Product Overview

• What Is RTI Connext DDS Micro?
• Supported DDS Features
• Programming Languages Support
• RTI Supported Platforms
• Buildable Source
• RTI Connext DDS Cert versus RTI Connext DDS Micro
• Standards and Interoperability

What Is RTI Connext DDS Micro?

RTI Connext DDS Micro is network middleware for distributed real-time applications. It provides the communications service programmers need to distribute time-critical data between embedded and/or enterprise devices or nodes. RTI Connext DDS Micro uses the publish-subscribe communications model to make data distribution efficient and robust. RTI Connext DDS Micro simplifies application development, deployment and maintenance and provides fast, predictable distribution of time-critical data over a variety of transport networks. With RTI Connext DDS Micro, you can:

• Perform complex one-to-many and many-to-many network communications.
• Customize application operation to meet various real-time, reliability, and quality-of-service goals.
• Provide application-transparent fault tolerance and application robustness.
• Use a variety of transports.

RTI Connext DDS Micro implements the Data-Centric Publish-Subscribe (DCPS) API within the OMG’s Data Distribution Service (DDS) for Real-Time Systems. DDS is the first standard developed for the needs of real-time systems. DCPS provides an efficient way to transfer data in a distributed system.

With RTI Connext DDS Micro, systems designers and programmers start with a fault-tolerant and flexible communications infrastructure that will work over a wide variety of computer hardware, operating systems, languages, and networking transport protocols. RTI Connext DDS Micro is highly configurable so programmers can adapt it to meet the application’s specific communication requirements.

RTI Connext DDS Cert versus RTI Connext DDS Micro

RTI Connext DDS Micro and RTI Connext DDS Cert originates from the same source base, but as of RTI Connext DDS Micro 2.4.6 the two are maintained as two independent releases. The latest release with certification evidence is RTI Connext DDS Cert 2.4.5. However, features that exist in RTI Connext DDS Micro and RTI Connext DDS Cert behave identically and the source code is written following identical guidelines. RTI Connext DDS Cert only supports a subset of the features found in RTI Connext DDS Micro. In the API reference manuals, APIs that are supported by RTI Connext DDS Cert are clearly marked.

Optional Certification Package

An optional Certification Package is available for systems that require certification to DO-178C or other safety standards. This package includes the artifacts required by a certification authority. The Certification Package is licensed separately from Connext DDS Cert.

To use an existing Certification Package, an application must be linked against the same libraries included in the Certification Package. Contact RTI Support, suppo.nosp@m.rt@r.nosp@m.ti.co.nosp@m.m, for details.

Publish-Subscribe Middleware

RTI Connext DDS Micro is based on a publish-subscribe communications model. Publish-subscribe (PS) middleware provides a simple and intuitive way to distribute data. It decouples the software that creates and sends data—the data publishers—from the software that receives and uses the data—the data subscribers. Publishers simply declare their intent to send and then publish the data. Subscribers declare their intent to receive, then the data is automatically delivered by the middleware. Despite the simplicity of the model, PS middleware can handle complex patterns of information flow. The use of PS middleware results in simpler, more modular distributed applications. Perhaps most importantly, PS middleware can automatically handle all network chores, including connections, failures, and network changes, eliminating the need for user applications to program of all those special cases. What experienced network middleware developers know is that handling special cases accounts for over 80% of the effort and code.

RTI Connext DDS Micro supports mechanisms that go beyond the basic publish-subscribe model. The key benefit is that applications that use RTI Connext DDS Micro for their communications are entirely decoupled. Very little of their design time has to be spent on how to handle their mutual interactions. In particular, the applications never need information about the other participating applications, including their existence or locations. RTI Connext DDS Micro automatically handles all aspects of message delivery, without requiring any intervention from the user applications, including:

• determining who should receive the messages
• where recipients are located,
• what happens if messages cannot be delivered.

