8.4.3. What’s New in 2.4.14¶
8.4.3.1. Important Interoperability Changes¶
8.4.3.2. DataWriter’s Default Reliability Changed to Reliable¶
The default reliability for a DataWriter has been changed from best-effort to reliable.
This solves interoperability problems when the remote DomainParticipant does not send the QoS value if configured with its default value. However, this may cause interoperability problems with previous releases if the former default reliability QoS is used.
8.4.3.3. Support for AUTOSAR Classic¶
This release includes support for Elektrobit AUTOSAR 4.0.3 and Mentor AUTOSAR 4.2.2 on Infineon AURIX TriCore TC297. Please refer to Connext Micro on AUTOSAR for details.
8.4.3.4. Support for detecting corrupted RTPS messages¶
This release includes support for detecting and discarding corrupted RTPS messages. A checksum is computed over the DDS RTPS message including the RTPS Header. This checksum is sent as a new RTPS submessage. The subscribing application detects this new submessage and validates the contained checksum. When a corrupted RTPS message is detected, the message is dropped.
To enable the use of a checksum in a DomainParticipant, there are three new fields in the WireProtocolQosPolicy: compute_crc, check_crc, and require_crc:
To send the checksum, enable compute_crc at the sending application.
To drop corrupted messages, enable check_crc.
To ignore a participant with compute_crc set to false, enable require_crc.
Please refer to Message Integrity Checking in the Connext Micro User’s Manual for details.
8.4.3.5. Port Validation for Connext Micro¶
After porting Connext Micro, it is important to confirm that your code works as expected. For this purpose, Connext Micro comes with a suite of tests that you can compile and run to validate your port.
8.4.3.6. New Documentation on Compiling Connext Micro for Connext Cert Compatibility¶
This release includes a new chapter on how to compile Connext Micro with for compatibility with Connext Cert. See Building Connext Micro with compatibility for Connext Cert.
8.4.3.7. ThreadX CMake Files and New Documentation on Building Connext Micro for ThreadX + NetX¶
Connext Micro libraries can now be compiled using rtime-make and CMake for ThreadX + NetX. There is a new section in the documentation on building for the ThreadX operating system and NetX network stack, including example configurations. See Building the Connext Micro Source for ThreadX.
8.4.3.8. Updated Example CMakeLists.txt to Automatically Regenerate Code when IDL or XML File Changes¶
The CMakeLists.txt generated by the Code Generator now has a rule that will regenerate type-support files if the IDL or XML file with the type definition changes. The rule is conditional: it is only added if the option RTIME_IDL_ADD_REGENERATE_TYPESUPPORT_RULE is set to TRUE when invoking CMake.
8.4.3.9. Message Logged when Samples Received Out of Order¶
This release logs an additional message when a sample is received out of order and reliability is enabled. This will occur if a reliable sample with a data submessage is received with a sequence number higher than the lowest, next expected sequence number.
8.4.3.10. Message Logged when Sequence Numbers Received More than Once¶
This release logs an additional message if a sample is received more than once when reliability is enabled. This means that a sample with the same sequence number has already been received.
8.4.3.11. Ability to Send Logs over UDP¶
This release includes support for sending logs over UDP. The destination IP address and UDP port can be configured in the AUTOSAR port properties.
8.4.3.12. rtime-make Provides Help for a Specific Target¶
The help output from the script rtime-make has been improved to show that is possible to get help for a specific target.
Use the command “rtime-make –target <target> –help” to print help for the target.
8.4.3.13. FreeRTOS CMake Files¶
The Connext Micro libraries can now be compiled using rtime-make and CMake for FreeRTOS.
8.4.3.14. Improved Documentation on Building Connext Micro for AUTOSAR Systems¶
The documentation on building Connext Micro for AUTOSAR systems has been improved with information about the number of resources needed. See Resources.
8.4.3.15. Examples Used Undocumented APIs¶
The provided examples, and those created by the Code Generator, were using Foo_create() and Foo_delete() to create and delete samples. Those APIs are not documented and should not be used. The examples have been changed to use FooTypeSupport_create_data() and FooTypeSupport_delete_data() instead.
8.4.3.16. New CMake Option to Enable Real-Time Timers on QNX and Linux Systems¶
Connext Micro has supported POSIX.4 real-time timers as a way to run the its internal timers. However, this feature has only been available by updating the osapi_os_posix.h header file and has been disabled by default because it relies on POSIX signals that may interfere with an application, such as if an application uses fork() and one of the exec system calls without setting the signal mask.
