一直想搞一搞OpenDDS，最近终于能抽出空来研究一下了。可能是年龄大了，若不做点记录过段时间脑子就清零了。趁热打铁，本文记录了Windows10环境下OpenDDS环境搭建，编译，idl自定义，代码生成，对等发现，代码编写的全过程。
1. 环境搭建与编译
环境搭建的帖子非常多，这里不做赘述，我就贴一下我用到的链接，注意：本文及后续章节所使用的OpenDDS版本为3.15
编译好后生成了两个文件夹“OpenDDS”，“ACE_wrappers”这两个文件夹就是本地的运行库了，如果要给别的计算机部署，只需要把他们拷贝过去，再按照上面帖子设置好环境变量就可以直接使用了。
2. 生成Publisher和Subscriber相关代码
2.1 代码生成有两种方式，可以通过IDL生成，也可以通过MPC生成，相关的文章很多，但我更倾向于用MPC来直接生成，这种方式比前一种更方便快捷。用MPC文件生成代码的前提是写好IDL文件。以下是自定义的一个Demo.idl文件
module DemoIdlModule {
@topic
struct DemoTopic1 {
@key long id;
long counter;
string text;
};
};上面的代码中DemoIdlModule就类似于命名空间，里面可以有多个主题，每个主题用一个结构体来描述其数据结构，并冠以@topic。每个结构体里必须有一个类似数据库表主键的字段，以@key开头，并且在同一个module里，该@key名字须是唯一的。
2.2 编写Demo.mpc文件，将其与Demo.idl放置在一个文件夹，Demo.mpc文件内容如下：
project(*idl): dcps {
TypeSupport_Files {
Demo.idl
}
custom_only = 1
}
project(*publisher) : dcpsexe_with_tcp {
exename = publisher
after += *idl
TypeSupport_Files {
Demo.idl
}
Source_Files {
Publisher.cpp
}
}
project(*subscriber) : dcpsexe_with_tcp {
exename = subscriber
after += *publisher
TypeSupport_Files {
Demo.idl
}
Source_Files {
Subscriber.cpp
DataReaderListener.cpp
}
}从以上MPC文件来看，将来要生成一个publisher和subscriber工程，并且他们都基于数据结构定义文件Demo.idl ，在生成代码以前需要自己建立Publisher.cpp，Subscriber.cpp及DataReaderListener.h/DataReaderListener.cpp，否则后面生成代码后是编译不过的。
使用vs开发人员命令行工具。切到Demo.idl及Demo.mpc文件所在目录，根据ACE_wrappers所在路径（此处以xxxx代替）和自己的vc版本（此处以vc14即VS2015为例）输入以下命令：
perl xxxx\ACE_wrappers\MPC\mwc.pl -type vc14代码生成完毕后，vs解决方案以及文件夹生成的文件如下：
右键单击解决方案，“重新生成解决方案”发现编译通过了，接下来就是如何去编写Publisher.cpp，Subscriber.cpp及DataReaderListener.h/DataReaderListener.cpp。另外要为工程编写一个配置文件，用于对OpenDDS的协议，功能进行配置，在这里我为publisher和subscriber分别建立了一个配置文件，便于各自部署。config_Pub.ini和config_Sub.ini内容暂时保持一致，如下：
[common]
DCPSGlobalTransportConfig=$file
DCPSDefaultDiscovery=DEFAULT_RTPS
[transport/the_rtps_transport]
transport_type=rtps_udp以上配置文件方式为udp对等发现的方式，即不用先启动.....\OpenDDS\bin\DCPSInfoRepo.exe
3. 编写代码
3.1 Publisher.cpp代码如下：
#include <dds/DCPS/Service_Participant.h>
#include <dds/DCPS/Marked_Default_Qos.h>
#include <dds/DCPS/PublisherImpl.h>
#include <dds/DCPS/transport/tcp/TcpInst.h>
#include "dds/DCPS/StaticIncludes.h"
#include <ace/streams.h>
#include "DemoTypeSupportImpl.h"
using namespace DemoIdlModule;
int ACE_TMAIN(int argc, ACE_TCHAR* argv[]) {
try {
// 初始化参与者
argv[1] = "-DCPSConfigFile";
argv[2] = "config_Pub.ini";
argc = 3;
// 1. 初始化参与者
DDS::DomainParticipantFactory_var dpf =
TheParticipantFactoryWithArgs(argc, argv);
DDS::DomainParticipant_var participant =
dpf->create_participant(111,
PARTICIPANT_QOS_DEFAULT,
DDS::DomainParticipantListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(participant.in())) {
cerr << "create_participant failed." << endl;
return 1;
}
// 2. 注册数据类型
//这里是Topic而不是Topics，意义不同，体现在idl文件里。
DemoTopic1TypeSupportImpl* servant = new DemoTopic1TypeSupportImpl();//这句是要根据XXXXTypeSupportImpl中的前缀与idl文件中的Topic key名对应，在这里即"DemoTopic1"
OpenDDS::DCPS::LocalObject_var safe_servant = servant;
if (DDS::RETCODE_OK != servant->register_type(participant.in(), "")) {
cerr << "register_type failed." << endl;
