```go\npackage main\n\nimport (\n    \"log\"\n    \n    rti \"github.com/rticommunity/rticonnextdds-connector-go\"\n)\n\nfunc main() {\n    // Create connector\n    connector, err := rti.NewConnector(\"MyParticipantLibrary::Zero\", \"./ShapeExample.xml\")\n    if err != nil {\n        log.Fatal(err)\n    }\n    defer connector.Delete()\n\n    // Get input (reader)\n    input, err := connector.GetInput(\"MySubscriber::MySquareReader\")\n    if err != nil {\n        log.Fatal(err)\n    }\n\n    // Read data\n    log.Println(\"Waiting for data...\")\n    for {\n        connector.Wait(-1) // Wait indefinitely for data\n        input.Take()\n        \n        numSamples, _ := input.Samples.GetLength()\n        for i := 0; i \u003c numSamples; i++ {\n            if valid, _ := input.Infos.IsValid(i); valid {\n                color, _ := input.Samples.GetString(i, \"color\")\n                x, _ := input.Samples.GetInt(i, \"x\")\n                y, _ := input.Samples.GetInt(i, \"y\")\n                shapesize, _ := input.Samples.GetInt(i, \"shapesize\")\n                \n                log.Printf(\"Received: color=%s, x=%d, y=%d, size=%d\", color, x, y, shapesize)\n            }\n        }\n    }\n}\n```\n\n4. **Run your application:**\n\nMake sure you've completed the installation steps above (including library download and path setup), then:\n\n```bash\n# Terminal 1 - Start subscriber\ngo run subscriber.go\n\n# Terminal 2 - Start publisher  \ngo run publisher.go\n```\n\nYou should see the subscriber receiving data published by the publisher!\n\n## Library Management\n\nThe installation above uses our automated library download tool. For advanced scenarios, see our comprehensive guides:\n\n- **[Library Management Documentation](docs/LIBRARY_MANAGEMENT.md)** - Complete guide to library installation options\n- **[Go Get Users Guide](docs/GO_GET_USERS.md)** - Specific help for `go get` workflow\n\n### Library Download Tool Options\n\n```bash\n# Download specific version\ngo run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -version v1.3.1\n\n# Check what's currently installed\ngo run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -current\n\n# List available versions\ngo run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -list\n```\n\n## Usage Examples\n\nExplore our comprehensive examples to learn different patterns and use cases:\n\n| Example | Description | Key Features |\n|---------|-------------|--------------|\n| [Simple](examples/simple/) | Basic publisher/subscriber | Getting started, basic data flow |\n| [Go Get Example](examples/go-get-example/) | For `go get` users | Inline XML, library download workflow |\n| [Shapes Demo](examples/array/) | Array data handling | Complex data types, arrays |\n| [JSON Integration](examples/go_struct/) | Go struct mapping | JSON serialization, struct binding |\n| [Request-Reply](examples/request_reply/) | RPC pattern | Synchronous communication |\n| [Security](examples/security/) | Secure communication | Authentication, encryption |\n| [Multiple Files](examples/module/) | Modular configuration | XML organization, reusability |\n\n**📁 [Browse all examples →](examples/README.md)**\n\n## Platform Support\n\nRTI Connector supports the following platforms with automated CI testing:\n\n| Platform | Architecture | CI Status | Notes |\n|----------|-------------|-----------|-------|\n| **Linux** | x86_64 | ✅ Tested on Ubuntu 22.04 (ubuntu-latest) | |\n| **Linux** | ARM64 | ✅ Supported (libraries included) | |\n| **macOS** | Apple Silicon (ARM64) | ✅ Tested on macos-latest | v1.4.0+ |\n| **macOS** | Intel (x86_64) | ⚠️ Use v1.3.1 | Removed in v1.4.0 |\n| **Windows** | x86_64 | ✅ Tested on Windows Server 2022 (windows-latest) | |\n\n\u003e 📝 **Note**: Starting with v1.4.0, Intel Mac (`osx-x64`) and 32-bit ARM Linux (`linux-arm`) support have been removed. If you need these platforms, use v1.3.1: `go run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -version v1.3.1`\n\n### Version Information\n\nTo check the version of your installed RTI libraries:\n\n```bash\ngo run github.com/rticommunity/rticonnextdds-connector-go/cmd/download-libs@latest -current\n```\n\n## Development\n\n### Building and Testing\n\nFor contributors and developers working with the source code:\n\n```bash\n# Clone and setup\ngit clone https://github.com/rticommunity/rticonnextdds-connector-go.git\ncd rticonnextdds-connector-go\nmake download-libs\n\n# Run all tests with coverage\nmake test-local\n\n# Run comprehensive test suite with quality checks\n./test_improvements.sh\n\n# Build all packages\ngo build ./...\n\n# Run static analysis\ngo vet ./...\n\n# Format code\ngo fmt ./...\n```\n\n### Threading Model\n\n\u003e ⚠️ **Important**: The Connector Native API does not implement thread safety. You are responsible for protecting calls to Connector in multi-threaded applications.\n\nThe native code was originally designed for single-threaded environments (RTI Prototyper and Lua). While we've added support for Go, Python, and JavaScript, thread safety remains the developer's responsibility.\n\n## Documentation\n\n- � **[API Reference](https://godocs.io/github.com/rticommunity/rticonnextdds-connector-go)** - Complete Go API documentation\n- 📖 **[Examples](examples/README.md)** - Comprehensive examples and tutorials  \n- 🧪 **[Testing Guide](TESTING.md)** - Development and testing guidelines\n- 📚 **[Library Management](docs/LIBRARY_MANAGEMENT.md)** - Managing RTI Connector libraries\n- 🚀 **[Go Get Users Guide](docs/GO_GET_USERS.md)** - Complete guide for `go get` users\n- 🤝 **[Contributing](CONTRIBUTING.md)** - How to contribute to the project\n\n### Additional Resources\n\n- [RTI Connext DDS Documentation](https://community.rti.com/documentation)\n- [XML-Based Application Creation Guide](https://community.rti.com/static/documentation/connext-dds/6.0.0/doc/manuals/connext_dds/xml_application_creation/RTI_ConnextDDS_CoreLibraries_XML_AppCreation_GettingStarted.pdf)\n- [RTI Community Forum](https://community.rti.com/forums/technical-questions)\n\n## Contributing\n\nWe welcome contributions! Here's how to get started:\n\n1. **📝 [Sign the CLA](CONTRIBUTING.md)** - Required for all contributions\n2. **🍴 Fork and clone** the repository\n3. **🔧 Make your changes** with tests\n4. **✅ Run quality checks**: `make test-local` or `./test_improvements.sh`\n5. **📤 Submit a pull request**\n\nAll contributions are automatically tested for quality, including:\n- Build verification across platforms\n- Code linting and formatting  \n- Comprehensive test suite validation\n- Coverage analysis\n\n## Support\n\n### Getting Help\n\n- 💬 **[RTI Community Forum](https://community.rti.com/forums/technical-questions)** - Technical questions and discussions\n- 🐛 **[GitHub Issues](https://github.com/rticommunity/rticonnextdds-connector-go/issues)** - Bug reports and feature requests\n- 📧 **[Contact RTI](mailto:sales@rti.com)** - Commercial support and licensing\n\n---\n\n**Ready to get started?** Check out our [Quick Start](#quick-start) guide or explore the [examples](examples/README.md)!\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frticommunity%2Frticonnextdds-connector-go","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Frticommunity%2Frticonnextdds-connector-go","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Frticommunity%2Frticonnextdds-connector-go/lists"}