From f1da8722c961ed426be20081de76d55c5b679948 Mon Sep 17 00:00:00 2001 From: "Justin R. Wilson" Date: Fri, 6 Oct 2023 15:26:31 -0500 Subject: [PATCH 1/7] DevGuide does not contain quick starts Problem ------- The DevGuide does not contain the quick starts. Solution -------- Add them. --- docs/devguide/building/index.rst | 2 + docs/devguide/index.rst | 1 + docs/devguide/quickstart/docker.rst | 89 +++++++ docs/devguide/quickstart/index.rst | 15 ++ docs/devguide/quickstart/linux.rst | 77 ++++++ docs/devguide/quickstart/pi.rst | 233 ++++++++++++++++++ docs/devguide/quickstart/shapes.rst | 110 +++++++++ .../shapes/content-based-filter-1.png | Bin 0 -> 65073 bytes .../shapes/content-based-filter-2.png | Bin 0 -> 69397 bytes .../shapes/content-based-filter-menu.png | Bin 0 -> 14797 bytes .../quickstart/shapes/contentfilter.rst | 36 +++ docs/devguide/quickstart/shapes/default.png | Bin 0 -> 46435 bytes .../quickstart/shapes/durability-example.png | Bin 0 -> 63123 bytes .../devguide/quickstart/shapes/durability.rst | 29 +++ docs/devguide/quickstart/shapes/instances.rst | 23 ++ .../shapes/ownership-example-final.png | Bin 0 -> 65568 bytes .../shapes/ownership-example-initial.png | Bin 0 -> 61024 bytes docs/devguide/quickstart/shapes/ownership.rst | 39 +++ .../quickstart/shapes/partition-example.png | Bin 0 -> 134428 bytes docs/devguide/quickstart/shapes/partition.rst | 33 +++ .../quickstart/shapes/pub-circle-matched.png | Bin 0 -> 48648 bytes .../shapes/pub-circle-unmatched.png | Bin 0 -> 47715 bytes .../quickstart/shapes/pub-sub-triangle.png | Bin 0 -> 64049 bytes .../quickstart/shapes/pub-triangle.png | Bin 0 -> 53444 bytes .../quickstart/shapes/publisher-qos-menu.png | Bin 0 -> 31260 bytes .../quickstart/shapes/reliability-example.png | Bin 0 -> 65708 bytes .../quickstart/shapes/reliability.rst | 38 +++ .../quickstart/shapes/subscriber-qos-menu.png | Bin 0 -> 34673 bytes .../shapes/time-based-filter-example-1.png | Bin 0 -> 66718 bytes .../shapes/time-based-filter-example-2.png | Bin 0 -> 66135 bytes docs/devguide/quickstart/shapes/timebased.rst | 33 +++ .../shapes/two-instances-pub-triangle.png | Bin 0 -> 65762 bytes .../quickstart/shapes/two-instances.png | Bin 0 -> 61486 bytes docs/devguide/quickstart/windows.rst | 80 ++++++ 34 files changed, 838 insertions(+) create mode 100644 docs/devguide/quickstart/docker.rst create mode 100644 docs/devguide/quickstart/index.rst create mode 100644 docs/devguide/quickstart/linux.rst create mode 100644 docs/devguide/quickstart/pi.rst create mode 100644 docs/devguide/quickstart/shapes.rst create mode 100644 docs/devguide/quickstart/shapes/content-based-filter-1.png create mode 100644 docs/devguide/quickstart/shapes/content-based-filter-2.png create mode 100644 docs/devguide/quickstart/shapes/content-based-filter-menu.png create mode 100644 docs/devguide/quickstart/shapes/contentfilter.rst create mode 100644 docs/devguide/quickstart/shapes/default.png create mode 100644 docs/devguide/quickstart/shapes/durability-example.png create mode 100644 docs/devguide/quickstart/shapes/durability.rst create mode 100644 docs/devguide/quickstart/shapes/instances.rst create mode 100644 docs/devguide/quickstart/shapes/ownership-example-final.png create mode 100644 docs/devguide/quickstart/shapes/ownership-example-initial.png create mode 100644 docs/devguide/quickstart/shapes/ownership.rst create mode 100644 docs/devguide/quickstart/shapes/partition-example.png create mode 100644 docs/devguide/quickstart/shapes/partition.rst create mode 100644 docs/devguide/quickstart/shapes/pub-circle-matched.png create mode 100644 docs/devguide/quickstart/shapes/pub-circle-unmatched.png create mode 100644 docs/devguide/quickstart/shapes/pub-sub-triangle.png create mode 100644 docs/devguide/quickstart/shapes/pub-triangle.png create mode 100644 docs/devguide/quickstart/shapes/publisher-qos-menu.png create mode 100644 docs/devguide/quickstart/shapes/reliability-example.png create mode 100644 docs/devguide/quickstart/shapes/reliability.rst create mode 100644 docs/devguide/quickstart/shapes/subscriber-qos-menu.png create mode 100644 docs/devguide/quickstart/shapes/time-based-filter-example-1.png create mode 100644 docs/devguide/quickstart/shapes/time-based-filter-example-2.png create mode 100644 docs/devguide/quickstart/shapes/timebased.rst create mode 100644 docs/devguide/quickstart/shapes/two-instances-pub-triangle.png create mode 100644 docs/devguide/quickstart/shapes/two-instances.png create mode 100644 docs/devguide/quickstart/windows.rst diff --git a/docs/devguide/building/index.rst b/docs/devguide/building/index.rst index 2575003565d..fe6f6b43e0c 100644 --- a/docs/devguide/building/index.rst +++ b/docs/devguide/building/index.rst @@ -1,3 +1,5 @@ +.. _building: + ####################### Building and Installing ####################### diff --git a/docs/devguide/index.rst b/docs/devguide/index.rst index a9369feedaf..c85f09737ef 100644 --- a/docs/devguide/index.rst +++ b/docs/devguide/index.rst @@ -7,6 +7,7 @@ The Developer's Guide explains how to use OpenDDS. .. toctree:: introduction + quickstart/index building/index getting_started quality_of_service diff --git a/docs/devguide/quickstart/docker.rst b/docs/devguide/quickstart/docker.rst new file mode 100644 index 00000000000..a5bf56f49cd --- /dev/null +++ b/docs/devguide/quickstart/docker.rst @@ -0,0 +1,89 @@ +###### +Docker +###### + +This guide will take you through the process of compiling and runnning an OpenDDS application with Docker. +Docker images containing a pre-built OpenDDS are available in `GitHub Container Registry `__. +An image corresponding to a particular release has a tag of the form ``DDS-X.xx``, e.g., ``DDS-3.23``. + +************* +Prerequisites +************* + +Check that ``docker`` and ``docker-compose`` are installed. + +.. code-block:: bash + + docker --version + docker-compose --version + +***************************** +Compile the Messenger Example +***************************** + +#. Enter