This is made possible by how RTI Connext DDS Micro allows the user to specify Quality of Service (QoS) parameters as a way to configure automatic-discovery mechanisms and specify the behavior used when sending and receiving messages. The mechanisms are configured up-front and require no further effort on the user's part. By exchanging messages in a completely anonymous manner, RTI Connext DDS Micro greatly simplifies distributed application design and encourages modular, well-structured programs. Furthermore, RTI Connext DDS Micro includes the following features, which are designed to meet the needs of distributed real-time applications:

• Data-centric, peer-to-peer publish-subscribe communications - The most elegant, flexible data communications model.
  • Simplifies distributed application programming.
  • Time-critical data flow with low latency.
  • Clear semantics for managing multiple sources of the same data.
  • Efficient data transfer, customizable Quality of Service, and error notification.
  • Notification by a callback routine on data arrival to minimize latency.
  • Notification when data does not arrive by an expected deadline.
  • Ability to send the same message to multiple subscribers on multiple computers efficiently, including support for reliable multicast.
• User-definable data types - Enables you to tailor the format of the information being sent to each application.
• Reliable messaging - Enables subscribing applications to specify reliable delivery of samples.
• Multiple Communication Networks - Multiple independent communication networks (domains) each using RTI Connext DDS Micro can be used over the same physical network. Applications are only able to participate in the domains to which they belong. Individual applications can be configured to participate in multiple domains.
• Symmetric architecture - Makes your application robust:
  • No central server or privileged nodes, so the system is robust to node failures.
  • Subscriptions and publications can be dynamically added and removed from the system at any time.
• Pluggable Transports Framework - Includes the ability to define new transport plug-ins and run over them. RTI Connext DDS Micro comes with a standard UDP/IP pluggable transport and a intra-participant transport. New transports can be implemented for a variety of transport mechanisms, including backplanes, switched fabrics, and new networking technologies.
• Multi-language support - Includes APIs for the C and C++.
• Multi-platform and heterogeneous system support - Applications based on RTI Connext DDS Micro can communicate transparently with each other regardless of the underlying operating system (UNIX, RTOS, Windows) or hardware. Consult the RTI Supported Platforms section to see which platforms are supported in this release.
• Dynamic endpoint discovery
  • Topics, subscriptions, and publications can be added or removed from the system at any time.
• Static endpoint discovery
• Compliance with Standards
  • API complies with the DCPS layer of the OMG’s DDS specification.
  • Data types comply with OMG Interface Definition LanguageTM (IDL).
  • Data packet format complies with the International Engineering Consortium’s (IEC’s) publicly available specification for the RTPS wire protocol, also available from OMG.

Other Connext Products

RTI Connext DDS Micro is one of several products in the RTI Connex family of products:

RTI Connext DDS Cert is a subset of RTI Connext DDS Micro. RTI Connext DDS Cert does not include the following features because Certification Evidence is not yet available for them. If you require Certification Evidence for any of these features, please contact RTI.

• C++ language API.
• Multi-platform support.
• Dynamic endpoint discovery.
• delete() APIs (e.g. delete_datareader())

RTI Connext DDS Professional addresses the sophisticated data bus requirements in complex systems including an API compliant with the Object Management Group (OMG) Data Distribution Service (DDS) specification. DDS is the leading data-centric publish/subscribe (DCPS) messaging standard for integrating distributed real-time applications. Connext DDS Professional is the dominant industry implementation with benefits including:

• OMG-compliant DDS API
• Advanced features to address complex systems
• Advanced Quality of Service (QoS) support
• Comprehensive platform and network transport support
• Seamless interoperability with RTI Connext DDS Micro

RTI Connext DDS Professional includes rich integration capabilities:

• Data transformation
• Integration support for standards including JMS, SQL databases, file, socket, Excel, OPC, STANAG, LabVIEW, Web Services and more
• Ability for users to create custom integration adapters
• Optional integration with Oracle, MySQL and other relational databases
• Tools for visualizing, debugging and managing all systems in real-time

RTI Connext DDS Professional also includes a rich set of tools to accelerate debugging and testing while easing management of deployed systems. These components include:

• Administration Console
• Distributed Logger
• Monitor
• Monitoring Library
• Recording Service

Supported DDS Features

RTI Connext DDS Micro supports a subset of the DDS DCPS standard. A brief overview of the supported features are listed here. For a detailed list, please refer to Reference Manuals.

