OpenDDS-latest

【实例截图】

【核心代码】

Table of Contents
Preface..............................................................................................................................x
Chapter 1 Introduction...................................................................................................1
DCPS Overview.............................................................................................................2
Basic Concepts.........................................................................................................2
Built-In Topics..........................................................................................................4
Quality of Service Policies........................................................................................4
Listeners...................................................................................................................5
Conditions................................................................................................................5
OpenDDS Implementation............................................................................................5
Compliance...............................................................................................................5
Extensions to the DDS Specification........................................................................8
OpenDDS Architecture.............................................................................................8
Installation..................................................................................................................13
Building With a Feature Enabled or Disabled........................................................13
Disabling the Building of Built-In Topic Support....................................................14
Disabling the Building of Compliance Profile Features..........................................14
Building Applications that use OpenDDS....................................................................16
MPC: The Makefile, Project, and Workspace Creator............................................16
O p e n D D S D e v e l o p e r ’ s G u i d e i
CMake....................................................................................................................16
Custom Build systems............................................................................................17
Chapter 2 Getting Started.............................................................................................19
Using DCPS.................................................................................................................19
Defining Data Types with IDL................................................................................19
Processing the IDL.................................................................................................23
A Simple Message Publisher..................................................................................25
Setting up the Subscriber......................................................................................29
The Data Reader Listener Implementation............................................................31
Cleaning up in OpenDDS Clients............................................................................32
Running the Example.............................................................................................33
Running Our Example with RTPS...........................................................................34
Data Handling Optimizations......................................................................................36
Registering and Using Instances in the Publisher.................................................36
Reading Multiple Samples......................................................................................36
Zero-Copy Read......................................................................................................37
Chapter 3 Quality of Service.........................................................................................39
Introduction................................................................................................................39
QoS Policies................................................................................................................39
Default QoS Policy Values......................................................................................40
LIVELINESS...........................................................................................................44
RELIABILITY..........................................................................................................45
HISTORY................................................................................................................46
DURABILITY...........................................................................................................46
DURABILITY_SERVICE..........................................................................................47
RESOURCE_LIMITS...............................................................................................48
PARTITION.............................................................................................................48
DEADLINE..............................................................................................................49
LIFESPAN..............................................................................................................50
USER_DATA...........................................................................................................50
TOPIC_DATA..........................................................................................................51
GROUP_DATA.........................................................................................................51
i i O p e n D D S D e v e l o p e r ’ s G u i d e
TRANSPORT_PRIORITY.........................................................................................51
LATENCY_BUDGET................................................................................................52
ENTITY_FACTORY.................................................................................................54
PRESENTATION.....................................................................................................55
DESTINATION_ORDER..........................................................................................56
WRITER_DATA_LIFECYCLE...................................................................................56
READER_DATA_LIFECYCLE..................................................................................57
TIME_BASED_FILTER............................................................................................57
OWNERSHIP..........................................................................................................58
OWNERSHIP_STRENGTH......................................................................................58
Policy Example............................................................................................................59
Chapter 4 Conditions and Listeners..............................................................................61
Introduction................................................................................................................61
Communication Status Types.....................................................................................62
Topic Status Types.................................................................................................62
Subscriber Status Types.........................................................................................63
Data Reader Status Types......................................................................................63
Data Writer Status Types.......................................................................................66
Listeners.....................................................................................................................67
Topic Listener.........................................................................................................69
Data Writer Listener..............................................................................................69
Publisher Listener..................................................................................................69
Data Reader Listener.............................................................................................69
Subscriber Listener................................................................................................70
Domain Participant Listener..................................................................................70
Conditions...................................................................................................................70
Status Condition.....................................................................................................70
Additional Condition Types....................................................................................71
Chapter 5 Content-Subscription Profile........................................................................73
Introduction................................................................................................................73
Content-Filtered Topic................................................................................................74
O p e n D D S D e v e l o p e r ’ s G u i d e i i i
Filter Expressions...................................................................................................75
