From b3a8d474560ac77e3d0af72ce6496e1f4e25ef43 Mon Sep 17 00:00:00 2001 From: Fred Hornsey Date: Mon, 15 Apr 2024 18:48:46 -0500 Subject: [PATCH] Replace Some Diagrams with Svgbob Ones --- docs/conf.py | 5 ++ docs/custom.css | 9 ++ docs/devguide/images/inforepo_discovery.png | Bin 178035 -> 0 bytes docs/devguide/images/pluggable.png | Bin 51401 -> 0 bytes docs/devguide/images/rtps_discovery.png | Bin 32723 -> 0 bytes docs/devguide/images/rtps_relay.png | Bin 9842 -> 0 bytes docs/devguide/internet_enabled_rtps.rst | 18 +++- docs/devguide/introduction.rst | 93 ++++++++++++++++++-- docs/devguide/introduction_to_dds.rst | 2 +- docs/requirements.txt | 1 + 10 files changed, 118 insertions(+), 10 deletions(-) create mode 100644 docs/custom.css delete mode 100644 docs/devguide/images/inforepo_discovery.png delete mode 100644 docs/devguide/images/pluggable.png delete mode 100644 docs/devguide/images/rtps_discovery.png delete mode 100644 docs/devguide/images/rtps_relay.png diff --git a/docs/conf.py b/docs/conf.py index 935c3879a52..f9c5e13e753 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -114,6 +114,7 @@ def setup(app): 'sphinx_copybutton', 'sphinx_markdown_builder', 'sphinx_inline_tabs', + 'sphinxcontrib.svgbob' ] # List of patterns, relative to source directory, that match files and @@ -174,6 +175,10 @@ def setup(app): html_static_path = ['.'] +html_css_files = [ + 'custom.css', +] + html_theme = 'furo' # See documentation for the theme here: # https://pradyunsg.me/furo/ diff --git a/docs/custom.css b/docs/custom.css new file mode 100644 index 00000000000..7e11260ef73 --- /dev/null +++ b/docs/custom.css @@ -0,0 +1,9 @@ +/* + * svgbob's outputs have fixed colors, which would be fine, but the background + * is transparent. This makes it impossible to see a lot or all of the diagrams + * in dark mode. The svgbob directive has a background-color option, but + * setting it doesn't seem to do anything. + */ +.svgbob { + background-color: white; +} diff --git a/docs/devguide/images/inforepo_discovery.png b/docs/devguide/images/inforepo_discovery.png deleted file mode 100644 index ba6e80c0b123fd88ee26c34b17590eff52b14149..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 178035 zcmeFZWmHyO+cru`NDD}JNq2XHlF}dz7u^@#9TEbH(g@OBqI4tO-5{OPh`^rQPu=g> z-=BAk{f+(SQDCfVtvSy%=Q+G$2o`@2oor1XocjP2YuTTg$rv$MVBtk#wjf42;e-3f8G7JrVG`y7$0 zx)y)po$qDnsR_#!GvbFlswX3Ci?)IH%mZ6m1KYGQcTFuV51~O1vG>sz`?UeL9+cip z&RMH>7_2(?mz1J7$iG+8M!j&Z7b3dC;FeqP6ln!2%`ZnDrf6x;% zJ*Q<@JTNr5UbSUE>)nsfYCJzYn+ecZ=1|*#$ie8YrI$yOME;}^z$9~*+c}y@UvU~L~ zI6{sjC`Wso9;~|`i+6Tv^EChS;I3mi73ERW{);7;)_|4=HA8qpMZUogPuztvDP>(M z=3kSBrR}tZMa|&LzrP>~#Bx6FGB5nSW9Lr!{lM;53%?u*)6FiLhBc9xe9)^tHps3S za>`GQ3ZJu#^`kn`n{6}px6)tUNm25!Kwa=)dG`vsUZT6{G3UQ`VJyl|_Qnv{dhg1r zyE^mgMb($YR}6KvD9CjG 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zcpD4T&3d|Npw^XgTGC?SP1=EbVy^ktfutR>7@=YedAEq7wdTpuIY`0v_NNZ2Z*k~$ zjt=+|03k3~dG4L}gG+pZO8>q(ph}v*8y*>`-CJ$x?9{F>TAZA8CrsZ;bel^-XO=h3^PWvIBg9W)+RK>>M4a8Bja(D%#*adR7yj}kQ{`bq`Zd&{dk5XOyGYG)MJLg_CElY9&O$L diff --git a/docs/devguide/internet_enabled_rtps.rst b/docs/devguide/internet_enabled_rtps.rst index 298353eae14..abd0f75c1ab 100644 --- a/docs/devguide/internet_enabled_rtps.rst +++ b/docs/devguide/internet_enabled_rtps.rst @@ -54,7 +54,23 @@ When a client sends an RTPS datagram to its RtpsRelay instance, the RtpsRelay in Clients send RTPS datagrams via unicast which is generally supported and compatible with NAT. The RtpsRelay can be used in lieu of or in addition to conventional RTPS discovery. -.. image:: images/rtps_relay.png +.. svgbob:: + + +--------------+ +--------------+ + | "RtpsRelay" |<------->| "RtpsRelay" | + +--------------+ "3" +--------------+ + ^ ^ + | "2" "4" | + V V + +--------------+ +--------------+ + | "Firewall" | | "Firewall" | + +--------------+ +--------------+ + ^ ^ + | "1" "5" | + V V + +--------------+ +--------------+ + |"Pariticpant" | |"Pariticpant" | + +--------------+ +--------------+ The preceding diagram illustrates how the RtpsRelay can be used to connect participants that are behind firewalls that may be performing NAT. First, a Participant sends an RTPS datagram to its associated RtpsRelay (1). diff --git a/docs/devguide/introduction.rst b/docs/devguide/introduction.rst index 0281f7ad0cc..1260260e023 100644 --- a/docs/devguide/introduction.rst +++ b/docs/devguide/introduction.rst @@ -380,7 +380,25 @@ Transmission of :term:`samples ` and information related to their manage Transports are typically specified via configuration files and are attached to various entities in the publisher and subscriber processes. See :ref:`config-transport` for details on configuring transports generally. -.. figure:: images/pluggable.png +.. svgbob:: + + .---------------------------. .---------------------------. + | "Publisher Application" | | "Subscriber Application" | + | +-----------------------+ | | +-----------------------+ | + | | "DataWriter" | | | | "DataReader" | | + | +-----------------------+ | | +-----------------------+ | + | | "Publisher" | | | | "Subscriber" | | + | +-----------------------+ | | +-----------------------+ | + | | "DomainParticipant" | | | | "DomainParticipant" | | + | +-----------+-----------+ | | +-----------+-----------+ | + | |"Discovery"|"Transport"| | | |"Transport"|"Discovery"| | + | +-----o-----+-----o-----+ | | +-----o-----+-----o-----+ | + | | | | | | | | + | +-----+-----+ | | +-----+-----+ | + `-------------|-------------' `-------------|-------------' + | | + | "Network" | + ==============#==============================#============== Transports are used along with :ref:`discovery ` to define how OpenDDS communicates. @@ -558,9 +576,28 @@ Each OpenDDS application connects to the DCPSInfoRepo and creates records for it As records for data writers and data readers are created, they are matched against the existing set of records. When matches are found, the DCPSInfoRepo invokes the participant to perform the necessary associations. -.. figure:: images/inforepo_discovery.png - - Centralized Discovery with DCPSInfoRepo +.. svgbob:: + + .---------------------------. .---------------------------. + | "Publisher Application" | | "Subscriber Application" | + | +-----------------------+ | | +-----------------------+ | + | | "DataWriter" | | | | "DataReader" | | + | +-----------------------+ | | +-----------------------+ | + | | "Publisher" | | | | "Subscriber" | | + | +-----------------------+ | | +-----------------------+ | + | | "DomainParticipant" | | | | "DomainParticipant" | | + | +-----------+-----------+ | | +-----------+-----------+ | + | |"InfoRepo" |"Transport"| | | |"Transport"|"InfoRepo" | | + | |"Discovery"| | | | | |"Discovery"| | + | +-----o-----+-----o-----+ | | +-----------+-----------+ | + | | | | | ^ ^ | + `-------|-----------|-------' `-------|-----------|-------' + | +------------------+ | + "1. Publisher" | "3. Publisher Writes Samples" |2. Subscriber + " Advertises" | | Discovers + " Topic" | .