DDS Entity Support

RTI Connext DDS Micro supports the following DDS entities. Please refer to the documentation for details.

• DomainParticipantFactory
• DomainParticipant
• Topic
• Publisher
• Subscriber
• DataWriter
• DataReader

DDS QoS Policy Support

RTI Connext DDS Micro supports the following DDS Qos Policies. Please refer to the documentation for details.

• DDS_DataReaderProtocolQosPolicy
• DDS_DataReaderResourceLimitsQosPolicy
• DDS_DataWriterProtocolQosPolicy
• DDS_DataWriterResourceLimitsQosPolicy
• DDS_DeadlineQosPolicy
• DDS_DiscoveryQosPolicy
• DDS_DomainParticipantResourceLimitsQosPolicy
• DDS_DurabilityQosPolicy
• DDS_DestinationOrderQosPolicy
• DDS_EntityFactoryQosPolicy
• DDS_HistoryQosPolicy
• DDS_LivelinessQosPolicy
• DDS_OwnershipQosPolicy
• DDS_OwnershipStrengthQosPolicy
• DDS_ReliabilityQosPolicy
• DDS_ResourceLimitsQosPolicy
• DDS_RtpsReliableWriterProtocol_t
• DDS_SystemResourceLimitsQosPolicy
• DDS_TransportQosPolicy
• DDS_UserTrafficQosPolicy
• DDS_WireProtocolQosPolicy

Programming Languages Support

RTI Connext DDS Micro supports C and C++ language bindings.

RTI Supported Platforms

RTI Connext DDS Micro is available as pre-built binaries for the following platforms.

• Linux Supported Platform
• Windows Supported Platforms
• VxWorks Supported Platforms

Note that RTI only tests on a subset of the possible combinations of OS and CPU. Please refer to the following tables for a list of specific platforms and the specific configurations that are tested by RTI.

Linux Supported Platform

Operating System	CPU	Compiler	RTI Architecture Abbreviation
Red Hat Enterprise Linux 6.0, 6.1 (2.6 kernel)	x86	gcc 4.4.5	i86Linux2.6gcc4.4.5

Linux Build Instructions

RTI Architecture	Required System Libraries	Required Compiler Flags
i86Linux2.6gcc4.4.5 (Release)	-ldl -lnsl -lm- lpthread -lrt	-fPIC -DLINUX -DRTI_GCC4 -DRTI_LINUX26 -DRTI_LINUX -DRTI_POSIX_THREADS -DRTI_POSIX_SEMAPHORES -DRTI_CPU_AFFINITY -O -Wall -Wno-unknown-pragmas -DRTI_UNIX -DRTS_UNIX -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=I80586 -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
i86Linux2.6gcc4.4.5 (Debug)	-ldl -lnsl -lm- lpthread -lrt	-fPIC -DLINUX -DRTI_GCC4 -DRTI_LINUX26 -DRTI_LINUX -DRTI_POSIX_THREADS -DRTI_POSIX_SEMAPHORES -DRTI_CPU_AFFINITY -g -DRTI_PRECONDITION_TEST -Wall -Wno-unknown-pragmas -DRTI_UNIX -DRTS_UNIX -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=I80586 -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6

Windows Supported Platforms

Operating System	CPU	Compiler	RTI Architecture Abbreviation
Windows 7	x86	Visual Studio 2010	i86Win32VS2010

Windows Build Instructions

RTI Architecture	Required System Libraries	Required Compiler Flags
i86Win32VS2010	netapi32.lib advapi32.lib user32.lib WS2_32.lib Iphlpapi.lib winmm.lib	/D “RTI_WIN32” /D “WIN32”/Gd /MD (Static Release) /MDd (Static Debug) /MD (Dynamic Release) /MDd (Dynamic Debug) /D “NDDS_DLL_VARIABLE (Dynamic) /D “NDEBUG” (Release)

