8.4.15. What’s New in 2.4.9¶
8.4.15.1. Improved Support for adding new Ports¶
Some changes were made to how Connext Micro includes different ports. In versions before 2.4.9 new ports would typically update osapi_config.h and add a new directory with an implementation for the required OSAPI functions. As of 2.4.9 osapi_config.h was re-factored and OS and compiler specific functions were moved to two new files:
osapi_os_<osname>.h This file contains OS specific information. RTI ships three files: osapi_os_posix.h, osapi_os_windows.h and osapi_os_vxworks.h. It is recommended to add a new osapi_os_<osname>.h file when a new OS is added.
osapi_cc_<osname>.h This file contains compiler specific informations. RTI ship osapi_cc_stds.c which works with Microsoft Visual Studio, clang and GCC.
Please refer to ref OSAPIUserManuals_PortingModule for details.
8.4.15.2. Updated Build Environment to Build RTI Connext Micro¶
Connext Micro now includes better support for adding CMake tool-chain files and also includes a better infrastructure to manage multiple builds of Connext Micro. It is strongly encouraged to read ref OSAPIUserManuals_SourceModule for details to get familiar with the new build environment.
8.4.15.3. Example CMake Tool-chain Files for Cross-Compilation¶
Connext Micro ships with a more cmake tool-chain files for Linux, Darwin, Windows and VxWorks. Please refer to ref OSAPIUserManuals_SourceModule for details.
[RTI Issue ID MICRO-706]
8.4.15.4. Host Bundle without the Java RunTime Available¶
A new smaller host bundle that does not include Java Runtime Environments (JRE) is now available for download. A host bundle with JREs included is still available.
With Java being necessary for the rtiddsgen utility, rtiddsgen now picks Java based on the following order:
New rtiddsgen command line option -jre
JREHOME environment variable
JAVA_HOME environment variable
JRE shipped with the host bundle
PATH environment variable
[RTI Issue ID MICRO-1520]
8.4.15.5. Support for 64-bit Platforms¶
Connext Micro was written for 32 bit architectures and is for all practical purposes a 32 bit application. There is no advantage to compiling Connext Micro for a 64 bit architecture and the only reason to do so is if Connext Micro must execute in a 64 bit environment for other reasons, such as other applications being 64 bit or 64 bit libraries not being available.
Connext Micro is compiled and tested on various 64 bit architectures (iOS, MacOS, Windows, Linux, VxWorks). However, when doing so the following must be kept in mind:
Connext Micro does not work with any data-type larger than what the transport supports and up to a maximum of 2 GB.
Timestamps in Connext Micro are limited to seconds encoded as a signed 32 bit integer.
8.4.15.6. POSIX Compliance Improvements¶
Connext Micro supports various POSIX like operating systems. Due to small differences in the implementations not all POSIX like are equal and OS specific adaptations are necessary.
As of 2.4.9 Connext Micro’s POSIX OSAPI implementation conforms to:
POSIX Std 1003.1, 2004 Edition (_POSIX_C_SOURCE 200112L)
X/Open 6 (_XOPEN_SOURCE 600)
The Connext Micro UDP transport uses ioctl calls to enable certain socket features. The required flags are in non-standard header-files on some operating system. In addition, not all POSIX-like operating systems support all the features. Connext Micro checks which OS it is compiled for by testing the presence of preprocessor flags. As of 2.4.9 Connext Micro has been built and tested on the following operating systems that supports a POSIX API (osapi_os.h):
Linux (_linux_)
Mac OS X (10.6 and later) ((_APPLE) && defined(MACH_))
QNX 6.x (_QNXNTO_)
VOS (_VOS_)
iOS (((_APPLE) && defined(MACH_))
Android (_linux_ && _ANDROID_)
NOTE: An additional compile option to enable certain non-POSIX features can be enabled to unchecking the RTIME_OSAPI_ENABLE_STRICT_POSIX option in the cmake-gui or by defining the C preprocessor flag -DOSAPI_ENABLE_STRICT_POSIX=1
8.4.15.7. C++ Support for find_topic()¶
The operation DDS_DomainParticipant_find_topic() is now natively supported by the C++ API as DDSDomainParticipant::find_topic().
8.4.15.8. Types Are Automatically Unregistered Upon Deleting Contained Entities¶
In previous releases, types must be unregistered manually from a DomainParticipant before the participant can be deleted. Now in this release, all registered types are automatically unregistered when calling DDS_DomainParticipant_delete_contained_entitites().
NOTE: It is legal to register the same type multiple times as long as it is registered with the same type-plugin. If manually unregistering a type, the type must be unregistered the same number of times as it was registered. DDS_DomainParticipant_delete_contained_entitites() ignores the number of times a type has been registered since all entities using a type are deleted first.