exit(1);
}
// 3. 创建主题，这部分基本不用改
CORBA::String_var type_name = servant->get_type_name();
DDS::TopicQos topic_qos;
participant->get_default_topic_qos(topic_qos);
DDS::Topic_var topic =
participant->create_topic("Movie Discussion List",
type_name.in(),
topic_qos,
DDS::TopicListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(topic.in())) {
cerr << "create_topic failed." << endl;
exit(1);
}
// 4. 创建公布者，这部分基本不用改
DDS::Publisher_var pub =
participant->create_publisher(PUBLISHER_QOS_DEFAULT,
DDS::PublisherListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(pub.in())) {
cerr << "create_publisher failed." << endl;
exit(1);
}
// 5. 创建数据写者
DDS::DataWriterQos dw_qos;
pub->get_default_datawriter_qos(dw_qos);
DDS::DataWriter_var dw =
pub->create_datawriter(topic.in(),
dw_qos,
DDS::DataWriterListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(dw.in())) {
cerr << "create_datawriter failed." << endl;
exit(1);
}
DemoTopic1DataWriter_var message_dw //这句是要根据XXXXDataWriter_var，XXXXDataWriter中的前缀与idl文件中的Topic key名对应，在这里即"DemoTopic1"
= DemoTopic1DataWriter::_narrow(dw.in());
//
// Get default Publisher QoS from a DomainParticipant:
DDS::PublisherQos pub_qos;
DDS::ReturnCode_t ret;
ret = participant->get_default_publisher_qos(pub_qos);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default publisher QoS" << std::endl;
}
// Get default Subscriber QoS from a DomainParticipant:
DDS::SubscriberQos sub_qos;
ret = participant->get_default_subscriber_qos(sub_qos);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default subscriber QoS" << std::endl;
}
// Get default Topic QoS from a DomainParticipant:
DDS::TopicQos topic_qos2;
ret = participant->get_default_topic_qos(topic_qos2);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default topic QoS" << std::endl;
}
// Get default DomainParticipant QoS from a DomainParticipantFactory:
DDS::DomainParticipantQos dp_qos;
ret = dpf->get_default_participant_qos(dp_qos);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default participant QoS" << std::endl;
}
// Get default DataWriter QoS from a Publisher:
DDS::DataWriterQos dw_qos2;
ret = pub->get_default_datawriter_qos(dw_qos2);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default data writer QoS" << std::endl;
}
// 6. 公布数据
DemoTopic1 message;//这句是要根据idl文件中的Topic key名对应，在这里即"DemoTopic1"
message.id = 99;
::DDS::InstanceHandle_t handle = message_dw->register_instance(message);
message.counter = 0;
char tMsg[50] = { 0 };
while (1)
{
message.counter++;
memset(tMsg, 0, 50);
sprintf(tMsg, "Msg Counter : %d", message.counter);
message.text = ::TAO::String_Manager(tMsg);
message_dw->write(message, handle);
ACE_OS::sleep(1);
cout << "..." << endl;
}
// 7. 实体清理
participant->delete_contained_entities();
dpf->delete_participant(participant);
TheServiceParticipant->shutdown();
}
catch (CORBA::Exception& e)
{
cerr << "PUB: Exception caught in main.cpp:" << endl
<< e << endl;
exit(1);
}
return 0;
}
3.2 Subscriber.cpp代码如下：