VxWorks Supported Platforms

Operating System	CPU	Compiler	RTI Architecture Abbreviation
VxWorks 6.9	Pentium 32-bit	gcc 4.3.3	For Kernel Modules: pentiumVx6.9gcc4.3.3 For Real Time Processes: pentiumVx6.9gcc4.3.3_rtp
VxWorks 6.9	PPC32	gcc 4.3.3	For Kernel Modules: ppc604Vx6.9gcc4.3.3 For Real Time Processes: ppc604Vx6.9gcc4.3.3_rtp
VxWorks Cert 6.6.4.1	PPC32 e500v2	gcc 4.1.2	ppce500v2VxCert6.6.4.1gcc4.1.2

VxWorks Build Instructions

RTI Architecture	Required Compiler Flags
pentiumVx6.9gcc4.3.3 (Release)	-march=pentium -m32 -fno-builtin -ansi - DCPU=PENTIUM -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_GCC4 -D_WRS_KERNEL -D__PROTOTYPE_5_0 -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -O -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PENTIUM -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
pentiumVx6.9gcc4.3.3 (Debug)	-march=pentium -m32 -fno-builtin -ansi -DCPU=PENTIUM -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_GCC4 -D_WRS_KERNEL -D__PROTOTYPE_5_0 -g -DRTI_PRECONDITION_TEST -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PENTIUM -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6
pentiumVx6.9gcc4.3.3_rtp (Release)	-march=pentium -m32 -ansi -DCPU=PENTIUM -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_GCC4 -mrtp -D__PROTOTYPE_5_0 -O -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DRTI_RTP -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PENTIUM -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
pentiumVx6.9gcc4.3.3_rtp (Debug)	-march=pentium -m32 -ansi -DCPU=PENTIUM -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_GCC4 -mrtp -fPIC -D__PROTOTYPE_5_0 -g -DRTI_PRECONDITION_TEST -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DRTI_RTP -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PENTIUM -DRTI_ENDIAN_LITTLE -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6
ppc604Vx6.9gcc4.3.3 (Release)	-m32 -mstrict-align -ansi -fno-builtin -mlongcall -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_USE_MUNCH -DRTI_GCC4 -D_WRS_KERNEL -D__PROTOTYPE_5_0 -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -O2 -fno-strict-aliasing -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PPC32 -DRTI_ENDIAN_BIG -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
ppc604Vx6.9gcc4.3.3 (Debug)	-m32 -mstrict-align -ansi -fno-builtin -mlongcall -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_USE_MUNCH -DRTI_GCC4 -D_WRS_KERNEL -D__PROTOTYPE_5_0 -g -DRTI_PRECONDITION_TEST -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PPC32 -DRTI_ENDIAN_BIG -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6
ppc604Vx6.9gcc4.3.3_rtp (Release)	-mhard-float -mstrict-align -m32 -mregnames -ansi -mlongcall -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_USE_MUNCH -DRTI_GCC4 -DRTI_RTP -mrtp -D__PROTOTYPE_5_0 -O2 -fno-strict-aliasing -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DRTI_RTP -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PPC32 -DRTI_ENDIAN_BIG -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6 -DNDEBUG
ppc604Vx6.9gcc4.3.3_rtp (Debug)	-mhard-float -mstrict-align -m32 -mregnames -ansi -mlongcall -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=gnu -DRTI_USE_MUNCH -DRTI_GCC4 -DRTI_RTP -mrtp -fPIC -D__PROTOTYPE_5_0 -g -DRTI_PRECONDITION_TEST -Wall -Wno-unknown-pragmas -DRTI_VXWORKS -DRTS_VXWORKS -DRTI_RTP -DVXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=9 -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=PPC32 -DRTI_ENDIAN_BIG -DRTI_THREADS -DRTI_MULTICAST -DRTI_SHARED_MEMORY -DRTI_IPV6
ppce500v2VxCert6.6.4.1gcc4.1.2 (Release)	-m32 -mstrict-align -mcpu=8548 -mfloat-gprs=double -mspe=yes -mabi=spe -ansi -fno-exceptions -fno-builtin -Wall -msdata=eabi -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=e500v2gnu -VXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=6 -DCERT -DRTI_CERT -DRTI_ENDIAN_BIG -DRTI_VXWORKS -DOSAPI_PLATFORM=4 -O -DNDEBUG
ppce500v2VxCert6.6.4.1gcc4.1.2 (Debug)	-m32 -mstrict-align -mcpu=8548 -mfloat-gprs=double -mspe=yes -mabi=spe -ansi -fno-exceptions -fno-builtin -Wall -msdata=eabi -DCPU=PPC32 -DTOOL_FAMILY=gnu -DTOOL=e500v2gnu -VXWORKS_MAJOR_VERSION=6 -DVXWORKS_MINOR_VERSION=6 -DCERT -DRTI_CERT -DRTI_ENDIAN_BIG -DRTI_VXWORKS -DOSAPI_PLATFORM=4 -O -g