a container + + .. code-block:: bash + + docker run --rm -ti -v "$PWD:/opt/workspace" ghcr.io/opendds/opendds:latest-release + +#. Copy the ``Messenger`` directory + + .. code-block:: bash + + cp -R /opt/OpenDDS/DevGuideExamples/DCPS/Messenger Messenger + cd Messenger + +#. Configure and build the Messenger example + + .. code-block:: bash + + source /opt/OpenDDS/setenv.sh + mwc.pl -type gnuace + make + +#. Exit the container + + .. code-block:: bash + + exit + +*********************************** +Run the Messenger Example with RTPS +*********************************** + +#. Enter the ``Messenger`` directory + + .. code-block:: bash + + cd Messenger + +#. Run the Messenger example with RTPS + + .. code-block:: bash + + docker-compose up + +*************************************** +Run the Messenger Example with InfoRepo +*************************************** + +#. Enter the ``Messenger`` directory if not done as part of the previous section + + .. code-block:: bash + + cd Messenger + +#. Run the Messenger example with InfoRepo + + .. code-block:: bash + + docker-compose -f docker-compose-inforepo.yml up + +#. Use Control-C to kill the InfoRepo process + +********** +Next Steps +********** + +See :ref:`getting_started` for a detailed explanation of the Messenger C++ Example or :ref:`java` for the Java Example. diff --git a/docs/devguide/quickstart/index.rst b/docs/devguide/quickstart/index.rst new file mode 100644 index 00000000000..4acaedc2c97 --- /dev/null +++ b/docs/devguide/quickstart/index.rst @@ -0,0 +1,15 @@ +.. _quickstart: + +################## +Quick Start Guides +################## + +.. toctree:: + + windows + linux + pi + docker + shapes + +See :ref:`building` for detailed build instructions. diff --git a/docs/devguide/quickstart/linux.rst b/docs/devguide/quickstart/linux.rst new file mode 100644 index 00000000000..b385cf670eb --- /dev/null +++ b/docs/devguide/quickstart/linux.rst @@ -0,0 +1,77 @@ +########### +Linux/macOS +########### + +The goal of this guide is help you download and compile OpenDDS and run a simple example. + +**************** +Build Directions +**************** + +#. Ensure that your environment has: + + * a C++ compiler (GCC or Clang) + * GNU Make + * Perl + * Optional Java SDK 1.5 or greater for Java JNI binding support + + See :ref:`deps` for a complete list of dependencies and :ghfile:`README.md#supported-platforms` for supported platforms. + +#. Download and extract the latest tar.gz file from the `download site `__ + +#. Enter the ``OpenDDS-`` directory + +#. .. code-block:: bash + + ./configure + + To enable Java bindings, use + + .. code-block:: bash + + ./configure --java + +#. .. code-block:: bash + + make + +See `Support `__ if you encounter problems with configuration or building. + +************************* +Run the Messenger Example +************************* + +#. .. code-block:: bash + + source setenv.sh + +#. For the C++ example + + .. code-block:: bash + + cd DevGuideExamples/DCPS/Messenger + + For the Java example + + .. code-block:: bash + + cd java/tests/messenger + +#. .. code-block:: bash + + ./run_test.pl + +The Messenger Example starts an InfoRepo, publisher, and subscriber. +The InfoRepo allows the publisher and subscriber to find each other. +Once the publisher finds the subscriber, it sends 10 messages to the subscriber and waits 30 seconds for the subscriber to acknowledge the messages. + +.. important:: + + ``The setenv.sh`` script sets various environment variables needed for running OpenDDS tests. + Be sure to ``source setenv.sh`` if you start a new terminal session. + +********** +Next Steps +********** + +See :ref:`getting_started` for a detailed explanation of the Messenger C++ Example or :ref:`java` for the Java Example. diff --git a/docs/devguide/quickstart/pi.rst b/docs/devguide/quickstart/pi.rst new file mode 100644 index 00000000000..d5e97eb3688 --- /dev/null +++ b/docs/devguide/quickstart/pi.rst @@ -0,0 +1,233 @@ +############ +Raspberry Pi +############ + +The goal of this guide is help you download and compile OpenDDS for Linux on the `Raspberry Pi `__ and run a simple example. + +.. _pi-build-directions: + +**************** +Build Directions +**************** + +For this guide you need a Raspberry Pi set up with Raspbian Bullseye Linux (the Lite variant works) and connected to a local network. +You will also need a Linux host system (or virtual machine) connected to the same network where we will build OpenDDS. +We have tested with Ubuntu 20.04.3 LTS x86_64 and CentOS Stream 8 x86_64. +This guide assumes you know the address and user credentials of the Pi. +Perform these all these steps on the host computer: + + +#. Ensure that your host environment has: + + * a C++ compiler + * GNU Make + * Perl + * CMake if building with DDS Security + * Optional Java SDK 1.5 or later for Java binding support + +#. Download and extract the latest tar.gz file from the `download site `__ + +#. Download and extract the `Linux GCC 10.2 cross-compiler toolchain `__ from the `ARM Developer website `__. + Rename the resulting directory from ``gcc-arm-10.2-2020.11-x86_64-arm-none-linux-gnueabihf`` to ``cross-pi-gcc`` and move it to ``/opt``. + +#. If building with DDS Security, follow :ref:`the steps below ` to build OpenSSL and Xerces-C++ for the Pi. + +#. Enter the ``OpenDDS-`` directory + +#. Run the following as a single command. + + .. code-block:: bash + + ./configure --target=linux-cross --target-compiler=/opt/cross-pi-gcc/bin/arm-none-linux-gnueabihf-g++ (additional options) + + Additional options: + + * If using DDS Security: + + .. code-block:: bash + + --security --no-tests --openssl=SSL_ROOT --xerces3=XERCESCROOT + + Replace ``SSL_ROOT`` and ``XERCESCROOT`` with the paths for your system (see :ref:`below `). + + Note that the Google Test Framework is not supported in this configuration, therefore ``--no-tests`` is required when using ``--security``. + + * If using Java bindings: + + .. code-block:: bash + + --java + +#. .. code-block:: bash + + make + +See `Support `__ if you encounter problems with configuration or building. + +************************* +Copying OpenDDS to the Pi +************************* + +There are multiple ways to do this, including using a flash drive. +We do not recommend copying the entire build tree, since it can be 2+ GB. +The following steps copy the OpenDDS runtime libraries, support scripts, and test executables over the network. + +#. Leave the ``OpenDDS-`` directory: + + .. code-block:: bash + + cd .. + +#. .. code-block:: bash + + tar czhf OpenDDS-.tar.gz OpenDDS-/build/target/ACE_wrappers/lib OpenDDS-/build/target/lib OpenDDS-/build/target/bin OpenDDS-/build/target/ACE_wrappers/bin/PerlACE OpenDDS-/build/target/DevGuideExamples/DCPS/Messenger + +#. .. code-block:: bash + + scp OpenDDS.tar.gz USER@ADDRESS: + + where ``USER`` and ``ADDRESS`` are the username and IP address of your Raspberry Pi. + It will ask you for the password for the user on the Pi. + +#. .. code-block:: bash + + ssh USER@ADDRESS + + to access the Pi, taking the same information as the previous command. + +#. .. code-block:: bash + + tar xzf OpenDDSOpenDDS-.tar.gz + +************************* +Run the Messenger Example +************************* + +#. While still in ssh on the Pi, enter the ``OpenDDS-`` directory +#. .. code-block:: bash + + export DDS_ROOT="$PWD/build/target" + +#. .. code-block:: bash + + export ACE_ROOT="$DDS_ROOT/ACE_wrappers" + +#. .. code-block:: bash + + export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:"$ACE_ROOT/lib":"$DDS_ROOT/lib" + +#. .. code-block:: bash + + export PATH=${PATH}:"$ACE_ROOT/bin":"$DDS_ROOT/bin" + +#. For the C++ example: + + .. code-block:: bash + + cd $DDS_ROOT/DevGuideExamples/DCPS/Messenger + + For the Java example: + + .. code-block:: bash + + cd $DDS_ROOT/java/tests/messenger + +#. .. code-block:: bash + + ./run_test.pl + +The Messenger Example starts an InfoRepo, publisher, and subscriber. +The InfoRepo allows the publisher and subscriber to find each other. +Once the publisher finds the subscriber, it sends 10 messages to the subscriber and waits 30 seconds for the subscriber to acknowledge the messages. + +********** +Next Steps +********** + +See :ref:`getting_started` for a detailed explanation of the Messenger C++ Example or :ref:`java` for the Java Example. + +.. _thirdparty: + +****************************** +Building Third-Party Libraries +****************************** + +===== +Setup +===== + +#. Create and enter a directory to perform the build. +#. Set the ``BUILD_ROOT`` shell variable to the working directory. +#. This will be the parent directory for the source repos and "staged" installation directories for the cross-compiled software. + +======= +OpenSSL +======= + +#. In ``$BUILD_ROOT``, download and extract the `OpenSSL source archive `__, and change to that extracted directory. + See :ref:`deps-openssl` for any version requirements for OpenSSL. + +#. .. code-block:: bash + + ./Configure --cross-compile-prefix=/opt/cross-pi-gcc/bin/arm-none-linux-gnueabihf- linux-armv4 + +#. .. code-block:: bash + + make + +#. .. code-block:: bash + + make install DESTDIR=$BUILD_ROOT/pi-openssl + +========== +Xerces-C++ +========== + +#. In ``$BUILD_ROOT``, create the file ``PiToolchain.cmake`` with the contents: + + .. code-block:: bash + + set(CMAKE_SYSTEM_NAME Linux) + set(CMAKE_SYSTEM_PROCESSOR arm) + set(CMAKE_C_COMPILER /opt/cross-pi-gcc/bin/arm-none-linux-gnueabihf-gcc) + set(CMAKE_CXX_COMPILER /opt/cross-pi-gcc/bin/arm-none-linux-gnueabihf-g++) + set(CMAKE_FIND_ROOT_PATH /opt/cross-pi-gcc/arm-none-linux-gnueabihf) + set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) + set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) + set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) + set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY) + set(THREADS_PTHREAD_ARG 2) + +#. In ``$BUILD_ROOT``, download and extract the `Xerces-C++ source archive `__, and change to that extracted directory. + See :ref:`deps-xerces` for any version requirements for Xerces. + +#. .. code-block:: bash + + mkdir build-pi + cd build-pi + +#. .. code-block:: bash + + cmake -DCMAKE_TOOLCHAIN_FILE=$BUILD_ROOT/PiToolchain.cmake -DCMAKE_INSTALL_PREFIX=$BUILD_ROOT/pi-xerces .. + +#. .. code-block:: bash + + make + +#. .. code-block:: bash + + make install + +======================== +Using these with OpenDDS +======================== + +* For ``configure`` (see :ref:`above `) + + * ``SSL_ROOT`` is ``$BUILD_ROOT/pi-openssl/usr/local`` + * ``XERCESCROOT`` is ``$BUILD_ROOT/pi-xerces`` + +* For runtime loading of shared objects + + * copy ``$BUILD_ROOT/pi-openssl/usr/local/lib/libcrypto.so.1.1`` to ``build/target/lib`` + * copy ``$BUILD_ROOT/pi-xerces/lib/libxerces-c-3.2.so`` to ``build/target/lib`` diff --git a/docs/devguide/quickstart/shapes.rst b/docs/devguide/quickstart/shapes.rst new file mode 100644 index 00000000000..f8ab867e221 --- /dev/null +++ b/docs/devguide/quickstart/shapes.rst @@ -0,0 +1,110 @@ +########### +Shapes Demo +########### + +The goal of this guide is to walk through downloading and running the DDS Interoperability Shapes demo program. +The Shapes demo is a graphical application that will help you visualize some of the DDS concepts that OpenDDS supports without needing to read or write source code. +The application allows you to create publishers and subscribers on topics represented by data payloads shown as simple shapes and see the results of the different quality of service, data partitioning, and filtering options provided. +The Shapes demo makes use of the Real-Time Publish-Subscribe Wire Protocol Specification (DDSI-RTPS) that provides interoperable communications between various DDS implementations. + +`This video `__ demonstrates a few of the scenarios described below. + +************************* +Environment Prerequisites +************************* + + +#. Ensure that your