#include "DemoTypeSupportImpl.h"
#include <dds/DCPS/Service_Participant.h>
#include <dds/DCPS/Marked_Default_Qos.h>
#include <dds/DCPS/PublisherImpl.h>
#include <dds/DCPS/transport/tcp/TcpInst.h>
#include "dds/DCPS/StaticIncludes.h"
#include <ace/streams.h>
#include "DataReaderListener.h"
using namespace DemoIdlModule;
int ACE_TMAIN(int argc, ACE_TCHAR* argv[]) {
try
{
// 初始化参与者
argv[1] = "-DCPSConfigFile";
argv[2] = "config_Sub.ini";
argc = 3;
// 1. 初始化参与者
DDS::DomainParticipantFactory_var dpf =
TheParticipantFactoryWithArgs(argc, argv);
DDS::DomainParticipant_var participant =
dpf->create_participant(111,
PARTICIPANT_QOS_DEFAULT,
DDS::DomainParticipantListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(participant.in())) {
cerr << "create_participant failed." << endl;
return 1;
}
// 2. 注册数据类型并创建主题
DemoTopic1TypeSupportImpl* servant = new DemoTopic1TypeSupportImpl();
OpenDDS::DCPS::LocalObject_var safe_servant = servant;
if (DDS::RETCODE_OK != servant->register_type(participant.in(), "")) {
cerr << "register_type failed." << endl;
exit(1);
}
CORBA::String_var type_name = servant->get_type_name();
DDS::TopicQos topic_qos;
participant->get_default_topic_qos(topic_qos);
DDS::Topic_var topic =
participant->create_topic("Movie Discussion List",
type_name.in(),
topic_qos,
DDS::TopicListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(topic.in())) {
cerr << "create_topic failed." << endl;
exit(1);
}
// 3. 创建订阅者
DDS::Subscriber_var sub =
participant->create_subscriber(SUBSCRIBER_QOS_DEFAULT,
DDS::SubscriberListener::_nil(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(sub.in())) {
cerr << "Failed to create_subscriber." << endl;
exit(1);
}
// 4. 创建监听者
DDS::DataReaderListener_var listener(new DataReaderListener);
DataReaderListener* listener_servant =
dynamic_cast<DataReaderListener*>(listener.in());
if (CORBA::is_nil(listener.in())) {
cerr << "listener is nil." << endl;
exit(1);
}
if (!listener_servant) {
ACE_ERROR_RETURN((LM_ERROR,
ACE_TEXT("%N:%l main()")
ACE_TEXT(" ERROR: listener_servant is nil (dynamic_cast failed)!\n")), -1);
}
// 5. 创建数据读者
DDS::DataReaderQos dr_qos;
sub->get_default_datareader_qos(dr_qos);
DDS::DataReader_var dr = sub->create_datareader(topic.in(),
dr_qos,
listener.in(),
::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
if (CORBA::is_nil(dr.in())) {
cerr << "create_datareader failed." << endl;
exit(1);
}
//
// Get default Publisher QoS from a DomainParticipant:
DDS::PublisherQos pub_qos;
DDS::ReturnCode_t ret;
ret = participant->get_default_publisher_qos(pub_qos);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default publisher QoS" << std::endl;
}
// Get default Subscriber QoS from a DomainParticipant:
DDS::SubscriberQos sub_qos;
ret = participant->get_default_subscriber_qos(sub_qos);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default subscriber QoS" << std::endl;
}
// Get default Topic QoS from a DomainParticipant:
DDS::TopicQos topic_qos2;