------------------------. | Topic + +------->+ "InfoRepo Application" +--------+ + `------------------------' .. important:: @@ -599,12 +636,31 @@ RTPS Discovery .. Sect<1.2.3.3.2> -RTPS discovery is a peer-to-peer discovery mechanism standardized as part of the :omgspec:`RTPS spec ` +RTPS discovery is a peer-to-peer discovery mechanism standardized as part of the :omgspec:`RTPS spec `. Other DDS implementations can interoperate with OpenDDS when RTPS discovery is used with the :ref:`rtps-udp-transport`. -.. figure:: images/rtps_discovery.png - - Peer-to-peer Discovery with RTPS +.. svgbob:: + + .---------------------------. .---------------------------. + | "Publisher Application" | | "Subscriber Application" | + | +-----------------------+ | | +-----------------------+ | + | | "DataWriter" | | | | "DataReader" | | + | +-----------------------+ | | +-----------------------+ | + | | "Publisher" | | | | "Subscriber" | | + | +-----------------------+ | | +-----------------------+ | + | | "DomainParticipant" | | | | "DomainParticipant" | | + | +-----------+-----------+ | | +-----------+-----------+ | + | |"RTPS" |"Transport"| | | |"Transport"|"RTPS" | | + | |"Discovery"| | | | | |"Discovery"| | + | +-----o-----+-----o-----+ | | +-----------+-----------+ | + | | | | | ^ ^ | + `-------|-----------|-------' `-------|-----------|-------' + | +------------------+ | + "1. Publisher" | "3. Publisher Writes Samples" |2. Subscriber + " Advertises" | | Discovers + " Topic" | | Topic + | "RTPS SPDP Multicast Group" | + ========#==========================================#======== .. important:: @@ -653,6 +709,27 @@ Static Discovery In Static Discovery, each participant starts with a database containing identifiers, QoS settings, and network locators for all participants, topics, data writers, data readers. +.. svgbob:: + + .---------------------------. .---------------------------. + | "Publisher Application" | | "Subscriber Application" | + | +-----------------------+ | | +-----------------------+ | + | | "DataWriter" | | | | "DataReader" | | + | +-----------------------+ | | +-----------------------+ | + | | "Publisher" | | | | "Subscriber" | | + | +-----------------------+ | | +-----------------------+ | + | | "DomainParticipant" | | | | "DomainParticipant" | | + | +-----------+-----------+ | | +-----------+-----------+ | + | |"Static" |"RTPS UDP" | | | |"RTPS UDP" |"Static" | | + | |"Discovery"|"Transport"| | | |"Transport"|"Discovery"| | + | +-----------+-----o-----+ | | +-----------+-----------+ | + | | | | ^ | + `-------------------|-------' `-------|-------------------' + +------------------+ + "2. Publisher Writes Samples" + 1. Subscriber + Assumes Topic + .. important:: The :ref:`rtps-udp-transport` is the only transport that can be used with Static Discovery. diff --git a/docs/devguide/introduction_to_dds.rst b/docs/devguide/introduction_to_dds.rst index 6535c5e8545..1def2f8cf60 100644 --- a/docs/devguide/introduction_to_dds.rst +++ b/docs/devguide/introduction_to_dds.rst @@ -46,7 +46,7 @@ Domain The *domain* is the fundamental partitioning unit within DCPS. Each of the other entities belongs to a domain and can only interact with other entities in that same domain. Application code is free to interact with multiple domains but must do so via separate entities that belong to the different domains. -Domains are identified by an identifier. +Domains are identified by an integer identifier. There is no entity in the DCPS API that represents the domain. Entity diff --git a/docs/requirements.txt b/docs/requirements.txt index 8bc0a9441a4..01c8edd193e 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -6,3 +6,4 @@ sphinx-copybutton sphinx-markdown-builder @ git+https://github.com/liran-funaro/sphinx-markdown-builder sphinx-inline-tabs PyMuPDF +sphinxcontrib-svgbob