OPENDDS点对点静态配置通信

最新推荐文章于 2025-05-21 14:15:13 发布

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最新推荐文章于 2025-05-21 14:15:13 发布

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分类专栏： opendds 文章标签：静态配置 opendds

本文链接：https://blog.youkuaiyun.com/robinfoxnan/article/details/108517731

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1 篇文章

订阅专栏

本文详细介绍了DDS（Data Distribution Service）在点对点模式下如何通过静态配置文件实现发布与订阅，包括配置文件的结构、关键参数设置及代码示例。通过具体实例，展示了如何在发布端和订阅端创建参与者、数据写入者和读取者，并设置了可靠性、持久性和历史策略。

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DDS可以不使用中心节点来发布、订阅，而是直接在配置文件里指定双方的信息：

点对点的静态配置peer.ini如下：

[common]
DCPSDefaultDiscovery=DEFAULT_STATIC

[topic/TheTopic]
type_name=Demo::Pos
max_message_size=300

[config/ConfigR]
transports=RtpsR

[transport/RtpsR]
transport_type=rtps_udp
use_multicast=0
local_address=127.0.0.1:21074

[config/ConfigW]
transports=RtpsW

[transport/RtpsW]
transport_type=rtps_udp
use_multicast=0
local_address=127.0.0.1:21075

[datawriterqos/ReliableWriter]
reliability.kind=RELIABLE
#reliability.max_blocking_time.sec=DURATION_INFINITE_SEC
durability.kind=TRANSIENT_LOCAL
history.kind=KEEP_ALL
history.depth=100

[datareaderqos/ReliableReader]
reliability.kind=RELIABLE
durability.kind=TRANSIENT_LOCAL
history.kind=KEEP_ALL
history.depth=100

[endpoint/Reader]
domain=42
participant=000000000001
entity=000001
type=reader
config=ConfigR
topic=TheTopic
datareaderqos=ReliableReader

[endpoint/Writer]
domain=42
participant=000000000002
entity=000002
type=writer
config=ConfigW
topic=TheTopic
datawriterqos=ReliableWriter

备注如下：

1）不要指定主题名字，opendds示例中指定了名字报错；

2）type_name按照自己的定义来填写；

3）QOS相关的是参考PDF文档填写的，但是除了 reliability.kind=RELIABLE 其他都没有起作用，都是自己代码控制的；

4）participant=000000000001 这个按照那个PDF文档上是12位的hex进制数据，GUID

5）entity=000001 按照文档是6位的hex进制数据

相关重点代码如下：

发布端创建参与者：

DDS::DomainParticipantFactory_var dpf = TheParticipantFactoryWithArgs(argc, argv);

		//parse_args(argc, argv);
		//////////////////////////////////////////////////
		DDS::DomainParticipantQos dp_qos;
		dpf->get_default_participant_qos(dp_qos);
		dp_qos.user_data.value.length(6);
		dp_qos.user_data.value[0] = 0x00;
		dp_qos.user_data.value[1] = 0x00;
		dp_qos.user_data.value[2] = 0x00;
		dp_qos.user_data.value[3] = 0x00;
		dp_qos.user_data.value[4] = 0x00;
		dp_qos.user_data.value[5] = 0x02;
		//////////////////////////////////////////////////
		DDS::DomainParticipant_var participant =
			dpf->create_participant(42, dp_qos,
			//PARTICIPANT_QOS_DEFAULT,
			DDS::DomainParticipantListener::_nil(),
			::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
		if (CORBA::is_nil (participant.in ())) {
			cerr << "create_participant failed." << endl;
			exit(1);
		}

创建写：

::DDS::ReturnCode_t ret;
	DDS::DataWriterQos dw_qos;
	ret = pub->get_default_datawriter_qos(dw_qos);
	if (DDS::RETCODE_OK != ret) {

		std::cerr << "Could not get default data writer QoS" << std::endl;

	}
	dw_qos.user_data.value.length(3);
	dw_qos.user_data.value[0] = 0x00;
	dw_qos.user_data.value[1] = 0x00;
	dw_qos.user_data.value[2] = 0x02;

	dw_qos.reliability.kind = DDS::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
	dw_qos.history.depth = 5;
	dw_qos.history.kind = DDS::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;

	dw_qos.durability.kind = DDS::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;

	// Create the datawriter
	DDS::DataWriter_var dw =
		pub->create_datawriter(topic.in(), dw_qos,
			//DATAWRITER_QOS_DEFAULT,
			DDS::DataWriterListener::_nil(),
			::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
	if (CORBA::is_nil(dw.in())) {
		cerr << "create_datawriter failed." << endl;
		exit(1);
	}

在订阅端创建参与者：

DDS::DomainParticipantFactory_var dpf = TheParticipantFactoryWithArgs(argc, argv);

		//parse_args(argc, argv);
		//////////////////////////////////////////////////
		DDS::DomainParticipantQos dp_qos;
		dpf->get_default_participant_qos(dp_qos);
		dp_qos.user_data.value.length(6);
		dp_qos.user_data.value[0] = 0x00;
		dp_qos.user_data.value[1] = 0x00;
		dp_qos.user_data.value[2] = 0x00;
		dp_qos.user_data.value[3] = 0x00;
		dp_qos.user_data.value[4] = 0x00;
		dp_qos.user_data.value[5] = 0x01;
		DDS::DomainParticipant_var participant = 
			dpf->create_participant(g_domainId, dp_qos,
			DDS::DomainParticipantListener::_nil(),
			::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
		if (CORBA::is_nil (participant.in ())) {
			cerr << "create_participant failed." << endl;
			return 1 ;
		}

创建读者：

//////////////////////////////////////////
		::DDS::ReturnCode_t ret;
		DDS::DataReaderQos reader_qos;
		ret = sub->get_default_datareader_qos(reader_qos);
		if (DDS::RETCODE_OK != ret) {

			std::cerr << "Could not get default data reader QoS" << std::endl;

		}
		reader_qos.user_data.value.length(3);
		reader_qos.user_data.value[0] = 0x00;
		reader_qos.user_data.value[1] = 0x00;
		reader_qos.user_data.value[2] = 0x01;

		reader_qos.reliability.kind = DDS::ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
		reader_qos.history.depth = 5;
		reader_qos.history.kind = DDS::HistoryQosPolicyKind::KEEP_ALL_HISTORY_QOS;

		reader_qos.durability.kind = DDS::DurabilityQosPolicyKind::TRANSIENT_LOCAL_DURABILITY_QOS;

		// Create the Datareaders
		DDS::DataReader_var dr = sub->create_datareader(topic.in (), reader_qos,
			//DATAREADER_QOS_DEFAULT,
			listener.in (),
			::OpenDDS::DCPS::DEFAULT_STATUS_MASK);
		if (CORBA::is_nil (dr.in ())) {
			cerr << "create_datareader failed." << endl;
			exit(1);
		}

运行的命令：

./subscriber -DCPSConfigFile peer.ini
./publisher -DCPSConfigFile peer.ini