fastdds发送接收数据

Pc端发送：
domain：149
topic：/program/send
 

Pc端接收：
domain：150
topic：/program/recv
 

json内容
{
"id":"01",
"type":"00", 
"status":"SUCCESS", 
"data":""
}

 ccdds.h

#ifndef CCDDSWIDGET_H
#define CCDDSWIDGET_H

#include <QWidget>
#include <QJsonArray>
#include <QJsonObject>
#include <QJsonDocument>
#include <fastdds.h>

namespace DDS {
namespace Internal {

class CCDDS : public QWidget
{
        Q_OBJECT
public:
    explicit CCDDS(QWidget *parent = nullptr);

private:
    static void recv_data(void *data, int len);
    static void send(QString id, QString type, QString status, QString data);
    void dds_init();

private:
    fastdds *m_cert_dds_send;
    fastdds *m_cert_dds_recv;
};
} //end Internal
} //end DDS 
#endif 
// CCDDS

ccdds.cpp

void CCDDS::dds_init()
{
    // 发送服务
    m_dds_send = new fastdds(data_type_buf);
    int domain_id_send = 149;
    const char *topic_send = "/program/send";

    m_dds_send->set_history_qos(recv_real_time);
    m_dds_send->reg(domain_id_send, topic_send, nullptr);

    // 接受服务
    m_dds_recv = new fastdds(data_type_buf);
    int domain_id_recv = 150;
    const char *topic_recv = "/program/recv";

    m_dds_recv->set_history_qos(recv_real_time);
    m_dds_recv->reg(domain_id_recv, topic_recv , recv_data);
}

void CCDDS::recv_data(void *data, int len)
{
    QByteArray str_data = QString::fromLatin1((char *)data, len).toLatin1();
    QJsonParseError json_error;
    QJsonDocument jsonDoc(QJsonDocument::fromJson(str_data, &json_error));
    if(json_error.error != QJsonParseError::NoError){
        return;
    }
    QJsonObject rootObj = jsonDoc.object();
    //TODO：解析json数据
}

void CCDDS::send_data(QString id, QString type, QString status, QString data)
{
    QJsonObject json;
    json.insert("id", id);
    json.insert("type", type);
    json.insert("status", status);
    json.insert("data", data);
    QJsonDocument docment;
    docment.setObject(json);
    QByteArray data = QString::fromUtf8(docment.toJson(QJsonDocument::Compact)).toLatin1();

    delay_msec(1000);
    m_dds_send->send(data.data(), data.length());
}