Introduction

RTI Connext DDS Micro has been engineered for reasonable portability to platforms and environments which RTI does not have access to. This porting guide describes the features required by RTI Connext DDS Micro to run.

The source tree shipped with RTI Connext DDS Micro is identical to the development tree used by RTI. However, the internal file structure has been modified to make it easier to import and compile the source as part of a project.

RTI Connext DDS Micro uses an abstraction layer to support running on a number of platforms. The abstraction layer, OSAPI, is an abstraction of functionality typically found in one or more of the following libraries and services:

• Operating System calls
• Device drivers
• Standard C library

The OSAPI module is designed to be relatively easy to move to a new platform. All functionality, with the exception of NETIO (which must be ported) is contained within this single module, even though the functionality typically spans different libraries. It should be noted that although some functions may not seem relevant on a particular platform, they must still be implemented, as they are used by other modules. For example, the port running on Stellaris with no OS support still needs to implement a threading model.

Please note that the OSAPI module is not designed to be a general purpose abstraction layer; its sole purpose is to support the execution of RTI Connext DDS Micro.

Before porting the OSAPI module, you are expected to be familiar with general OS concepts, the standard C library, and embedded systems. This guide covers the following topics:

• Configuration files
• Heap Porting Guide
• Mutex Porting Guide
• Semaphore Porting Guide
• Process Porting Guide
• System Porting Guide
• Thread Porting Guide

The directory structure for the OS API module is as follows:

• include/osapi/
• srcC/osapi/common/
  • /<platform>/<file>.c

The 'include' directory contains the external interfaces, those that are assumed by other modules. The only files that may need modification in the include directory are files ending in _impl.h and config.h.

The srcC directory contains a sub-directory common which contains source code that is independent of any specific OS, but depends on functions implemented by exactly one of the other sub-modules, such as posix or windows.

NOTE: It is not recommended to modify source files shipped with RTI Connext DDS Micro. Instead if it is desired to start with code supplied by RTI it is recommended to copy the corresponding sub-directory, for example posix, and rename it. This way it is easier to upgrade RTI Connext DDS Micro while keeping existing ports.