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RTI Connext Modern C++ API Version 7.3.0
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<<extension>> Configures the write protocol of a dds::domain::DomainParticipant More...
#include <rti/core/policy/CorePolicy.hpp>
Public Member Functions | |
| WireProtocol () | |
| Creates the default policy. More... | |
| WireProtocol & | participant_id (int32_t the_participant_id) |
| A value used to distinguish among different participants belonging to the same domain on the same host. More... | |
| int32_t | participant_id () const |
| Getter (see the setter with the same name) More... | |
| WireProtocol & | rtps_host_id (uint32_t the_rtps_host_id) |
| The RTPS Host ID of the domain participant. More... | |
| uint32_t | rtps_host_id () const |
| Getter (see the setter with the same name) More... | |
| WireProtocol & | rtps_app_id (uint32_t the_rtps_app_id) |
| The RTPS App ID of the domain participant. More... | |
| uint32_t | rtps_app_id () const |
| Getter (see the setter with the same name) More... | |
| WireProtocol & | rtps_instance_id (uint32_t the_rtps_instance_id) |
| The RTPS Instance ID of the dds::domain::DomainParticipant. More... | |
| uint32_t | rtps_instance_id () const |
| Getter (see the setter with the same name) More... | |
| WireProtocol & | rtps_well_known_ports (const rti::core::RtpsWellKnownPorts &the_rtps_well_known_ports) |
| Configures the RTPS well-known port mappings. More... | |
| rti::core::RtpsWellKnownPorts | rtps_well_known_ports () const |
| Getter (see the setter with the same name) More... | |
| WireProtocol & | rtps_reserved_port_mask (const RtpsReservedPortKindMask &the_rtps_reserved_port_mask) |
| Specifies which well-known ports to reserve when enabling the participant. More... | |
| RtpsReservedPortKindMask | rtps_reserved_port_mask () const |
| Getter (see the setter with the same name) More... | |
| WireProtocol & | rtps_auto_id_kind (rti::core::policy::WireProtocolAutoKind the_kind) |
| Kind of auto mechanism used to calculate the GUID prefix. More... | |
| rti::core::policy::WireProtocolAutoKind | rtps_auto_id_kind () const |
| Getter (see the setter with the same name) More... | |
| WireProtocol & | compute_crc (bool crc_needed) |
| Adds RTPS CRC submessage to every message when this field is set to true. More... | |
| bool | compute_crc () const |
| Getter (see the setter with the same name) More... | |
| WireProtocol & | check_crc (bool crc_checked) |
| Checks if the received RTPS message is valid by comparing the computed CRC with the received RTPS CRC submessage when this field is set to true. More... | |
| bool | check_crc () const |
| Getter (see the setter with the same name) More... | |
Static Public Attributes | |
| static OMG_DDS_API_CLASS_VARIABLE const uint32_t | RTPS_AUTO_ID |
| Indicates that RTI Connext should choose an appropriate host, app, instance or object ID automatically. More... | |
<<extension>> Configures the write protocol of a dds::domain::DomainParticipant
This QoS policy configures some participant-wide properties of the DDS Real-Time Publish Subscribe (RTPS) on-the-wire protocol. (rti::core::policy::DataWriterProtocol and rti::core::policy::DataReaderProtocol configure RTPS and reliability properties on a per dds::pub::DataWriter or dds::sub::DataReader basis.)
NOTE: The default QoS policies returned by RTI Connext contain the correctly initialized wire protocol attributes. The defaults are not normally expected to be modified, but are available to the advanced user customizing the implementation behavior.
The default values should not be modified without an understanding of the underlying Real-Time Publish Subscribe (RTPS) wire protocol.
In order for the discovery process to work correctly, each dds::domain::DomainParticipant must have a unique identifier. This QoS policy specifies how that identifier should be generated.
RTPS defines a 96-bit prefix to this identifier; each dds::domain::DomainParticipant must have a unique value for this prefix relative to all other participants in its domain.
If an application dies unexpectedly and is restarted, the IDs used by the new instance of DomainParticipants should be different than the ones used by the previous instances. A change in these values allows other DomainParticipants to know that they are communicating with a new instance of an application, and not the previous instance.
For legacy reasons, RTI Connext divides the 96-bit prefix into three integers:
The rti::core::policy::WireProtocol::rtps_auto_id_kind field can be used to configure the algorithm that RTI Connext uses to populate the 96-bit prefix. Then you can optionally overwrite specific parts of the 96-bit prefix by explicitly configuring the rti::core::policy::WireProtocol::rtps_host_id (first integer), rti::core::policy::WireProtocol::rtps_app_id (second integer), and rti::core::policy::WireProtocol::rtps_instance_id (third integer).