Buildable Source

RTI Connext DDS Micro is available as a buildable source. You can build the source yourself, in your own development environment, and port RTI Connext DDS Micro to your own platforms. With the open-source build tool cmake, you can generate native makefiles and workspaces for any of the cmake supported platforms.

RTI Connext DDS Micro is known to run on the following 32 bit CPU's:

• PPC
• i86
• MIPS
• ARM
• M68K

RTI Connext DDS Micro is known to run on the following OSs:

• Linux
• uC
• uLinux
• Darwin
• Win32
• Android
• ThreadX
• FreeRTOS
• VxWorks
• iOS
• TI Stellaris Cortex-M3 with only TI device drivers, no OS
• QNX

RTI Connext DDS Micro is known to run with the following network stacks:

• Linux
• Win32
• VxWorks Network stack
• ThreadX Network stack
• RTNet
• lwIP (event and blocking mode)
• QNX Network stack

Buildable source is available in a separate downloadable bundle. Contact sales.nosp@m.@rti.nosp@m..com to request access.

Standards and Interoperability

RTI Connext DDS Micro implements the Object Management Group (OMG) Data Distribution Service (DDS) standard (version 1.2), and the Real-Time Publish-Subscribe (RTPS) wire interoperabilty protocol standard (version 2.2).

RTI Connext DDS Micro supports a subset of the submessages defined by the Real-Time Publish-Subscribe (RTPS) interoperability specification. Data fragment submessages are not supported. The messages are compatible with Wireshark and its RTPS packet dissector.

RTI Connext DDS Micro and RTI Connext DDS Core are wire-interoperable, unless stated otherwise (see below), and API compatible for APIs specified by the DDS standard. For non-standard APIs, RTI Connext DDS Micro and RTI Connext DDS Core are incompatible. Please refer to RTI Connext DDS Micro and other RTI Products for more information.

DDS Wire Compatability

RTI Connext DDS Micro is compliant with RTPS 2.2, but does not support and ignored the following RTPS sub-messages:

Submessage	Supported	DDS standard	Connext Core
DATA_FRAG	No	Yes	Yes
NACK_FRAG	No	Yes	Yes
HEARTBEAT_FRAG	No	Yes	Yes
INFO_SRC	No	Yes	Yes
INFO_REPLY	No	Yes	Yes
INFO_REPLY_IPV4	No	Yes	Yes