environment has Qt5 libraries available: + + * Windows (x64): Use the `Qt Installer `__, or install the qt5 package from `vcpkg `__. + The Visual C++ runtime `redistributable `__ is also required. + + * Ubuntu (x86_64): Install the ``libqt5gui5`` package. + +#. Download or compile the latest Shapes demo for your operating system: + + * `Choose from the "ShapesDemo" assets in the latest release of OpenDDS `__ + + * Alternatively, the Shapes demo can be run from a build from source of OpenDDS with :ghfile:`Qt enabled `. + The demo resides in the :ghfile:`examples/DCPS/ishapes` directory. + See :ref:`deps` for a complete list of dependencies and :ghfile:`README.md#supported-platforms` for supported platforms. + +*********************** +Running the Shapes Demo +*********************** + +#. Locate and run the Shapes demo and you should see a window that looks like this: + + .. figure:: shapes/default.png + +#. The most basic example is to simply click the ``Publish`` button to begin publishing a circle and then click ``Subscribe`` to begin subscribing to the same circle topic you are publishing. + As soon as you begin publishing, you should see a green circle bouncing around the display area with a white center. + This indicates that this is a published object, originating at this application. + + .. figure:: shapes/pub-circle-unmatched.png + +#. After clicking ``Subscribe``, as soon as the subscriber goes live and finds a match in the published circle topic, the center of the circle will go dark to indicate it is an instance of subscribed data, which in this case is being rendered over top the initial published instance. + + .. figure:: shapes/pub-circle-matched.png + +#. Now that we have confirmed the ability to run an instance of the Shapes demo, let's understand some of the DDS concepts seen at work even in this simple example. + + * Each of the available shapes in the drop-down menu are DDS Topics that can be published on or subscribed to. + + * Each instance on the topic has an instance key represented by the shape's color and the shape itself is a DDS Data type comprised of x and y coordinates as well as a size. + + What may not be apparent in this simple example is that the center of the circle going from white to dark is actually demonstrating the process of discovery, entity matching, publication, and subscription between two DDS entities. + The additional example scenarios below make use of multiple shapes demo instances running concurrently to better demonstrate these capabilities. + +***************** +Example Scenarios +***************** + +The pages linked below contain example scenarios that demonstrate different features of OpenDDS: + +.. toctree:: + + shapes/instances + shapes/reliability + shapes/durability + shapes/partition + shapes/ownership + shapes/timebased + shapes/contentfilter + +********** +Conclusion +********** + +The examples worked through above have demonstrated some of the many Data Distribution Service features provided by OpenDDS. +OpenDDS provides a portable and interoperable publish/subscribe infrastructure. +You have learned a little about many DDS concepts including: + +* Discovery +* Topics and Data Types +* Publish/Subscribe semantics +* One to Many and Many to One communications +* Different Quality of Service (QoS) + + * Reliability + * Durability + * Ownership + * Data Partitioning + * Time Based Filter +* Content Filtered Topics + +Hopefully this has helped provide an understanding of what using OpenDDS to provide a publish/subscribe infrastructure can look like and the different features that can be included in a product using OpenDDS as its communications infrastructure. + +********** +Next Steps +********** + +Now that you've acquired a conceptual baseline, here are some recommended next steps to continue learning about OpenDDS: + +* Work through downloading and building OpenDDS and running a simple example through the other :ref:`quickstart`. + +* Find more support information about dependencies and detailed instructions for :ref:`building`. + +* Learn more about :ref:`getting_started` with OpenDDS by walking through an end-to-end example. + +* Visit `the OpenDDS project on GitHub `__. diff --git a/docs/devguide/quickstart/shapes/content-based-filter-1.png b/docs/devguide/quickstart/shapes/content-based-filter-1.png new file mode 100644 index 0000000000000000000000000000000000000000..ac27227fdec4367ab3daa5c6c59b4b1c2cc2fa62 GIT binary patch literal 65073 zcmZ^~bwC_V@GUw>kl;js-~3GN;s1b27W;O>$D0fGm2cXyW%9D>W@u&}WB;@su? z-FNRF?>*RMXL_0L>C-*c=TueyP?VR#dim}p003Ar(h|x5fDAuINJc}1mo%Wzh{8XR zEkxzupEWTU_eL+^=M*N=%5nhUMGF7{Apmd-FACTP09RH3I4}eNz7zl;a7=Gi5`ce! 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jCe}7qMhp(`#*C~TOl=&`p*nfrF9Lpu$OwZ4_5A-E=YYlO literal 0 HcmV?d00001 diff --git a/docs/devguide/quickstart/shapes/contentfilter.rst b/docs/devguide/quickstart/shapes/contentfilter.rst new file mode 100644 index 00000000000..729a5361f25 --- /dev/null +++ b/docs/devguide/quickstart/shapes/contentfilter.rst @@ -0,0 +1,36 @@ +####################### +Content-Filtered Topics +####################### + +.. seealso:: :ref:`content_subscription_profile--content-filtered-topic` + +In this example we will begin to look at the DDS concept of Content-Filtered Topics. +In this example only 2 instances of the Shapes Demo application will be necessary. + + +#. In the first application window publish a single instance of Square using the default QoS settings. + +#. In the second application window you will subscribe to the Square topic. + However, the content filter needs to be configured first. + So click on the ``Filter`` button and it should bring up a dialog that looks like this: + + .. figure:: content-based-filter-menu.png + +#. For this example we will use the default bounding box for the content filter which is controlled by the x and y slider bars in the menu. + We will also use the default filter of **outside** which will tell the