4. User’s Manual

• 4.1. Initializing the Connext Micro Library
  • 4.1.1. rtiddsgen
  • 4.1.2. The Connext Micro System API
  • 4.1.3. Component Registration
• 4.2. Data Types
  • 4.2.1. Introduction to the Type System
  • 4.2.2. Creating User Data Types with IDL
  • 4.2.3. Working with DDS Data Samples
• 4.3. DDS Entities
• 4.4. Sending Data
  • 4.4.1. Preview: Steps to Sending Data
  • 4.4.2. Publishers
  • 4.4.3. DataWriters
  • 4.4.4. Publisher QosPolicies
  • 4.4.5. DataWriter QosPolicies
• 4.5. Receiving Data
  • 4.5.1. Preview: Steps to Receiving Data
  • 4.5.2. Subscribers
  • 4.5.3. DataReaders
  • 4.5.4. Using DataReaders to Access Data (Read & Take)
  • 4.5.5. Subscriber QosPolicies
  • 4.5.6. DataReader QosPolicies
• 4.6. DDS Domains
  • 4.6.1. Fundamentals of DDS Domains and DomainParticipants
  • 4.6.2. Discovery Announcements

• 4.7. Transports
  • 4.7.1. Introduction
  • 4.7.2. Transport Limits
    • 4.7.2.1. IDL Data Types and Size
    • 4.7.2.2. Maximum Transmission Unit (MTU)
    • 4.7.2.3. Maximum Receive Unit (MRU)
  • 4.7.3. Transport Registration
  • 4.7.4. Transport Addresses
    • 4.7.4.1. Reserving Addresses and Ports
    • 4.7.4.2. Address Limitations
    • 4.7.4.3. Address Notation
  • 4.7.5. RTPS
    • 4.7.5.1. Registration of RTPS
    • 4.7.5.2. Overriding the Builtin RTPS Checksum Functions
      • 4.7.5.2.1. Checksum function definition
    • 4.7.5.3. Example
  • 4.7.6. INTRA Transport
    • 4.7.6.1. Registering the INTRA Transport
    • 4.7.6.2. Reliability and Durability
    • 4.7.6.3. Threading Model
  • 4.7.7. UDP Transport
    • 4.7.7.1. Registering the UDP Transport
    • 4.7.7.2. Threading Model
      • 4.7.7.2.1. Configuring UDP Receive Threads
    • 4.7.7.3. UDP Configuration
      • 4.7.7.3.1. allow_interface
      • 4.7.7.3.2. deny_interface
      • 4.7.7.3.3. max_send_buffer_size
      • 4.7.7.3.4. max_receive_buffer_size
      • 4.7.7.3.5. max_message_size
      • 4.7.7.3.6. multicast_ttl
      • 4.7.7.3.7. nat
      • 4.7.7.3.8. if_table
      • 4.7.7.3.9. multicast_interface
      • 4.7.7.3.10. is_default_interface
      • 4.7.7.3.11. disable_auto_interface_config
      • 4.7.7.3.12. recv_thread
      • 4.7.7.3.13. enable_interface_bind
      • 4.7.7.3.14. source_rules
      • 4.7.7.3.15. destination_rules
      • 4.7.7.3.16. transform_udp_mode
      • 4.7.7.3.17. transform_locator_kind
    • 4.7.7.4. UDP Transformations
      • 4.7.7.4.1. Overview
        • Network Interface Selection
        • Data Reception
        • Data Transmission
      • 4.7.7.4.2. Creating a Transformation Library
      • 4.7.7.4.3. Creating Transformation Rules
      • 4.7.7.4.4. Interoperability
      • 4.7.7.4.5. Error Handling
      • 4.7.7.4.6. Example Code
      • 4.7.7.4.7. Examples
        • Plain Communication Between 2 Nodes
        • Transformed User Data Between 2 Nodes
        • Transformed Discovery Data Between 2 Nodes
        • Transformed Data Between 2 Nodes (same transformation)
        • Transformed Data Between 2 Nodes (different transformations)
        • OS Configuration
  • 4.7.8. ARINC 653 Transport
    • 4.7.8.1. ARINC Channels Configuration
    • 4.7.8.2. The Port Manager
    • 4.7.8.3. ARINC Interface
    • 4.7.8.4. Addressing Model
      • 4.7.8.4.1. Addressing Misconfiguration
    • 4.7.8.5. Threading Model
• 4.8. Discovery
  • 4.8.1. What is Discovery?
    • 4.8.1.1. Simple Participant Discovery
    • 4.8.1.2. Simple Endpoint Discovery
  • 4.8.2. Configuring Participant Discovery Peers
    • 4.8.2.1. The Peer Address
  • 4.8.3. Configuring Initial Peers and Adding Peers
  • 4.8.4. Configuring Discovery Data Reception
  • 4.8.5. Configuring User Data Reception
  • 4.8.6. Configuring User Data Reception per DataReader or DataWriter
  • 4.8.7. Discovery Plugins
    • 4.8.7.1. Dynamic Discovery Plugin
    • 4.8.7.2. Static Discovery Plugin
      • 4.8.7.2.1. Remote Participant Assertion
      • 4.8.7.2.2. Remote Publication and Subscription Assertion
  • 4.8.8. Asymmetric Matching and Lost Samples
• 4.9. Configuring Resource Limits
  • 4.9.1. Introduction
  • 4.9.2. Resource Limits
    • 4.9.2.1. DomainParticipantFactoryQos
    • 4.9.2.2. DomainParticipantQos
    • 4.9.2.3. DataReaderQos
    • 4.9.2.4. DataWriterQos
    • 4.9.2.5. UDP Transport
    • 4.9.2.6. Dynamic Participant Static Endpoint (DPSE)
    • 4.9.2.7. Dynamic Participant Dynamic Endpoint (DPDE)
    • 4.9.2.8. Memory Map
  • 4.9.3. Dynamic Memory Allocation
  • 4.9.4. Internal Resource Allocation
• 4.10. Generating Type Support with rtiddsgen
  • 4.10.1. Why Use rtiddsgen?
  • 4.10.2. IDL Type Definition
  • 4.10.3. Generating Type Support
    • 4.10.3.1. C
    • 4.10.3.2. C++
    • 4.10.3.3. Notes on Command-Line Options
    • 4.10.3.4. Generated Type Support Files
  • 4.10.4. Using custom data-types in Connext Micro Applications
  • 4.10.5. Customizing generated code
  • 4.10.6. Unsupported Features of rtiddsgen with Connext Micro
• 4.11. Threading Model
  • 4.11.1. Introduction
  • 4.11.2. Architectural Overview
  • 4.11.3. Threading Model
    • 4.11.3.1. OSAPI Threads
      • 4.11.3.1.1. Configuring OSAPI Threads
    • 4.11.3.2. UDP Transport Threads
      • 4.11.3.2.1. Configuring UDP Receive Threads
    • 4.11.3.3. General Thread Configuration
  • 4.11.4. Thread-Safety
    • 4.11.4.1. Calling DDS APIs from listeners and callbacks
    • 4.11.4.2. Calling DDS APIs from a type-plugin