Qos Policy Support

The table lists supported Qos policies

Profile / Feature	Supported	DDS standard	Connext Core
USER_DATA	No	Yes	Yes
TOPIC_DATA	No	Yes	Yes
DURABILITY	VOLATILE and TRANSIENT_LOCAL	Yes	Yes
PRESENTATION	No, default is access_scope = TOPIC	Yes	Yes
DEADLINE	Yes	Yes	Yes
LATENCY_BUDGET	No	Yes	Yes
LIVELINESS	AUTOMATIC (infinite only), MANUAL_BY_PARTICIPANT (infinite only), MANUAL_BY_TOPIC (finite and infinite)	Yes	Yes
TIME_BASED_FILTER	No	Yes	Yes
PARTITION	No	Yes	Yes
RELIABILITY	BEST_EFFORT and RELIABLE, only max_blocking_time=0	Yes	Yes
TRANSPORT_PRIORITY	No	Yes	Yes
LIFESPAN	No	Yes	Yes
DESTINATION_ORDER	DataWriter: Yes, DataReader only supports BY_RECEPTION_TIMESTAMP	Yes	Yes
HISTORY	KEEP_ALL (no), KEEP_LAST (yes)	Yes	Yes
RESOURCE_LIMITS	Yes, but only finite resource-limits	Yes	Yes
ENTITY_FACTORY	Yes	Yes	Yes
ENTITY_FACTORY	Yes	Yes	Yes
WRITER_DATA_LIFECYCLE	No	Yes	Yes
READER_DATA_LIFECYCLE	No	Yes	Yes
OWNERSHIP	Yes	Yes	Yes
OWNERSHIP_STRENGTH	Yes	Yes	Yes
DURABILITY_SERVICE	No	Yes	Yes
ContentFilteredTopic	No	Yes	Yes
QueryCondition	No	Yes	Yes
MultiTopic	No	Yes	No
ASYNCHRONOUS_PUBLISHER	No	No	Yes
AVAILABILITY	No	No	Yes
BATCH	No	No	Yes
DATA_READER_PROTOCOL	rtps_object_id	No	Yes
DATA_WRITER_PROTOCOL	heartbeat_period, heartbeats_per_max_samples,max_heartbeat_retries,max_send_window_size,rtps_object_id	No	Yes
DISCOVERY	Yes	No	Yes
DISCOVERY_CONFIG	No	No	Yes
ENTITY_NAME	On DomainParticipant only	No	Yes
EVENT	No	No	Yes
LOCATORFILTER	No	No	Yes
LOGGING	No	No	Yes
MULTICHANNEL	No	No	Yes
PROPERTY	No	No	Yes
PUBLISH_MODE	No	No	Yes
RECEIVER_POOL	No	No	Yes
SERVICE	No	No	Yes
TYPE_CONSISTENCY_ENFORCEMENT	No	Yes	Yes
TYPESUPPORT	Yes	No	Yes
WIRE_PROTOCOL	Yes	No	Yes