subscriber to ignore all samples outside the given bounding box. + Then also toggle the filter by selecting ``Enable`` and finish by clicking the ``OK`` button. + +#. Now that the content filter is set up, subscribe to the Square topic. + +#. **Results** - You should be able to observe the square bouncing around the publisher application's display window. + On the subscriber's side, however, the square's position and graphic will only be updated when it is within the content filter's bounding box. + All samples outside the content filter area are filtered out. + Here are a couple of examples of what your application windows might look like at this point (publisher on the left, subscriber on the right): + + .. figure:: content-based-filter-1.png + + Here you can see that while the published instance is within the content filter bounds, the subscriber's square updates normally keeping in step with the square on the publisher's side. + + .. figure:: content-based-filter-2.png + + Here you can see that when the published instance leaves the confines of the content filter, the subscriber's square remains at the last valid position and no longer updates 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zmm6OWZV(GH{j@3goTaUN@!!AhrF4j;Aum3AceiJbknFfwkKD82b}p`aGf4DYVSN|C zy9LJM!}2Y5(10OZnVbt41OmNqmD6=KH+8iTHgmQBet~#j^9XXi=HcSw(c%#h1~`~+ zc)4B!f4t_pqRRe%9ANKgZfyy`%m3d2pK>dn0|z|0yTS)YOIHt5XA6*(gQL9#mkV$) a3kR1kj;{OI?c%_fKuU6IvK7)M-~TU$C1DBx literal 0 HcmV?d00001 diff --git a/docs/devguide/quickstart/shapes/durability.rst b/docs/devguide/quickstart/shapes/durability.rst new file mode 100644 index 00000000000..d9cfd903c13 --- /dev/null +++ b/docs/devguide/quickstart/shapes/durability.rst @@ -0,0 +1,29 @@ +########## +Durability +########## + +.. seealso:: :ref:`quality_of_service--durability` + +In this example, we will begin to look at the DDS concept of durability as it relates to a publisher's offered quality of service (QoS) and a subscriber's requested QoS. +Durability allows messages sent before a subscriber came online to be delivered to that subscriber. +As in the last example, start up two instances of the Shapes Demo. + +#. In the first application window, configure the publisher's QoS by opening the QoS menu and setting the following: + + * Durability QoS: TRANSIENT_LOCAL + + Then publish one instance of Square. + +#. In the second application window, configure the subscriber's QoS by opening the lower QoS menu and setting the following: + + * Reliability QoS: Reliable + * History QoS Depth: 100 + * Durability QoS: TRANSIENT_LOCAL + + Then subscribe to one instance of Square. + +#. **Results** - You should observe a Square with 100 trailing squares bouncing around the subscriber application's display window. + This demonstrates that the subscriber is being provided with the durable data that the publisher has made available. + The example application windows should look like this (publisher on the left, subscriber on the right): + + .. figure:: durability-example.png diff --git a/docs/devguide/quickstart/shapes/instances.rst b/docs/devguide/quickstart/shapes/instances.rst new file mode 100644 index 00000000000..11936a1ba47 --- /dev/null +++ b/docs/devguide/quickstart/shapes/instances.rst @@ -0,0 +1,23 @@ +################## +Multiple Instances +################## + +#. Start up two instances of the Shapes Demo for this example. You should be able to see two application windows like so: + + .. figure:: two-instances.png + +#. **Publish** - Let's change it up and begin this example by publishing a triangle by selecting ``Triangle`` from the top Shape dropdown menu. + Then click the ``Publish`` button. + You should observe a green triangle bouncing around the application window's display area. + The triangle, from a DDS perspective, is a piece of information that is being published to the rest of the system for other entities to receive if they are set up to be interested in triangles. + + .. figure:: two-instances-pub-triangle.png + +#. **Subscribe** - In the other application window, select ``Triangle`` from the bottom Shape dropdown menu. + Then click the ``Subscribe`` button. + You should observe the green triangle, published by the first application instance bouncing around the display area in the application window you chose to subscribe in. + + .. figure:: pub-sub-triangle.png + +#. **Results** - The triangle in the subscriber's window, tracking the initial triangle from the publisher's window, exemplifies the DDS publish/subscribe paradigm for a single publisher to single subscriber. + The first application has a single publisher sending information out into the system and the second application has a single subscriber receiving that information. diff --git a/docs/devguide/quickstart/shapes/ownership-example-final.png b/docs/devguide/quickstart/shapes/ownership-example-final.png new file mode 100644 index 0000000000000000000000000000000000000000..1c67b6f426b7a691450eb58b19e13c3f9e66a07a GIT binary patch literal 65568 zcmag_1y~$U^eu`G5!@lTgaJZuhv4o3g1fuBYj6o3+}$DQ-~)`Hihu{C4 zd+vANd*5pqtDfoZ+I!dPy;rS@{H7pNg}fEoe-ylDUczGGIK z5-)ma4UiERQT1Frgm@T|3@pH( zdbroFmgCFWLla|AnEw6w@Rc3&_a)IAr2G&}#P67*w;z83kl=#$LySMdi6T*zq#LvJ z5WM~K{)bO(y?1+a`-OkNA!MH_+mtYwPiBJoev96xbU~oY%ihA=qF+;k0t-o`*%rhI zDd$zqr+WtgJR!0VdQQfNts<&E1bvWK#>PSdVl%v3Xh=Ggeg_Eb`e=@}y3%k2NpAZI 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+Windows Quick Start +################### + +The goal of this guide is help you download and compile OpenDDS and run a simple example. + +**************** +Build Directions +**************** + +#. Ensure that your environment has: + + * Visual Studio + * Perl + * Optional Java SDK 1.5 or greater for Java JNI binding support + + See :ref:`deps` for a complete list of dependencies and :ghfile:`README.md#supported-platforms` for supported platforms. + +#. Download and extract the latest zip from the `download site `__ + +#. Start a Visual Studio Command Prompt + +#. Enter