Connext Micro uses the signal SIGRTMIN by default. To change this, it is necessary to modify the constant OSAPISYSTEM_POSIX4_TIMER_SIGNAL at the beginning of src/osapi/posix/posixSystem.c. Please note that the number of signals available varies between systems.
To enable this feature on a QNX or Linux system, pass the following additional option to cmake or rtime-make:
8.4.3.17. New -showTemplates and -exampleTemplate options for Code Generator¶
This release introduces two new Code Generator command-line options, -showTemplates and -exampleTemplates.
The -showTemplates option prints and generates an XML file containing a list of available example templates in your Connext DDS installation, organized per language.
When you use the -exampleTemplate option, you can specify one of these example templates, which are in $RTIMEHOME/rtiddsgen/resource/templates/example/<language>/<templateName>/. You may also create your own templates and place them in this directory.
To use -exampleTemplates, you must also use one of the following command-line options:
-create examplefiles
-update examplefiles
-example
When you use the -exampleTemplates option, Code Generator will generate the example you specified, instead of the default one. For example:
rtiddsgen -language C++ -example -exampleTemplate <exampleTemplateName> foo.idl
8.4.3.18. Dynamic memory allocations removed from Dynamic Discovery Plugin¶
The dynamic discovery plugin in Connext Micro allocated memory dynamically for discovered topic and type names after the DomainParticipant was enabled. This release includes improvements that make it possible to avoid all memory allocations.
Dynamic memory allocations are avoided by creating the DomainParticipant in a disabled state and creating all local endpoints before the DomainParticipant is enabled. A DomainParticipant is created in a disabled state by setting
DomainParticipantFactoryQos.entity_factory.autoenable_created_entities = DDS_BOOLEAN_TRUE
before calling create_participant(). When all entities have been created, call enable() on the DomainParticipantFactory to enable all entities.
8.4.3.19. Reduced default socket send/receive buffer size for QNX systems¶
Some QNX kernels have a maximum send and receive socket buffer size smaller than the default value used by Connext Micro. The default send and receive socket buffer size has been changed to 64 Kbytes in Connext Micro for QNX builds.
8.4.4. What’s Fixed in 2.4.14¶
8.4.4.1. Small Enums Caused Serialization Errors¶
In previous releases, enum types that were represented internally as 1 or 2 byte values caused serialization and deserialization errors. This problem has been resolved by adding support for enum types with 1 or 2 byte internal memory representations. The wire representation for enums is unchanged at 4 bytes.
[RTI Issue ID MICRO-2249]
8.4.4.2. -Wcast-function-type and -Wdeprecated Compiler Warnings¶
This release fixes two different compiler warnings:
When compiling Connext Micro with GCC8 (or later versions) and
-Wcast-function-type, the compiler printed warnings such as:cast between incompatible function types
When compiling Connext Micro with a C++11 compiler and
-Wdeprecated, the compiler printed warnings such as:warning: definition of implicit copy constructor
Both of these issues have been fixed. Note that neither issue caused incorrect behavior.
[RTI Issue ID MICRO-2488]
8.4.4.3. Documentation did not list all Entities that Support Transport QosPolicy¶
The previous documentation did not list all the entities that support the DDS_TransportQosPolicy. This problem has been fixed.
The DDS entities that support the DDS_TransportQosPolicy are the DomainParticipant, DataWriter and DataReader.
[RTI Issue ID MICRO-2503]
8.4.4.4. Generated Examples Registered Wrong Type Name¶
The generated code for Connext Micro may have registered the wrong type name
if you used the option -create examplefiles and IDL such as:
module My_Module {
struct My_Entity {
long id; //@key
};
};
This generated an example that registered a type with a name that was incompatible with the type name used by other DDS tools that were configured with the same IDL file. This issue has been fixed.
[RTI Issue ID MICRO-2605]
8.4.4.5. For C++ Types Generated by rtiddsgen that have Inheritance, the ParentCclass was also Declared in the Class as Another Member¶
Consider the following Foo.idl file, used to generate code with rtiddsgen:
struct Base
{
long x;
};
struct Foo: Base {
long y;
};
This generated the following Foo.h file:
class Base
{
long x;
};
class Foo: public Base
{
Base parent;
long y;
};
Note that the class Foo inherited from the class Base, and its first field was a ‘parent’ field of type ‘Base’. This should not happen, since it results in extra space being taken for each sample that will not be used.