DDS API Support

The table lists supported APIs

Name	Supported	DDS standard	Connext Core
Entity
get_statuscondition()	Yes	Yes	Yes
get_status_changes()	Yes	Yes	Yes
enable()	Yes	Yes	Yes
get_instance_handle()	Yes	Yes	Yes
WaitSet
attach_condition()	Yes	Yes	Yes
detach_condition()	Yes	Yes	Yes
wait()	Yes	Yes	Yes
get_conditions()	Yes	Yes	Yes
Condition
get_trigger_value()	Yes	Yes	Yes
GuardCondition
set_trigger_value()	Yes	Yes	Yes
StatusCondition
set_enabled_statuses()	Yes	Yes	Yes
get_enabled_statuses()	Yes	Yes	Yes
get_entity()	Yes	Yes	Yes
DomainParticipant
set_qos()	Yes	Yes	Yes
get_qos()	Yes	Yes	Yes
set_listener()	Yes	Yes	Yes
get_listener()	Yes	Yes	Yes
create_publisher()	Yes	Yes	Yes
delete_publisher()	Yes	Yes	Yes
create_subscriber()	Yes	Yes	Yes
delete_subscriber()	Yes	Yes	Yes
create_topic()	Yes	Yes	Yes
delete_topic()	Yes	Yes	Yes
create_contentfilteredtopic()	No	Yes	Yes
delete_contentfilteredtopic()	No	Yes	Yes
create_multitopic()	No	Yes	No
delete_multitopic()	No	Yes	No
find_topic()	No	Yes	Yes
lookup_topicdescription()	Yes	Yes	Yes
get_builtin_subscriber()	No	Yes	Yes
ignore_participant()	No	Yes	Yes
ignore_topic()	No	Yes	Yes
ignore_publication()	No	Yes	Yes
ignore_subscription()	No	Yes	Yes
get_domain_id()	Yes	Yes	Yes
delete_contained_entities()	Yes	Yes	Yes
assert_liveliness()	Yes	Yes	Yes
set_default_publisher_qos()	Yes	Yes	Yes
get_default_publisher_qos()	Yes	Yes	Yes
set_default_subscriber_qos()	Yes	Yes	Yes
get_default_subscriber_qos()	Yes	Yes	Yes
set_default_topic_qos()	Yes	Yes	Yes
get_default_topic_qos()	Yes	Yes	Yes
get_discovered_participants()	No	Yes	Yes
get_discovered_participant_data()	No	Yes	Yes
get_discovered_topics()	No	Yes	Yes
get_discovered_topic_data()	No	Yes	Yes
contains_entity()	No	No	Yes
get_current_time()	Yes	Yes	Yes
DomainParticipantFactory
create_participant()	Yes	Yes	Yes
delete_participant()	Yes	Yes	Yes
lookup_participant()	Yes	Yes	Yes
get_instance()	Yes	Yes	Yes
set_default_participant_qos()	Yes	Yes	Yes
get_default_participant_qos()	Yes	Yes	Yes
set_qos()	Yes	Yes	Yes
get_qos()	Yes	Yes	Yes
*Listener
on_inconsistent_topic()	Yes	Yes	Yes
on_liveliness_lost()	Yes	Yes	Yes
on_offered_deadline_missed()	Yes	Yes	Yes
on_offered_incompatible_qos()	Yes	Yes	Yes
on_data_on_readers()	Yes	Yes	Yes
on_sample_lost()	Yes	Yes	Yes
on_data_available()	Yes	Yes	Yes
on_sample_rejected()	Yes	Yes	Yes
on_liveliness_changed()	Yes	Yes	Yes
on_requested_deadline_missed()	Yes	Yes	Yes
on_requested_incompatible_qos()	Yes	Yes	Yes
on_publication_matched()	Yes	Yes	Yes
on_subscription_matched()	Yes	Yes	Yes
TopicDescription
type_name	Yes	Yes	Yes
get_participant()	Yes	Yes	Yes
get_type_name()	Yes	Yes	Yes
get_name()	Yes	Yes	Yes
Topic
get_qos()	Yes	Yes	Yes
set_qos()	Yes	Yes	Yes
get_listener()	Yes	Yes	Yes
set_listener()	Yes	Yes	Yes
get_inconsistent_topic_status()	Yes	Yes	Yes
ContentFilteredTopic
get_filter_expression()	No	Yes	Yes
get_related_topic()	No	Yes	Yes
get_expression_parameters()	No	Yes	Yes
set_expression_parameters()	No	Yes	Yes
MultiTopic
subscription_expression()	No	Yes	No
get_expression_parameters()	No	Yes	No
set_expression_parameters()	No	Yes	No
TypeSupport
register_type()	Yes	Yes	Yes
unregister_type()	Yes	Yes	Yes
get_type_name()	Yes	Yes	Yes
Publisher
set_qos()	Yes	Yes	Yes
get_qos()	Yes	Yes	Yes
set_listener()	Yes	Yes	Yes
get_listener()	Yes	Yes	Yes
create_datawriter()	Yes	Yes	Yes
delete_datawriter()	Yes	Yes	Yes
lookup_datawriter()	Yes	Yes	Yes
suspend_publications()	No	Yes	No
resume_publications()	No	Yes	No
begin_coherent_changes()	No	Yes	Yes
end_coherent_changes()	No	Yes	Yes
wait_for_acknowledgements()	No	Yes	Yes
get_participant()	Yes	Yes	Yes
