4. Build

The RTI Connext TSS libraries are shipped as source and must be built before use by a FACE application.

4.1. Prerequisites

Connext DDS Professional and/or Micro must be installed and built for the target architecture and FACE profile.

4.2. Configure build environment

In preparation for a build:

Download and install CMake.

RTI Connext TSS provides and uses CMake scripts to generate the environment to build its libraries and example applications.

Set an RTITSSHOME environment variable to point to your Connext TSS installation directory.

For example, if Connext TSS is installed in /home/user/rti/rti_connext_tss-3.1.2/, then set RTITSSHOME (in bash) with this command:

export RTITSSHOME=/home/user/rti/rti_connext_tss-3.1.2

If building for Connext DDS Professional, set an NDDSHOME environment variable to point to your Connext DDS installation.

For example, if Connext DDS is installed in /opt/local/rti/rti_connext_dds-6.1.1, then set NDDSHOME (in bash) with this command:

export NDDSHOME=/opt/local/rti/rti_connext_dds-6.1.1

If building for Connext DDS Micro, set an RTIMEHOME environment variable to point to your Connext DDS Micro installation.

For example, if Connext DDS Micro is installed in /opt/local/rti/rti_connext_micro.2.4.13.4, then set RTIMEHOME (in bash) with this command:

export RTIMEHOME=/opt/local/rti/rti_connext_micro.2.4.13.4

Note

The Connext DDS Professional and Connext DDS Micro libraries must be conformant to the FACE profile of the Connext TSS libraries being built. See RTI Connext Documentation for help with configuring and building Connext for FACE.

4.3. Set architecture

The architecture identifies the platform on which to run RTI Connext TSS.

CMake architecture files are provided for the following:

armv8Vx7SR0660llvm10.0.1.cortex-a53FACE_GP.cmake

armv8Vx7SR0660llvm10.0.1.cortex-a53_rtpFACE_GP.cmake

i86Linux2.6gcc4.4.5.cmake

i86Linux3gcc4.8.2.cmake

pentium64Vx7.0gcc4.8.1_rtp.cmake

ppce6500Deos653-10.3.1gcc7.3.0.cmake

ppce6500Deos653-10.3.1gcc7.3.0FACE_SB.cmake

ppce6500Vx653-3.0.1.1gcc4.3.3.cmake

ppce6500Vx653-3.0.1.1gcc4.3.3FACE_SB.cmake

x64Linux3gcc4.8.2.cmake

x64Linux3gcc5.4.0.cmake

x64Linux4gcc7.3.0.cmake

x64Linux4gcc7.3.0FACE_GP.cmake

x64Linux4gcc7.3.0FACE_SB.cmake

x64Linux4gcc8.5.0.cmake

x64Linux4gcc8.5.0FACE_GP.cmake

For other architectures, follow the Porting guide to add a new architecture.

Once an architecture is chosen, set environment variables RTITSSARCH and NDDSARCH to the architecture name:

export RTITSSARCH=x64Linux4gcc7.3.0
export NDDSARCH=x64Linux4gcc7.3.0

If compiling for the SafetyBase FACE Profile, you will also need to set RTIMEARCH and append a FACE_SB suffix to the architecture name:

export RTITSSARCH=x64Linux4gcc7.3.0FACE_SB
export RTIMEARCH=x64Linux4gcc7.3.0FACE_SB

4.4. Build libraries

This section describes how to do an out-of-source build of RTI Connext TSS using CMake.

Create a build directory:
```
cd ${RTITSSHOME}
mkdir build
```

Run CMake, with the necessary definitions as described below

cd build
cmake -DRTI_CONNEXT_TYPE=<your_connext_type> -DRTI_TSS_ENABLE_FACE_COMPLIANCE=<your_face_profile> -DCMAKE_BUILD_TYPE=<your_build_type> ../

RTI_CONNEXT_TYPE sets the Connext DDS product being used:

“micro” (default)

“pro”

RTI_TSS_ENABLE_FACE_COMPLIANCE sets the FACE profile with which RTI Connext TSS is being built to conform:

“None” (default)

“GeneralPurpose”

“SafetyExtended”

“SafetyBase”

“Security”

Note

While RTI_TSS_ENABLE_FACE_COMPLIANCE can be set to any FACE OSS profile, this release of RTI Connext TSS supports the SafetyBase profile with Connext DDS Micro 2.4.13.4, and GeneralPurpose profile with Connext DDS Professional 6.1.1.
Note

To enable long double types, the RTI_TSS_ENABLE_LONG_DOUBLE CMake variable must be set to True. This will define RTI_CDR_SIZEOF_LONG_DOUBLE or OSAPI_ENABLE_LONG_DOUBLE, needed by Connext DDS Professional or Connext DDS Micro respectively.
-DRTI_TSS_ENABLE_LONG_DOUBLE=TRUE
CMAKE_BUILD_TYPE sets the type of library or executable built:

“Release” (default)

“Debug”

RTI_LOG_VERBOSITY sets the level of logging verbosity:

“Silent”

“Error”

“Warning” (default)

“Info”

“Debug”

RTI_TSS_LOG_FILE_TYPE sets the logging output type:

“none”

“stdout” (default)

“file”

“timestamp”
Note

Logging is enabled by default for None and GeneralPurpose compliance level. It will be silented when built for SafetyBase. When RTI_LOG_VERBOSITY is set, LOG_VERBOSITY will be defined accordingly. RTI_TSS_LOG_FILE_TYPE can be used to configure how to display logging messages. When RTI_TSS_LOG_FILE_TYPE is set to ‘file’, RTI_TSS_LOG_FILE_NAME can be used to define the name of the log file. It is “rtifacetss.log” by default.

To enable logging at verbosity level of ‘Info’ and display the message on stdout, add these flag to the RTI Connext TSS build command mention previously. -DRTI_TSS_LOG_FILE_TYPE=stdout is optional since it is stdout by default.
-DRTI_LOG_VERBOSITY=Info -DRTI_TSS_LOG_FILE_TYPE=stdout
To enable logging at verbosity level of ‘Debug’ and store the log messages in a file called “logMessages.log”,
-DRTI_LOG_VERBOSITY=Debug -DRTI_TSS_LOG_FILE_TYPE=file -DRTI_TSS_LOG_FILE_NAME=logMessages.log
The log file can be found in the application’s build directory.
Alternatively, the CMake GUI (cmake-gui) can be used instead of the command line.

Build the RTI Connext TSS libraries:
```
cmake --build .
```

4.5. Verify build

A successful build will result in one (statically linked) library: rti_tsscpp.

The library for RTI Connext DDS Professional will be built as ${RTITSSHOME}/lib/${RTITSSARCH}/pro/librti_tsscppz.a.

The library for RTI Connext DDS Micro will be built as ${RTITSSHOME}/lib/${RTITSSARCH}/micro/librti_tsscppz.a.

The debug library name will have a ‘d’ suffix (e.g. librti_tsscppzd.a).

4.6. Using third-party strings and sequences

To use other implementations of FACE Sequence and String classes than RTI’s implementation, create two new folders: include/third_party and src/third_party.

Then, place inside include/third_party your String.hpp and Sequence.hpp header files along with any header files needed by them. At src/third_party, place all the C and C++ source files needed.

Note

include/third_party contains example String.hpp and Sequence.hpp files. These files are required to build the libraries. If you wish to use your own or third party versions of these files, replace these files with the appropriate .hpp files.

Finally, compile with the RTI_USE_EXTERNAL_STR_SEQ CMake variable set to True (-DRTI_USE_EXTERNAL_STR_SEQ=TRUE).