the ``OpenDDS-`` directory + +#. .. code-block:: batch + + configure + + To enable Java support, use + + .. code-block:: batch + + configure --java + +#. Determine the solution to build from the output of the configure script. The solution will have a ``.sln`` extension. + +#. Start Visual Studio by executing the solution from the command prompt, e.g., ``DDS_TAOv2_all.sln`` + +#. Select **Build** -> **Build Solution** + +See `Support `__ if you encounter problems with configuration or building. + +************************* +Run the Messenger Example +************************* + +#. .. code-block:: batch + + setenv + +#. For the C++ example + + .. code-block:: batch + + cd DevGuideExamples\DCPS\Messenger + + For the Java example + + .. code-block:: batch + + cd java\tests\messenger + +#. .. code-block:: batch + + perl run_test.pl + +The Messenger Example starts an InfoRepo, publisher, and subscriber. +The InfoRepo allows the publisher and subscriber to find each other. +Once the publisher finds the subscriber, it sends 10 messages to the subscriber and waits 30 seconds for the subscriber to acknowledge the messages. + +.. important:: + + The ``setenv.cmd`` script sets various environment variables needed for building, linking, and running with OpenDDS. + Be sure to execute ``setenv.cmd`` if you start a new Visual Studio Command Prompt. + +********** +Next Steps +********** + +See :ref:`getting_started` for a detailed explanation of the Messenger C++ Example or :ref:`java` for the Java Example. From dc08a041d8721306bc0c67717929ba044b0260cc Mon Sep 17 00:00:00 2001 From: "Justin R. Wilson" Date: Mon, 9 Oct 2023 15:12:18 -0500 Subject: [PATCH 2/7] DevGuide does not contain FAQ Problem ------- The DevGuide does not contain the FAQ. Solution -------- Add the FAQ. --- docs/devguide/faq.rst | 319 +++++++++++++++++++++++++++++++++ docs/devguide/index.rst | 1 + docs/devguide/introduction.rst | 2 - 3 files changed, 320 insertions(+), 2 deletions(-) create mode 100644 docs/devguide/faq.rst diff --git a/docs/devguide/faq.rst b/docs/devguide/faq.rst new file mode 100644 index 00000000000..e63660a163f --- /dev/null +++ b/docs/devguide/faq.rst @@ -0,0 +1,319 @@ +### +FAQ +### + +******* +General +******* + +.. _prf: + +============= +What's a PRF? +============= + +"PRF" refers to the PROBLEM-REPORT-FORM, i.e., :ghfile:`PROBLEM-REPORT-FORM`. + +The odds of getting questions answered, bugs fixed, etc., goes up significantly when you report problems using the PRF because it insures that developers and support personnel get the most commonly required information right away. +Failure to use the PRF means that those folks have to spend valuable time (yours and theirs) having a conversation to get that information just to start debugging. +Unless you've got a paid support contract, there's even a chance that nobody will answer! + +So, always use the PRF! + +=========================================================================== +Is there a mailing list or forum or usenet group for discussion of OpenDDS? +=========================================================================== + +Yes. +The `GitHub Discussions `__ for OpenDDS can be used to ask questions and get help. +Please remember to use the :ref:`Problem Report Form ` when posting questions (and not just "problems"). + +===================================== +Which platforms does OpenDDS support? +===================================== + +Please refer to :ghfile:`README.md#supported-platforms` for a complete list of supported platforms. + +======================================================== +Is OpenDDS interoperable with other DDS implementations? +======================================================== + +Starting with version 3.1, OpenDDS contains an implementation of the RTPS (Real Time Publish-Subscribe) specification required for interoperability. +It is not enabled by default. +See :ref:`run_time_configuration--configuring-for-ddsi-rtps-discovery` for configuration details. + +======================= +Does OpenDDS use CORBA? +======================= + +OpenDDS uses CORBA when configured to use the DCPSInfoRepo for discovery, which is the default. +See :ref:`run_time_configuration--configuring-applications-for-dcpsinforepo`. +CORBA is never used in the distribution of application data. +When configured for RTPS peer-to-peer discovery, the CORBA libraries (TAO) are present but not used for any inter-process communication at all. +When configured for Safety Profile, which uses RTPS, no TAO libraries are used at runtime. + +======================================================================================= +Summarize the network connections established by OpenDDS in a two participant scenario. +======================================================================================= + +This scenario has two participants (one only publishes and the other only subscribes) using the TCP transport with no Built-In Topics. +The DCPSInfoRepo is used for discovery. +Here, we would expect to see three established TCP connections at each participant: + +* The participant contacts the InfoRepo over IIOP (CORBA). + The endpoint used for this connection can be supplied as ``-DCPSInfoRepo HOST:PORT`` or a similar setting in the .ini file. + The HOST is the host where the InfoRepo is running. + The PORT for the InfoRepo can be controlled by passing an argument to the InfoRepo process: ``-ORBListenEndpoints iiop://:PORT``. + + Another option that's useful for port-forwarding solutions such as NAT traversal and SSH tunneling is ``hostname_in_ior``. + This gets appended to the endpoint like so ``-ORBListenEndpoints iiop://:PORT/hostname_in_ior=HOST_ALIAS`` where HOST_ALIAS is a hostname (or dotted-decimal IP) that can be used by the client to contact the server. + In the NAT traversal example, the HOST_ALIAS would be the external side of the NAT and the PORT would be the port that's forwarded to the host running the server. + + You can also specify more than one endpoint (just repeating the ``-ORBListenEndpoints`` will work) so you can provide endpoints that will work for both "inside" and "outside" clients. + +* The InfoRepo will make an IIOP connection *back* to the participant. + This is just the inverse of connection #1, but there is no equivalent to the ``-DCPSInfoRepo corbaloc:...