delete_contained_entities()	Yes	Yes	Yes
set_default_datawriter_qos()	Yes	Yes	Yes
get_default_datawriter_qos()	Yes	Yes	Yes
copy_from_topic_qos()	No	Yes	Yes
DataWriter and FooDataWriter
set_qos()	Yes	Yes	Yes
get_qos()	Yes	Yes	Yes
set_listener() Yes	Yes	Yes	Yes
get_listener()	Yes	Yes	Yes
register_instance() Yes	Yes	Yes	Yes
regsiter_instance_w_timestamp()	Yes	Yes	Yes
unregister_instance() Yes	Yes	Yes	Yes
unregsiter_instance_w_timestamp()	Yes	Yes	Yes
get_key_value()	No	Yes	Yes
lookup_instance()	No	Yes	Yes
write()	Yes	Yes	Yes
write_w_timestamp()	Yes	Yes	Yes
dispose()	Yes	Yes	Yes
dispose_w_timestamp()	Yes	Yes	Yes
wait_for_acknowledgements()	No	Yes	Yes
get_liveliness_lost_status()	Yes	Yes	Yes
get_offered_deadline_missed_status()	Yes	Yes	Yes
get_offered_incompatible_qos_status()	Yes	Yes	Yes
get_publication_matched_status()	Yes	Yes	Yes
get_topic()	Yes	Yes	Yes
get_publisher()	Yes	Yes	Yes
assert_liveliness()	Yes	Yes	Yes
get_matched_subscription_data()	No	Yes	Yes
get_matched_subscription_data()	No	Yes	Yes
Subscriber	Yes	Yes	Yes
set_qos()	Yes	Yes	Yes
get_qos()	Yes	Yes	Yes
set_listener()	Yes	Yes	Yes
get_listener()	Yes	Yes	Yes
create_datareader()	Yes	Yes	Yes
delete_datareader()	Yes	Yes	Yes
lookup_datareader()	Yes	Yes	Yes
begin_access()	No	Yes	Yes
end_access()	No	Yes	Yes
get_datareaders()	No	Yes	Yes
notify_datareaders()	No	Yes	Yes
delete_contained_entities()	Yes	Yes	Yes
set_default_datareader_qos()	Yes	Yes	Yes
get_default_datareader_qos()	Yes	Yes	Yes
copy_from_topic_qos()	Yes	Yes	Yes
DataReader and FooDataReader
set_qos()	Yes	Yes	Yes
get_qos()	Yes	Yes	Yes
set_listener()	Yes	Yes	Yes
get_listener()	Yes	Yes	Yes
read()	Yes	Yes	Yes
take()	Yes	Yes	Yes
read_w_condition()	No	Yes	Yes
take_w_condition()	No	Yes	Yes
read_next_sample()	Yes	Yes	Yes
take_next_sampe()	Yes	Yes	Yes
read_instance()	Yes	Yes	Yes
take_instance()	Yes	Yes	Yes
read_next_instance()	No	Yes	Yes
take_next_instance()	No	Yes	Yes
read_next_instance_w_condition()	No	Yes	Yes
take_next_instance_w_condition()	No	Yes	Yes
return_loan()	Yes	Yes	Yes
get_key_value()	No	Yes	Yes
lookup_instance()	Yes	Yes	Yes
create_readcondition()	No	Yes	Yes
create_querycondition()	No	Yes	Yes
delete_readcondition()	No	Yes	Yes
get_liveliness_changed_status()	Yes	Yes	Yes
get_requested_deadline_missed_status()	Yes	Yes	Yes
get_requested_incompatible_qos_status()	Yes	Yes	Yes
get_sample_lost_status()	Yes	Yes	Yes
get_sample_rejected_status()	Yes	Yes	Yes
get_subscription_matched_status()	Yes	Yes	Yes
get_topicdescription()	Yes	Yes	Yes
delete_contained_entities()	Yes	Yes	Yes
wait_for_historical_data()	No	Yes	Yes
get_macthed_publication_data()	No	Yes	Yes
get_matched_publications()	No	Yes	Yes
SampleInfo
sample_state	Yes	Yes	Yes
view_state	Yes	Yes	Yes
instance_state	Yes	Yes	Yes
disposed_generation_count	No	Yes	Yes
no_writers_generation_count	No	Yes	Yes
sample_rank	No	Yes	Yes
generation_rank	No	Yes	Yes
absolute_generation_rank	No	Yes	Yes
source_timestamp	Yes	Yes	Yes
instance_handle	Yes	Yes	Yes
publication_handle	Yes	Yes	Yes
valid_data	Yes	Yes	Yes
ReadCondition
get_datareader()	No	Yes	Yes
get_sample_state_mask()	No	Yes	Yes
get_view_state_mask()	No	Yes	Yes
get_instance_state_mask()	No	Yes	Yes
QueryCondition
get_query_expression()	No	Yes	Yes
get_query_parameters()	No	Yes	Yes
set_query_parameters()	No	Yes	Yes

Application Binary Interface Compatibility

RTI does not guarantee Application Binary Interface (ABI) compatibility between different versions of RTI Connext DDS Micro.

An application compiled using one version of RTI Connext DDS Micro must be recompiled when moving to a different RTI Connext DDS Micro version.