This problem has been fixed. The generated Foo class no longer has a ‘parent’ field of type ‘Base’.
[RTI Issue ID MICRO-2633]
8.4.4.6. DomainParticipant not Rediscovered if Terminated and Restarted Before its Lease Duration Expired¶
A DomainParticipant was not rediscovered if it was terminated and restarted before its lease duration expired. For example, if an application with a DomainParticipant was terminated with Control-C and restarted before the DomainParticipant’s lease duration expired, the DomainParticipant would not be rediscovered. However, if the DomainParticipant was deleted with delete_participant() this problem would not occur. This issue has been resolved.
[RTI Issue ID MICRO-2672]
8.4.4.7. OSAPI_Log_clear did not Zero Out Log Buffer Memory¶
OSAPI_Log_clear() did not zero out the log buffer memory. This problem has been resolved. Now it will set the buffer memory to zero when it resets the buffer head.
[RTI Issue ID MICRO-2678]
8.4.4.8. Error in Generated C/C++ Code when Two Members of Different Enumerations had Same Name¶
The generated C/C++ code for an IDL file containing enumerations with members that had the same name would not compile. For example, consider this IDL:
module a {
module b {
enum Foo {
GREEN, RED
}
;};
};
module c {
module d {
enum Bar {
GREEN, YELLOW
};
};
};
The above IDL produced the following code:
typedef enum c_d_Foo
{
GREEN ,
RED
} c_d_Foo;
typedef enum c_d_Bar
{
GREEN ,
YELLOW
} c_d_Bar;
And it produced an error similar to this when trying to compile it:
test.h:82: error: redeclaration of enumerator ‘GREEN’
test.h:25: error: previous definition of ‘GREEN’ was here
This release introduces a new command-line option in RTI Code Generator,
-qualifiedEnumerator, which allows you to generate fully qualified
enumerator names. This avoids having conflicting names in C/C++.
For example, given this IDL:
module myModule{
enum Color2 {
GREEN,
RED
};
union MyUnion switch (Color2){
case GREEN:
long m1;
case RED:
long m2;
};
};
The following table shows the code that will be generated without the new option and with it:
Language |
without -qualifiedEnumerator (default) |
with -qualifiedEnumerator |
|---|---|---|
C |
typedef enum myModule_Color2
{
GREEN ,
RED
} myModule_Color2;
typedef struct myModule_MyUnion {
myModule_Color2 _d;
struct myModule_MyUnion_u
{
DDS_Long m1 ;
DDS_Long m2 ;
}_u;
} myModule_MyUnion ;
|
typedef enum myModule_Color2
{
myModule_Color2_GREEN ,
myModule_Color2_RED
} myModule_Color2;
typedef struct myModule_MyUnion {
myModule_Color2 _d;
struct myModule_MyUnion_u
{
DDS_Long m1 ;
DDS_Long m2 ;
}_u;
} myModule_MyUnion ;
|
C++ |
typedef enum myModule_Color2
{
GREEN ,
RED
} myModule_Color2;
typedef struct myModule_MyUnion {
typedef struct myModule_MyUnionSeq Seq;
...
myModule_Color2 _d;
struct myModule_MyUnion_u
{
DDS_Long m1 ;
DDS_Long m2 ;
}_u;
} myModule_MyUnion ;
|
typedef enum myModule_Color2
{
myModule_Color2_GREEN ,
myModule_Color2_RED
} myModule_Color2;
typedef struct myModule_MyUnion {
typedef struct myModule_MyUnionSeq Seq;
...
myModule_Color2 _d;
struct myModule_MyUnion_u
{
DDS_Long m1 ;
DDS_Long m2 ;
}_u;
} myModule_MyUnion ;
|
C++ Namespace |
namespace myModule {
typedef enum Color2
{
GREEN ,
RED
} Color2;
typedef struct MyUnion {
typedef struct MyUnionSeq Seq;
...
myModule::Color2 _d;
struct MyUnion_u
{
DDS_Long m1 ;
DDS_Long m2 ;
}_u;
} MyUnion ;
};
|
namespace myModule {
typedef enum Color
{
Color_GREEN ,
Color_BLUE
} Color;
typedef struct MyUnion {
typedef struct MyUnionSeq Seq;
...
myModule::Color2 _d;
struct MyUnion_u
{
DDS_Long m1 ;
DDS_Long m2 ;
}_u;
} MyUnion ;
} ;
|
[RTI Issue ID MICRO-2718]
8.4.4.9. Incorrect Documentation Regarding Changeability of QoS¶
The previous release’s documentation incorrectly stated that some QoS are changeable, when they are not. This has been fixed.