The rti::core::policy::WireProtocol::rtps_auto_id_kind field supports three different prefix generation algorithms:
(Legacy) When rtps_auto_id_kind is set to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC, the 96-bit prefix is generated as follows:
DDS_RTPS_AUTO_ID_FROM_IP is not a good algorithm to guarantee prefix uniqueness, because the process ID can be recycled by the OSs.
Some examples are provided to clarify the behavior of this QoSPolicy in case you want to change the default behavior with rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC.
First, get the participant QoS from the DomainParticipantFactory:
Second, change the rti::core::policy::WireProtocol using one of the options shown below.
Third, create the dds::domain::DomainParticipant as usual, using the modified QoS structure instead of the default one.
Option 1: Use rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC to explicitly set just the application/task identifier portion of the rtps_instance_id field.
Option 2: Handle only the per participant counter and let RTI Connext handle the application/task identifier:
Option 3: Handle the entire rtps_instance_id field yourself:
NOTE: If you are using rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC as rtps_auto_id_kind and you decide to manually handle the rtps_instance_id field, you must ensure that both parts are non-zero (otherwise RTI Connext will take responsibility for them). RTI recommends that you always specify the two parts separately in order to avoid errors.
Option 4: Let RTI Connext handle the entire rtps_instance_id field:
NOTE: If you are using rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC as rtps_auto_id_kind and you decide to manually handle the rtps_instance_id field, you must ensure that both parts are non-zero (otherwise RTI Connext will take responsibility for them). RTI recommends that you always specify the two parts separately in order to clearly show the difference.
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inline |
Creates the default policy.
| WireProtocol & rti::core::policy::WireProtocol::participant_id | ( | int32_t | the_participant_id | ) |
A value used to distinguish among different participants belonging to the same domain on the same host.
Determines the unicast port on which meta-traffic is received. Also defines the default unicast port for receiving user-traffic for DataReaders and DataWriters (can be overridden by the rti::core::policy::TransportUnicast or rti::core::policy::TransportUnicast).
For more information on port mapping, please refer to rti::core::RtpsWellKnownPorts.
Each dds::domain::DomainParticipant in the same domain and running on the same host, must have a unique participant_id. The participants may be in the same address space or in distinct address spaces.
A negative number (-1) means that RTI Connext will automatically resolve the participant ID as follows.
[default] -1 [automatic], i.e. RTI Connext will automatically pick the participant_id, as described above.
[range] [>= 0], or -1, and does not violate guidelines stated in rti::core::RtpsWellKnownPorts.
| int32_t rti::core::policy::WireProtocol::participant_id | ( | ) | const |
Getter (see the setter with the same name)
| WireProtocol & rti::core::policy::WireProtocol::rtps_host_id | ( | uint32_t | the_rtps_host_id | ) |
The RTPS Host ID of the domain participant.
A specific host ID that is unique in the domain.
[default] rti::core::policy::WireProtocol::RTPS_AUTO_ID. The default value is interpreted as follows:
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_IP, the value will be interpreted as the IPv4 address of the first up and running interface of the host machine.
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC, the value will be interpreted as the first 32 bits of the MAC address assigned to the first up and running interface of the host machine.
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_UUID, the value will be the first 32 bits of the GUID prefix assigned by the UUID algorithm.
[range] [0,0xffffffff]
| uint32_t rti::core::policy::WireProtocol::rtps_host_id | ( | ) | const |
Getter (see the setter with the same name)
| WireProtocol & rti::core::policy::WireProtocol::rtps_app_id | ( | uint32_t | the_rtps_app_id | ) |
The RTPS App ID of the domain participant.
A participant specific ID that, together with the rtps_instance_id, is unique within the scope of the rtps_host_id.
If a participant dies and is restarted, it is recommended that it be given an app ID that is distinct from the previous one so that other participants in the domain can distinguish between them.
[default] rti::core::policy::WireProtocol::RTPS_AUTO_ID. The default value is interpreted as follows:
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_IP the value will be the process (or task) ID.
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC the value will be the last 32 bits of the MAC address assigned to the first up and running interface of the host machine.
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_UUID, the value will be the middle 32 bits of the GUID prefix assigned by the UUID algorithm.
[range] [0,0xffffffff]
| uint32_t rti::core::policy::WireProtocol::rtps_app_id | ( | ) | const |
Getter (see the setter with the same name)
| WireProtocol & rti::core::policy::WireProtocol::rtps_instance_id | ( | uint32_t | the_rtps_instance_id | ) |
The RTPS Instance ID of the dds::domain::DomainParticipant.
