4. User’s Manual

Contents:

• 4.1. Data Types
  • 4.1.1. Introduction to the Type System
  • 4.1.2. Creating User Data Types with IDL
  • 4.1.3. Working with DDS Data Samples
• 4.2. DDS Entities
• 4.3. Sending Data
  • 4.3.1. Preview: Steps to Sending Data
  • 4.3.2. Publishers
  • 4.3.3. DataWriters
  • 4.3.4. Publisher/Subscriber QosPolicies
  • 4.3.5. DataWriter QosPolicies
• 4.4. Receiving Data
  • 4.4.1. Preview: Steps to Receiving Data
  • 4.4.2. Subscribers
  • 4.4.3. DataReaders
  • 4.4.4. Using DataReaders to Access Data (Read & Take)
  • 4.4.5. Subscriber QosPolicies
  • 4.4.6. DataReader QosPolicies
• 4.5. DDS Domains
  • 4.5.1. Fundamentals of DDS Domains and DomainParticipants
  • 4.5.2. Discovery Announcements

• 4.6. Transports
  • 4.6.1. Introduction
  • 4.6.2. Transport Registration
  • 4.6.3. Transport Addresses
  • 4.6.4. Transport Port Number
  • 4.6.5. INTRA Transport
    • 4.6.5.1. Registering the INTRA Transport
    • 4.6.5.2. Reliability and Durability
    • 4.6.5.3. Threading Model
  • 4.6.6. UDP Transport
    • 4.6.6.1. Registering the UDP Transport
    • 4.6.6.2. Threading Model
      • 4.6.6.2.1. Configuring UDP Receive Threads
    • 4.6.6.3. UDP Configuration
      • 4.6.6.3.1. allow_interface
      • 4.6.6.3.2. deny_interface
      • 4.6.6.3.3. max_send_buffer_size
      • 4.6.6.3.4. max_receive_buffer_size
      • 4.6.6.3.5. max_message_size
      • 4.6.6.3.6. multicast_ttl
      • 4.6.6.3.7. nat
      • 4.6.6.3.8. if_table
      • 4.6.6.3.9. multicast_interface
      • 4.6.6.3.10. is_default_interface
      • 4.6.6.3.11. disable_auto_interface_config
      • 4.6.6.3.12. recv_thread
      • 4.6.6.3.13. enable_interface_bind
      • 4.6.6.3.14. source_rules
      • 4.6.6.3.15. destination_rules
      • 4.6.6.3.16. transform_udp_mode
      • 4.6.6.3.17. transform_locator_kind
    • 4.6.6.4. UDP Transformations
      • 4.6.6.4.1. Overview
        • 4.6.6.4.1.1. Network Interface Selection
        • 4.6.6.4.1.2. Data Reception
        • 4.6.6.4.1.3. Data Transmission
      • 4.6.6.4.2. Creating a Transformation Library
      • 4.6.6.4.3. Creating Transformation Rules
      • 4.6.6.4.4. Interoperability
      • 4.6.6.4.5. Error Handling
      • 4.6.6.4.6. Example Code
      • 4.6.6.4.7. Examples
        • 4.6.6.4.7.1. Plain Communication Between 2 Nodes
        • 4.6.6.4.7.2. Transformed User Data Between 2 Nodes
        • 4.6.6.4.7.3. Transformed Discovery Data Between 2 Nodes
        • 4.6.6.4.7.4. Transformed Data Between 2 Nodes (same transformation)
        • 4.6.6.4.7.5. Transformed Data Between 2 Nodes (different transformations)
        • 4.6.6.4.7.6. OS Configuration
• 4.7. Discovery
  • 4.7.1. What is Discovery?
    • 4.7.1.1. Simple Participant Discovery
    • 4.7.1.2. Simple Endpoint Discovery
  • 4.7.2. Configuring Participant Discovery Peers
    • 4.7.2.1. peer_desc_string
  • 4.7.3. Configuring Initial Peers and Adding Peers
  • 4.7.4. Discovery Plugins
    • 4.7.4.1. Dynamic Discovery Plugin
    • 4.7.4.2. Static Discovery Plugin
      • 4.7.4.2.1. Remote Participant Assertion
      • 4.7.4.2.2. Remote Publication and Subscription Assertion
• 4.8. Generating Type Support with rtiddsgen
  • 4.8.1. Why Use rtiddsgen?
  • 4.8.2. IDL Type Definition
  • 4.8.3. Generating Type Support
    • 4.8.3.1. C
    • 4.8.3.2. C++
    • 4.8.3.3. Notes on Command-Line Options
    • 4.8.3.4. Generated Type Support Files
  • 4.8.4. Using custom data-types in Connext DDS Micro Applications
  • 4.8.5. Customizing generated code
  • 4.8.6. Unsupported Features of rtiddsgen with Connext DDS Micro
• 4.9. Threading Model
  • 4.9.1. Introduction
  • 4.9.2. Architectural Overview
  • 4.9.3. Threading Model
    • 4.9.3.1. OSAPI Threads
      • 4.9.3.1.1. Configuring OSAPI Threads
    • 4.9.3.2. UDP Transport Threads
      • 4.9.3.2.1. Configuring UDP Receive Threads
    • 4.9.3.3. General Thread Configuration
  • 4.9.4. Critical Sections
    • 4.9.4.1. Calling DDS APIs from listeners
• 4.10. Batching
  • 4.10.1. Overview
  • 4.10.2. Interoperability
  • 4.10.3. Performance
  • 4.10.4. Example Configuration

• 4.11. Building Against FACE Conformance Libraries
  • 4.11.1. Requirements
    • 4.11.1.1. Connext DDS Micro Source Code
    • 4.11.1.2. FACE Conformance Tools
    • 4.11.1.3. CMake
  • 4.11.2. FACE Golden Libraries
    • 4.11.2.1. Building the FACE Golden Libraries
  • 4.11.3. Building the Connext DDS Micro Source
• 4.12. Working With Sequences
  • 4.12.1. Introduction
  • 4.12.2. Working with Sequences
    • 4.12.2.1. Overview
    • 4.12.2.2. Working with IDL Sequences
    • 4.12.2.3. Working with Application Defined Sequences
• 4.13. Debugging
  • 4.13.1. Overview
  • 4.13.2. Configuring Logging
  • 4.13.3. Log Message Kinds
  • 4.13.4. Interpreting Log Messages and Error Codes
• 4.14. Connext DDS Micro Hardcoded Resource Limits
  • 4.14.1. Introduction
  • 4.14.2. Summary
  • 4.14.3. Operating Services API (OSAPI)
  • 4.14.4. DDS C API
  • 4.14.5. Dynamic Discovery Plugin (DPDE)
  • 4.14.6. Static Discovery Plugin (DPSE)
  • 4.14.7. RTPS Protocol Implementation (RTPS)