• 4.12. Batching
  • 4.12.1. Overview
  • 4.12.2. Interoperability
  • 4.12.3. Performance
  • 4.12.4. Example Configuration

• 4.13. Message Integrity Checking
  • 4.13.1. RTPS Checksum
  • 4.13.2. Configurations
    • 4.13.2.1. Selecting a checksum algorithm
    • 4.13.2.2. Configuring the DDS DomainParticipant
  • 4.13.3. Participant Discovery and Participant Compatibility
  • 4.13.4. Interoperability with Connext DDS Professional

• 4.14. Working With Sequences
  • 4.14.1. Introduction
  • 4.14.2. Working with Sequences
    • 4.14.2.1. Overview
    • 4.14.2.2. Working with IDL Sequences
    • 4.14.2.3. Working with Application Defined Sequences
• 4.15. Debugging
  • 4.15.1. Overview
  • 4.15.2. Configuring Logging
  • 4.15.3. Log Message Kinds
  • 4.15.4. Interpreting Log Messages and Error Codes
• 4.16. Connext Micro Hardcoded Resource Limits
  • 4.16.1. Introduction
  • 4.16.2. Summary
  • 4.16.3. Operating Services API (OSAPI)
  • 4.16.4. DDS C API
  • 4.16.5. Dynamic Discovery Plugin (DPDE)
  • 4.16.6. Static Discovery Plugin (DPSE)
  • 4.16.7. RTPS Protocol Implementation (RTPS)

• 4.17. Building Against FACE Conformance Libraries
  • 4.17.1. Requirements
    • 4.17.1.1. Connext Micro Source Code
    • 4.17.1.2. FACE Conformance Tools
    • 4.17.1.3. CMake
  • 4.17.2. FACE Golden Libraries
    • 4.17.2.1. Building the FACE Golden Libraries
  • 4.17.3. Building the Connext Micro Source