`` option. + It's not necessary because the InfoRepo knows how to find the participant already (from data transmitted over connection #1). + To control the endpoint here, use the same ``-ORBListenEndpoints ...`` option but this time with the participant and not the InfoRepo. + +* Once the publishing participant and the subscribing participant have been associated, they connect directly using the tcp transport (by default) instance in each one. + Here the endpoint is determined by the subscriber's transport config (the ``local_address`` value). + Unfortunately there is no equivalent to the ``hostname_in_ior`` for DDS transports. + +****************************** +Obtaining and building OpenDDS +****************************** + +============================================== +How do I obtain, configure, and build OpenDDS? +============================================== + +Please refer to :ref:`building` for complete requirements and build steps. + +============================================================== +What could be causing std lib related build failures on Linux? +============================================================== + +We have seen gcc 4.0.x-series compiler users see this problem the most often. +The visibility feature in this compiler still seems to be in a state of flux. +If you see these errors, we recommend turning off the visibility feature by adding ``no_hidden_visibility=1`` to your platform_macros.GNU file and rebuilding all of ACE+TAO and OpenDDS. + +******************* +Configuring OpenDDS +******************* + +========================================================================= +Does OpenDDS support broadcast or multicast? If so, how do you set it up? +========================================================================= + +Reliable multicast has been available in OpenDDS since the 0.12 release (unreliable multicast since 0.11 release). +A broadcast based transport is currently not available. +Please see :ref:`run_time_configuration--ip-multicast-transport-configuration-options` for how to configure the multicast transport. +See the :ghfile:`tests/DCPS/Messenger` test for an example that can use the multicast transport. +Using ``run_test.pl multicast`` to run the test with the multicast transport. +Also, see :ref:`run_time_configuration--rtps-udp-transport-configuration-options` for details of the interoperable RTPS transport that supports multicast and unicast. + +======================================================================= +Why did a subscriber did not receive all samples sent by the publisher? +======================================================================= + +While there can be multiple reasons that the samples are lost or dropped, a common problem is that the publisher starts sending samples before the subscriber is ready to receive. +To synchronize, the publisher can use a WaitSet before writing. +This ensures the subscriber is ready to receive samples. +Here is the example code: + +.. code-block:: cpp + + DDS::StatusCondition_var cond = writer->get_statuscondition(); + cond->set_enabled_statuses(DDS::PUBLICATION_MATCHED_STATUS); + + DDS::WaitSet_var ws = new DDS::WaitSet; + ws->attach_condition(cond); + + while (true) { + DDS::PublicationMatchedStatus matches; + if (writer->get_publication_matched_status(matches) != DDS::RETCODE_OK) { + // failure + } else if (matches.current_count >= 1) { + break; + } + + DDS::ConditionSeq conditions; + DDS::Duration_t timeout = + { DDS::DURATION_INFINITE_SEC, DDS::DURATION_INFINITE_NSEC }; + if (ws->wait(conditions, timeout) != DDS::RETCODE_OK) { + // failure + } + } + + ws->detach_condition(cond); + +======================================================================= +Why can't my publisher establish a connection with a remote subscriber? +======================================================================= + +While there can be multiple reasons for inter-host communication failure, this entry deals with connection establishment failures due to improper endpoint configuration. + +The configuration option ``local_address`` represents the endpoint address. +This host/port tuple is used by the publisher to initiate connection establishment. +In order to allow inter-host communication, make sure the endpoint address is publicly visible. + +A common mistake is to re-use the configuration provided in the exercises without modifications. +Since the examples are intended to be run on an intra-host environment, they generally use the 'localhost' interface. +This configuration will fail when the test is run in an inter-host setting. + +********************** +Built-In Topics (BITs) +********************** + +============================================= +What is the status of BIT support in OpenDDS? +============================================= + +Support for Built-In-Topics is complete since the 0.12 release. +This means that BITs will now work as specified. +BIT support is now turned on by default. + +============================================ +How do I turn off BIT support at build-time? +============================================ + +It is possible to build OpenDDS without BIT support which will reduce overall footprint. +For this, you will need to generate new project files: + +.. code-block:: bash + + mwc.pl -type -features built_in_topics=0 DDS.mwc + +If ``yourtype`` happens to be ``gnuace``, add ``built_in_topics=0`` to the ``platform_macros.GNU`` file or the ``MAKEFLAGS`` environment variable. +Alternatively, use the configure script with ``--no-built-in-topics``. + +========================================== +How