8.4.16. What’s Fixed in 2.4.9¶
8.4.16.1. Improved Documentation¶
The Connext Micro documentation has been improved for the following topics:
Compiling the Connext Micro source (ref OSAPIUserManuals_SourceModule)
Filtering of samples by a DDS DataReader (ref UserManuals_MicroAndCore)
How to use Connext Micro with RTI Recorder (ref UserManuals_MicroAndCore)
Compatibility between Connext Micro and other RTI Products (ref UserManuals_MicroAndCore)
[RTI Issue ID MICRO-711, MICRO-1521, MICRO-1538, MICRO-1555]
8.4.16.2. Losing Participant Liveliness Stops Communication¶
Previously, given a DomainParticipant “P1” whose endpoints are communicating with other endpoints belonging to other DomainParticipants, when P1 detected liveliness lost with one other DomainParticipant, communication incorrectly stopped with endpoints belonging to other DomainParticipants as well.
[RTI Issue ID MICRO-1543]
8.4.16.3. DDSTopic::narrow() Returned Incorrect Value in C++¶
The function lookup_topicdescription() returned a DDSTopicDescription that caused DDSTopic::narrow() to segmentation fault when this DDSTopicDescription was passed to other functions.
DDSTopic::narrow() now correctly returns a DDSTopic when passed a DDSTopicDescription found with lookup_topicdescription().
[RTI Issue ID MICRO-1544]
8.4.16.4. PRECONDITION_NOT_MET Returned by deleted_topic() When Topic Is Not Use¶
delete_topic() incorrectly returned PRECONDITION_NOT_MET if there where multiple references to it (for example via find_topic()). This has been corrected and delete_topic() now returns DDS_RETCODE_OK if there are multiple references, but the reference count can be decremented.
[RTI Issue ID MICRO-1545]
8.4.16.5. Instance Resources Not Reclaimed When Unregistered¶
When an instance is unregistered on the data writer that is best-effort with infinite deadline or using TRANSIENT_LOCAL durability, the data writer fails to free the resources being used. As a result, new instances cannot be written. This has been fixed and when an instance is unregistered all resources associated with the key is released.
[RTI Issue ID MICRO-1546]
8.4.16.6. Invalid Memory Read Reported in Log.c¶
Some memory profile tools reported an invalid read in Log.c. This was caused by an invalid pointer access when the log buffer was full and has been corrected.
[RTI Issue ID MICRO-1550]
8.4.16.7. Unsupported Functions When Compiling With RTI_CERT Has Been Removed From Generated Code¶
Code generated by rtiddsgen to support user data types has been updated to properly support compilation with the flag RTI_CERT. All unsupported operations (e.g. FooTypeSupport_delete_data) are now excluded when RTI_CERT is specified.
[RTI Issue ID MICRO-1558]
8.4.16.8. The HelloWorld_cert Example Now Compiles When Linked Against a Library Built With RTI_CERT¶
The HelloWorld_cert called functions that were not supported by libraries built with RTI_CERT. This has been corrected.
[RTI Issue ID MICRO-1561]
8.4.16.9. Hostnames Are No Longer Validated¶
Previously in Connext Micro 2.4.6, a function to validate IP hostnames as defined by RFC-952 was added and called before passing them to the OS. However, this function was too restrictive and excluded valid service names. Hostname validation is now only done directly by the OS.
[RTI Issue ID MICRO-1563]
8.4.16.10. A Participant May Not Be Rediscovered In Case Of Asymmetric Liveliness Loss¶
This problem was only present when using dynamic discovery.
Consider two participants A and B. In the previous release, if A lost liveliness with B, but B did not lose liveliness with A, then A did not completely rediscover B when their connection was reestablished. The problem was that since B had not lost liveliness with A, when a connection was reestablished, B thought A was already up to date on endpoint discovery. Hence, A did not rediscover the endpoints in B. This release has fixed this issue.
[RTI Issue ID MICRO-1571]
8.4.16.11. A Non-keyed Endpoint Matches a Keyed Endpoint¶
When performing matching between A DataReader and DataWriter the entity kind was not checked. This means a keyed DataReader would match a non-keyed DataWriter and a non-keyed DataReader would match an keyed DataWriter.
This issue would can happen if two different IDLs files are used to create DataReaders and DataWriters of the same topic and type.
Note that Connext Micro does not support type validation. If two (or more) IDLs are used to describe the same keyed type there is no check that the key-fields are the same. Thus, even with this issue resolved there are still potential pitfalls with multiple IDLs for the same type.
[RTI Issue ID MICRO-1574]