Expression Parameters...........................................................................................75
Filtering and Dispose/Unregister Samples.............................................................76
Content-Filtered Topic Example.............................................................................76
Query Condition..........................................................................................................77
Query Expressions..................................................................................................78
Query Condition Example.......................................................................................78
Multi Topic..................................................................................................................78
Topic Expressions...................................................................................................79
Usage Notes...........................................................................................................80
Multi Topic Example..............................................................................................82
Chapter 6 Built-In Topics..............................................................................................85
Introduction................................................................................................................85
Built-In Topics for DCPSInfoRepo Configuration........................................................85
DCPSParticipant Topic...............................................................................................86
DCPSTopic Topic........................................................................................................86
DCPSPublication Topic...............................................................................................87
DCPSSubscription Topic.............................................................................................87
Built-In Topic Subscription Example..........................................................................88
OpenDDS-specific Built-In Topics...............................................................................88
OpenDDSParticipantLocation Topic.......................................................................88
OpenDDSConnectionRecord Topic.........................................................................89
OpenDDSInternalThread Topic..............................................................................89
Chapter 7 Run-time Configuration................................................................................91
Configuration Approach..............................................................................................91
Common Configuration Options..................................................................................93
Discovery Configuration.............................................................................................99
Domain Configuration............................................................................................99
Configuring Applications for DCPSInfoRepo........................................................102
Configuring for DDSI-RTPS Discovery.................................................................106
Configuring for Static Discovery..........................................................................114
i v O p e n D D S D e v e l o p e r ’ s G u i d e
Transport Configuration...........................................................................................119
Overview..............................................................................................................119
Configuration File Examples................................................................................121
Transport Registry Example.................................................................................123
Transport Configuration Options..........................................................................124
Transport Instance Options..................................................................................125
Discovery and Transport Configuration Templates..................................................138
Configuring Discovery for a Set of Similar Domains............................................138
Configuring a Set of Similar Transports...............................................................139
Adding Customizations.........................................................................................140
Example Config.ini...............................................................................................140
Logging.....................................................................................................................141
DCPS Layer Debug Logging.................................................................................142
Transport Layer Debug Logging..........................................................................142
Security Debug Logging.......................................................................................143
Chapter 8 opendds_idl.................................................................................................145
opendds_idl Command Line Options.........................................................................145
Using the IDL-to-C 11 Mapping............................................................................148
Chapter 9 The DCPS Information Repository.............................................................151
DCPS Information Repository Options......................................................................151
Repository Federation..............................................................................................153
Federation Management......................................................................................154
Federation Example.............................................................................................156
Chapter 10 Java Bindings............................................................................................159
Introduction..............................................................................................................159
IDL and Code Generation.........................................................................................159
Setting up an OpenDDS Java Project........................................................................160
A Simple Message Publisher.....................................................................................163
Initializing the Participant....................................................................................163
Registering the Data Type and Creating a Topic.................................................164
Creating a Publisher.............................................................................................164
O p e n D D S D e v e l o p e r ’ s G u i d e v
Creating a DataWriter and Registering an Instance............................................164
Setting up the Subscriber.........................................................................................165
Creating a Subscriber..........................................................................................165
Creating a DataReader and Listener....................................................................166
The DataReader Listener Implementation................................................................166
Cleaning up OpenDDS Java Clients..........................................................................167
Configuring the Example..........................................................................................168
Running the Example................................................................................................168
Java Message Service (JMS) Support........................................................................169
Chapter 11 Modeling SDK...........................................................................................171
Overview...................................................................................................................171
Model Capture......................................................................................................171
Code Generation...................................................................................................173
Programming........................................................................................................174
Installation and Getting Started...............................................................................174
Prerequisites........................................................................................................174
Installation...........................................................................................................174
Getting Started.....................................................................................................176
Developing Applications...........................................................................................176
Modeling Support Library....................................................................................176
Generated Code....................................................................................................177
Application Code Requirements...........................................................................179
Chapter 12 Alternate Interfaces to Data.....................................................................187