This is an instance-specific ID of a participant that, together with the rtps_app_id, is unique within the scope of the rtps_host_id.
If a participant dies and is restarted, it is recommended that it be given an instance ID that is distinct from the previous one so that other participants in the domain can distinguish between them.
[default] rti::core::policy::WireProtocol::RTPS_AUTO_ID. The default value is interpreted as follows:
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_IP, a counter is assigned that is incremented per new participant. For VxWorks-653, the first 8 bits are assigned to the partition id for the application.
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC, the first 24 bits are assigned to the application/task identifier and the last 8 bits are assigned to a counter that is incremented per new paricipant.
If rti::core::policy::WireProtocol::rtps_auto_id_kind is equal to rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_UUID, the value will be the last 32 bits of the GUID prefix assigned by the UUID algorithm.
[range] [0,0xffffffff] NOTE: If you use rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_MAC as rtps_auto_id_kind and you decide to manually handle the rtps_instance_id field, you must ensure that both the two parts are non-zero, otherwise the middleware will take responsibility for them. We recommend that you always specify the two parts separately in order to avoid errors. (examples)
| uint32_t rti::core::policy::WireProtocol::rtps_instance_id | ( | ) | const |
Getter (see the setter with the same name)
| WireProtocol & rti::core::policy::WireProtocol::rtps_well_known_ports | ( | const rti::core::RtpsWellKnownPorts & | the_rtps_well_known_ports | ) |
Configures the RTPS well-known port mappings.
Determines the well-known multicast and unicast port mappings for discovery (meta) traffic and user traffic.
| rti::core::RtpsWellKnownPorts rti::core::policy::WireProtocol::rtps_well_known_ports | ( | ) | const |
Getter (see the setter with the same name)
| WireProtocol & rti::core::policy::WireProtocol::rtps_reserved_port_mask | ( | const RtpsReservedPortKindMask & | the_rtps_reserved_port_mask | ) |
Specifies which well-known ports to reserve when enabling the participant.
Specifies which of the well-known multicast and unicast ports will be reserved when the DomainParticipant is enabled. Failure to allocate a port that is computed based on the rti::core::RtpsWellKnownPorts will be detected at this time, and the enable operation will fail.
[default] RTPS_RESERVED_PORT_MASK_DEFAULT
| RtpsReservedPortKindMask rti::core::policy::WireProtocol::rtps_reserved_port_mask | ( | ) | const |
Getter (see the setter with the same name)
| WireProtocol & rti::core::policy::WireProtocol::rtps_auto_id_kind | ( | rti::core::policy::WireProtocolAutoKind | the_kind | ) |
Kind of auto mechanism used to calculate the GUID prefix.
[default] rti::core::policy::WireProtocolAutoKind_def::RTPS_AUTO_ID_FROM_UUID
| rti::core::policy::WireProtocolAutoKind rti::core::policy::WireProtocol::rtps_auto_id_kind | ( | ) | const |
Getter (see the setter with the same name)
| WireProtocol & rti::core::policy::WireProtocol::compute_crc | ( | bool | crc_needed | ) |
Adds RTPS CRC submessage to every message when this field is set to true.
The computed CRC covers the entire RTPS message excluding the RTPS header.
[default] false
| bool rti::core::policy::WireProtocol::compute_crc | ( | ) | const |
Getter (see the setter with the same name)
| WireProtocol & rti::core::policy::WireProtocol::check_crc | ( | bool | crc_checked | ) |
Checks if the received RTPS message is valid by comparing the computed CRC with the received RTPS CRC submessage when this field is set to true.
rti::core::policy::WireProtocol::compute_crc must be enabled at the publishing application for validating the message at the subscribing application.
[default] false
| bool rti::core::policy::WireProtocol::check_crc | ( | ) | const |
Getter (see the setter with the same name)
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Indicates that RTI Connext should choose an appropriate host, app, instance or object ID automatically.
If this special value is assigned to rti::core::policy::WireProtocol::rtps_host_id, rti::core::policy::WireProtocol::rtps_app_id, rti::core::policy::WireProtocol::rtps_instance_id, rti::core::policy::DataWriterProtocol::rtps_object_id or rti::core::policy::DataReaderProtocol::rtps_object_id RTI Connext will assign the ID automatically.
The actual ID value is chosen when the QoS is set: the QoS returned from dds::domain::DomainParticipant::qos() const, dds::pub::DataWriter::qos() const or dds::sub::DataReader::qos() const will never have this value.