ret = participant->get_default_topic_qos(topic_qos2);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default topic QoS" << std::endl;
}
// Get default DomainParticipant QoS from a DomainParticipantFactory:
DDS::DomainParticipantQos dp_qos;
ret = dpf->get_default_participant_qos(dp_qos);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default participant QoS" << std::endl;
}
// Get default DataReader QoS from a Subscriber:
DDS::DataReaderQos dr_qos2;
ret = sub->get_default_datareader_qos(dr_qos2);
if (DDS::RETCODE_OK != ret) {
std::cerr << "Could not get default data reader QoS" << std::endl;
}
while (1) {
ACE_OS::sleep(1);
}
// 6. 清理与OpenDDS相关联的资源
participant->delete_contained_entities();
dpf->delete_participant(participant);
TheServiceParticipant->shutdown();
}
catch (CORBA::Exception& e)
{
cerr << "PUB: Exception caught in main.cpp:" << endl
<< e << endl;
exit(1);
}
return 0;
}
3.3 DataReaderListener.h 代码如下：
// -*- C++ -*-
// 数据读者监听者实现
#ifndef DATAREADER_LISTENER_IMPL
#define DATAREADER_LISTENER_IMPL
#include <dds/DdsDcpsSubscriptionExtC.h>
#include <dds/DCPS/LocalObject.h>
#if !defined (ACE_LACKS_PRAGMA_ONCE)
#pragma once
#endif /* ACE_LACKS_PRAGMA_ONCE */
class DataReaderListener
: public virtual OpenDDS::DCPS::LocalObject<OpenDDS::DCPS::DataReaderListener>
{
public:
DataReaderListener();
virtual ~DataReaderListener(void);
virtual void on_requested_deadline_missed(
DDS::DataReader_ptr reader,
const DDS::RequestedDeadlineMissedStatus& status);
virtual void on_requested_incompatible_qos(
DDS::DataReader_ptr reader,
const DDS::RequestedIncompatibleQosStatus& status);
virtual void on_liveliness_changed(
DDS::DataReader_ptr reader,
const DDS::LivelinessChangedStatus& status);
virtual void on_subscription_matched(
DDS::DataReader_ptr reader,
const DDS::SubscriptionMatchedStatus& status);
virtual void on_sample_rejected(
DDS::DataReader_ptr reader,
const DDS::SampleRejectedStatus& status);
virtual void on_data_available(
DDS::DataReader_ptr reader);
virtual void on_sample_lost(
DDS::DataReader_ptr reader,
const DDS::SampleLostStatus& status);
virtual void on_subscription_disconnected(
DDS::DataReader_ptr reader,
const ::OpenDDS::DCPS::SubscriptionDisconnectedStatus& status);
virtual void on_subscription_reconnected(
DDS::DataReader_ptr reader,
const ::OpenDDS::DCPS::SubscriptionReconnectedStatus& status);
virtual void on_subscription_lost(
DDS::DataReader_ptr reader,
const ::OpenDDS::DCPS::SubscriptionLostStatus& status);
virtual void on_budget_exceeded(
DDS::DataReader_ptr reader,
const ::OpenDDS::DCPS::BudgetExceededStatus& status);
long num_reads() const {
return num_reads_;
}
private:
DDS::DataReader_var reader_;
long num_reads_;
};
#endif /* DATAREADER_LISTENER_IMPL */
3.4 DataReaderListener.cpp 代码如下：
// -*- C++ -*-
//
#include "DataReaderListener.h"
#include "DemoTypeSupportC.h"
#include "DemoTypeSupportImpl.h"
#include <dds/DCPS/Service_Participant.h>
#include <ace/streams.h>
using namespace DemoIdlModule;
DataReaderListener::DataReaderListener()
: num_reads_(0)
{
}
