rticonnextdds-connector - Platform support

Hello Gianpiero,

Thank you very much for the new connector version. However, the simple example of the repository does not work.

I have updated the environment variables NDDSHOME, LD_LIBRARY_PATH and PATH. I have modified rticonnextdds_connector.py to load the new library and to resolve some Unresolved symbol when the librti_dds_connector.so is loaded with ctypes:

These errors:

unknown symbol: REDAOrderedDataType_compareUInt
unknown symbol: REDAOrderedDataType_compareQuadPointer
unknown symbol: REDAOrderedDataType_compareTripleUInt
unknown symbol: REDAOrderedDataType_compareSixUInt
unknown symbol: REDAOrderedDataType_compareDoubleUInt
unknown symbol: DDS_HANDLE_NIL
unknown symbol: RTI_LOG_ANY_FAILURE_s
unknown symbol: DDS_DURATION_INFINITE
unknown symbol: REDAOrderedDataType_comparePointer
unknown symbol: RTI_LOG_ANY_s
unknown symbol: RTILog_setLogLevel
unknown symbol: DDS_ANY_INSTANCE_STATE
unknown symbol: DDS_DYNAMIC_DATA_PROPERTY_DEFAULT
unknown symbol: RTI_OSAPI_MEMORY_LOG_OUT_OF_HEAP_STRUCT_d
unknown symbol: DDS_ANY_VIEW_STATE
unknown symbol: REDAOrderedDataType_compareQuadUInt
unknown symbol: RTI_LOG_CREATION_FAILURE_s

are solved with:

arch = "armv7aQNX6.5.0SP1qcc_cpp4.4.2"
_ddsc_lib = ctypes.CDLL(os.path.join(os.environ['NDDSHOME'], 'lib', arch, 'libnddsc.so'), ctypes.RTLD_GLOBAL)

After, I have the error: Unresolved symbol "luaL_newstate" called from librti_dds_connector.so

For that, I have ported the lua library to QNX 6.5.0 over armv7. The lua executable works on board with the 5.1 and 5.3 versions. Using the line: lua = ctypes.CDLL(os.path.join(path, "liblua.so"), ctypes.RTLD_GLOBAL) I have deleted the above error.

Now, I have a Memory fault in the next line:

class Connector:
    def __init__(self, configName, fileName):
        print "class Connector: init\n" -> printed
        self.native = rtin_RTIDDSConnector_new(configName, fileName) -> Memory fault
        print "class Connector: end\n" -> no printed

I have changed the some names of the configuration file (ShapeExample.xml) and I have seen the errors due to the name changes. Therefore, the configuration file is read. 

I have tested the rtiddsprototyper with the example the lua, and it works fine (but it does not use the lua library that I have ported, maybe I need other version).

I have tested the pyDDS implementation and it works fine also. But I do not have dynamic data feature.

I do not have the source code therefore I can not follow debugging. I hope that it gives you some hints about the problem.

Thank you in advance. Best regards,

Yamnia

Hello Gianpiero,

It seems that the lua library works but now I have the memory fault some lines after. 

In the writer.py, the memory fault appears when the instance is acceded: output.instance.setNumber("x", i)

If I run the writer on Linux and the reader.py on QNX6.5.0SP1_armv7, the first sample is printed and then, when the next sample is received, the memory fault appears. It coincides when the writer sends. If I decrease the sleep time, I can see two samples printed.

Yes, if it is possible that I am using different libraries of the one you used to produce the connector library.

Thank you in advance. Best, Yamnia

Hello Gianpiero,

It is running perfectly! Thank you very much!

Best regards, Yamnia

Hello Gianpiero,

I can share that we decided to use the RTI DDS implementation as the communication middleware between the ground station and the UAV autopilot. We want to integrate in this system a mission planning program which is written in Python. For that, the rticonnextdds-connector is an easy way to achieve it.

Best, Yamnia