Recorder and Replayer.............................................................................................187
API Structure........................................................................................................188
Usage Model.........................................................................................................188
QoS Processing.....................................................................................................189
Recorder With XTypes Dynamic Language Binding.............................................190
Observer...................................................................................................................191
Attaching Observers to Entities...........................................................................191
v i O p e n D D S D e v e l o p e r ’ s G u i d e
Writing Observer-Derived Classes.......................................................................192
The Observer::Sample structure..........................................................................192
Chapter 13 Safety Profile............................................................................................195
Overview...................................................................................................................195
Safety Profile Subset of OpenDDS............................................................................195
Safety Profile Configurations of ACE........................................................................196
Run-time Configurable Options................................................................................197
Running ACE and OpenDDS Tests............................................................................197
Using the Memory Pool in Applications....................................................................198
Chapter 14 DDS Security.............................................................................................199
Building OpenDDS with Security Enabled................................................................199
Prerequisites........................................................................................................199
Building OpenDDS with Security on Windows.....................................................200
Building OpenDDS with Security on Linux...........................................................202
Building OpenDDS with Security on macOS........................................................202
Building OpenDDS with Security for Android......................................................203
Architecture of the DDS Security Specification........................................................203
Terms and Background Info......................................................................................203
Required DDS Security Artifacts..............................................................................204
Per-Domain Artifacts............................................................................................204
Per-Participant Artifacts.......................................................................................204
Required OpenDDS Configuration............................................................................204
DDS Security Configuration via PropertyQosPolicy.............................................205
PropertyQosPolicy Example Code........................................................................205
Identity Certificates and Certificate Authorities..................................................207
Identity, Permissions, and Subject Names...........................................................207
Examples in the OpenDDS Source Code Repository............................................207
Using OpenSSL Utilities for OpenDDS.................................................................208
Domain Governance Document................................................................................209
Global Governance Model....................................................................................209
Key Governance Elements....................................................................................209
O p e n D D S D e v e l o p e r ’ s G u i d e v i i
Domain Rule Configuration Options.....................................................................210
Topic Rule Configuration Options........................................................................211
Governance XML Example...................................................................................212
Participant Permissions Document...........................................................................214
Key Permissions Elements....................................................................................214
Permissions XML Example...................................................................................216
DDS Security Implementation Status.......................................................................218
Chapter 15 Internet-Enabled RTPS.............................................................................219
Overview...................................................................................................................219
The RtpsRelay...........................................................................................................220
Using the RtpsRelay.............................................................................................221
Usage...................................................................................................................222
Deployment Considerations.................................................................................224
Interactive Connectivity Establishment (ICE) for RTPS...........................................224
Security Considerations............................................................................................225
Use DDS Security.................................................................................................225
Understand the Weaknesses of (Secure) RTPS Discovery...................................226
Run Participants in a Secure Network.................................................................227
Chapter 16 XTypes......................................................................................................229
Overview...................................................................................................................229
Features....................................................................................................................230
Extensibility..........................................................................................................230
Assignability.........................................................................................................230
Interoperability with non-XTypes Implementations.............................................231
Examples and Explanation........................................................................................231
Mutable Extensibility...........................................................................................231
Assignability.........................................................................................................232
Member IDs..........................................................................................................232
Appendable Extensibility......................................................................................233
Final Extensibility.................................................................................................234
Try Construct.......................................................................................................234
v i i i O p e n D D S D e v e l o p e r ’ s G u i d e
Data Representation.................................................................................................235
Type Consistency Enforcement.................................................................................236
IDL Annotations........................................................................................................237
Indicating which Types can be topic types...........................................................237
Specifying allowed Data Representations............................................................237
Determining Extensibility.....................................................................................238
Customizing XTypes per-member.........................................................................239
Member ID assignment........................................................................................239
Determining the Key Fields of a Type..................................................................240
Dynamic Language Binding......................................................................................240
Representing Types with TypeObject and DynamicType.....................................240
Interpreting Data Samples with DynamicData.....................................................241
Unimplemented Features.........................................................................................245
Type System.........................................................................................................245
Annotations..........................................................................................................245
Differences from the specification............................................................................246