The DomainParticipantFactory.EntityFactoryQosPolicy is always changeable. The following are changeable until the entity is enabled:
DomainParticipant.EntityFactoryQosPolicy
Publisher.EntityFactoryQosPolicy
Subscriber.EntityFactoryQosPolicy
[RTI Issue ID MICRO-2749]
8.4.4.10. Unexpected Behavior when Copying a DDS_UnsignedShortSeq with 0 Length¶
When copying a DDS_UnsignedShortSeq with 0 length, the destination sequence length was not set to 0. This issue has been fixed.
[RTI Issue ID MICRO-2756]
8.4.4.11. Incorrect Range Documented for DDS_ResourceLimitsQosPolicy.max_samples¶
The range for DDS_ResourceLimitsQosPolicy.max_samples was incorrectly
documented as max_samples >= max_instances * max_samples_per_instance.
While that is correct for Connext Cert, the correct range for Connext Micro is
max_samples >= max_instances.
The documentation has been corrected.
[RTI Issue ID MICRO-2757]
8.4.4.12. Wrong Compiler Option for AUTOSAR Elektrobit Platform caused ‘double’ to Compile as 4 Bytes instead of 8¶
CMake files include an option to optimize doubles as floats when compiling for the AUTOSAR classic Elektrobit platform. This caused the serialization and deserialization of type double to fail.
This optimization has been removed; now the size of type ‘double’ is 8 bytes when compiling for the AUTOSAR classic Elektrobit platform.
[RTI Issue ID MICRO-2823]
8.4.4.13. Log Message with Random Characters Printed¶
In some cases, a log message was printed with random characters. For example:
$ Alignment32 id\:000000\,sig\:06\,src\:000000\,op\:flip1\,pos\:1
[1612981807.603703999]ERROR: ModuleID=5 Errcode=20021 X=1 E=1 T=1
��hV�F��~ycV/:0/:
This issue has been resolved.
[RTI Issue ID MICRO-2877]
8.4.4.14. Event Masks of Semaphores in AUTOSAR Port were Calculated Incorrectly¶
Event masks of semaphores in the AUTOSAR port were calculated incorrectly. This only affected semaphore implementation and Waitsets. This issue has been resolved.
[RTI Issue ID MICRO-2953]
8.4.4.15. PUBLICATION_MATCHED_STATUS and SUBSCRIPTION_MATCHED_STATUS may never have triggered a WaitSet if the status was enabled after the DomainParticipant was enabled¶
A StatusCondition with PUBLICATION_MATCHED_STATUS or SUBSCRIPTION_MATCHED_STATUS enabled may never have triggered a WaitSet, if the status was enabled after the DomainParticipant was enabled.
This issue has been resolved.
[RTI Issue ID MICRO-2219]
8.4.4.16. Unicast DataReader stopped receiving samples after DataWriter matched with a multicast DataReader¶
A DataReader with a unicast locator stopped receiving samples from a matched DataWriter when another DataReader with a multicast locator matched with that DataWriter.
This problem has been resolved. Now all matched DataReaders will receive samples, regardless of whether their locators are unicast or multicast.
[RTI Issue ID MICRO-2369]
8.4.4.17. A RTPS max_window_size not divisible by 32 may have resulted in retransmission of wrong sequence number¶
An RTPS max_window_size not divisible by 32 may have caused retransmission of a sequence number not being requested. Note that the default value is divisible by 32.
This issue has been resolved.
[RTI Issue ID MICRO-2287]
8.4.4.18. POSIX mutex implementation did not conform with FACE Safety Profile¶
The POSIX mutex implementation did not conform with the FACE Safety Profile. This release conforms to the FACE Safety profile for single-core CPU architectures.
[RTI Issue ID MICRO-2275]
8.4.4.19. Waitset with timeout of 0 did not return immediately¶
A Waitset with a 0 timeout did not return immediately, but was rounded up to one clock period.
This issue has been resolved.
[RTI Issue ID MICRO-2278, MICRO-2264]
8.4.4.20. For AUTOSAR the IP address is now used to generate a unique DomainParticipant ID¶
In previous versions of Connext Micro for AUTOSAR the timestamp was used to generate a unique DomainParticipant ID. This release uses the IP address from the Autosar configuration by default.
[RTI Issue ID MICRO-2342]