DataReaderListener::~DataReaderListener()
{
}
void DataReaderListener::on_data_available(DDS::DataReader_ptr reader)
{
++num_reads_;
try {
DemoTopic1DataReader_var message_dr = DemoTopic1DataReader::_narrow(reader);
if (CORBA::is_nil(message_dr.in())) {
cerr << "read: _narrow failed." << endl;
exit(1);
}
DemoTopic1 message;
DDS::SampleInfo si;
DDS::ReturnCode_t status = message_dr->take_next_sample(message, si);
if (status == DDS::RETCODE_OK) {
cout << "Message: id = " << message.id << endl
<< " DemoTopic1_Counter = " << message.counter << endl
<< " DemoTopic1_Text = " << message.text << endl;
cout << "SampleInfo.sample_rank = " << si.sample_rank << endl;
}
else if (status == DDS::RETCODE_NO_DATA) {
cerr << "ERROR: reader received DDS::RETCODE_NO_DATA!" << endl;
}
else {
cerr << "ERROR: read Message: Error: " << status << endl;
}
}
catch (CORBA::Exception& e) {
cerr << "Exception caught in read:" << endl << e << endl;
exit(1);
}
}
void DataReaderListener::on_requested_deadline_missed(
DDS::DataReader_ptr,
const DDS::RequestedDeadlineMissedStatus&)
{
cerr << "DataReaderListener::on_requested_deadline_missed" << endl;
}
void DataReaderListener::on_requested_incompatible_qos(
DDS::DataReader_ptr,
const DDS::RequestedIncompatibleQosStatus&)
{
cerr << "DataReaderListener::on_requested_incompatible_qos" << endl;
}
void DataReaderListener::on_liveliness_changed(
DDS::DataReader_ptr,
const DDS::LivelinessChangedStatus&)
{
cerr << "DataReaderListener::on_liveliness_changed" << endl;
}
void DataReaderListener::on_subscription_matched(
DDS::DataReader_ptr,
const DDS::SubscriptionMatchedStatus&)
{
cerr << "DataReaderListener::on_subscription_matched" << endl;
}
void DataReaderListener::on_sample_rejected(
DDS::DataReader_ptr,
const DDS::SampleRejectedStatus&)
{
cerr << "DataReaderListener::on_sample_rejected" << endl;
}
void DataReaderListener::on_sample_lost(
DDS::DataReader_ptr,
const DDS::SampleLostStatus&)
{
cerr << "DataReaderListener::on_sample_lost" << endl;
}
void DataReaderListener::on_subscription_disconnected(
DDS::DataReader_ptr,
const ::OpenDDS::DCPS::SubscriptionDisconnectedStatus&)
{
cerr << "DataReaderListener::on_subscription_disconnected" << endl;
}
void DataReaderListener::on_subscription_reconnected(
DDS::DataReader_ptr,
const ::OpenDDS::DCPS::SubscriptionReconnectedStatus&)
{
cerr << "DataReaderListener::on_subscription_reconnected" << endl;
}
void DataReaderListener::on_subscription_lost(
DDS::DataReader_ptr,
const ::OpenDDS::DCPS::SubscriptionLostStatus&)
{
cerr << "DataReaderListener::on_subscription_lost" << endl;
}
void DataReaderListener::on_budget_exceeded(
DDS::DataReader_ptr,
const ::OpenDDS::DCPS::BudgetExceededStatus&)
{
cerr << "DataReaderListener::on_budget_exceeded" << endl;
}
3.5 编译运行
编译完成后，由于我们是采用对等发现的方式，因此不分先后得运行一个Publisher或Subscriber实例，会看到如下的运行结果，至此一个简单的Demo就设计完了，可以把编译好的“OpenDDS”，“ACE_wrapper”文件夹拷贝到局域网里的其他电脑上，并给她按照1. 环境搭建与编译中所述，设置环境变量，就可以实现局域网对等发现的Demo了。
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