do I turn off BIT support at run-time? +========================================== + +Turning off BIT support involves it being turned off in the DCPS Information Repository and any associated participants. + +The DCPSInfoRepo option ``-NOBITS`` disables BIT support for the InfoRepo. + +The option ``-DCPSBit 0`` will disable BIT support for all participants in the process. + +********* +Using IDL +********* + +================================================ +How do I use sequences of built-in types in IDL? +================================================ + +If you'd like to use a sequence of one of the following IDL built-in types: + +* boolean, octet +* char, wchar, string, wstring +* float, double, long double +* short, long, long long +* unsigned short, unsigned long, unsigned long long + +TAO already has a typedef for these sequences. +The typedef name is the name of the built-in type in CamelCase with a "Seq" suffix. +Unsigned types use a "U" prefix as in "ULongSeq". + +To use the existing typedef, add an ``#include`` for the pidl file from the tao directory: + +.. code-block:: omg-idl + + #include + +The typedefs are in the "CORBA" IDL module, so the typedef for LongSeq could be used as: + +.. code-block:: omg-idl + + struct X { + CORBA::LongSeq seq; + }; + +****************************** +Using the OpenDDS Modeling SDK +****************************** + +============================================ +How do I obtain the OpenDDS Modeling SDK? +============================================ + +Please refer to the :ref:`modeling_sdk` for complete installation instructions. + +Make sure that Eclipse's list of Available Software Sites contains an enabled site for the Eclipse release itself. Version 3.5 uses URL: http://download.eclipse.org/releases/galileo. If not, you need to add the correct update site for your version of Eclipse. + +================================================= +Why can't I see the element I added to my figure? +================================================= + +If auto-sizing isn't enabled for the figure and depending on the figure's size, an element added to one of the figure's compartments may not be immediately visible. +By increasing the size of the figure, the element should appear. +See the OpenDDS Modeling SDK Guide > Tasks > Working with Diagrams > Creating Figures in the Eclipse help for information on how to make the figure automatically re-size to accommodate additional content. + +==================================================================== +How to I open a library (for example a DataLib) on the main diagram? +==================================================================== + +Double clicking on the library should open the library in a subdiagram. +However, sometimes no action will be taken after double clicking. +An alternative way to open a library is to select the library and then press the Enter key. +This topic, along with other topics related to libraries, is in the Eclipse help content under OpenDDS Modeling SDK Guide > Tasks > Modeling > Working with OpenDDS Models. + +********************** +Using the DDS DCPS API +********************** + +======================================================================= +How should I override a specific QoS policy and leave others defaulted? +======================================================================= + +#. Create an empty QoS variable of the proper type (for example ``DDS::DataWriterQos dw_qos``). +#. Call the parent's ``get_default_*_qos()`` method (for example ``Publisher::get_default_datawriter_qos(dw_qos)``. +#. Modify the QoS and pass it to the proper ``create_*`` method. + +Note that the default QoS returned by ``get_default_*_qos()`` can be changed with ``set_default_*_qos()``. + +The ``TheServiceParticipant`` also has methods to return the code default QoS for different entities, e.g., ``TheServiceParticipant->initial_DataWriterQos()``. + +OpenDDS contains various ``*QosPolicyBuilder`` classes that can be used to configure QoS policies using a builder pattern. +The QoS returned by a default constructed ``*QosPolicyBuilder`` corresponds to the code default. +Here's an example using a builder that sets transient local durability for a DataWriter: + +.. code-block:: cpp + + #include + + ... + + DDS::DataWriter_var writer = + publisher->create_datawriter(topic, + DataWriterQosBuilder().durability_transient_local(), + 0, + OpenDDS::DCPS::DEFAULT_STATUS_MASK); + +====================================== +What are the ``*_QOS_DEFAULT`` macros? +====================================== + +These macros (for example ``DATAWRITER_QOS_DEFAULT``) are placeholders used only to provide a default value to the ``create_*`` methods. +These macros themselves do not expand to QoS structure instances that can be used for any purpose other than passing to the ``create_*`` methods. +This includes ``DATAWRITER_QOS_USE_TOPIC_QOS``, ``DATAREADER_QOS_DEFAULT``, etc. +In Java, they are classes in the DDS package that have a public static ``get()`` method and not macros. + +=============================================== +Why do I get samples with invalid data in them? +=============================================== + +Make sure the call to ``read/take`` returns a status of ``RETCODE_OK`` and the SampleInfo's ``valid_data`` is set to true. +Both of these conditions are required for the sample to be valid. +If ``valid_data`` is not true, then the sample could be indicating an unregister and/or dispose. + +======================================================================== +What could account for increasing memory usage in subscribing processes? +======================================================================== + +If the subscribing process contains Data Readers which have received many instances from the corresponding Data Writers, it will need some resources to track each instance. +This can be bounded by the ``RESOURCE_LIMITS`` QoS policy and by the subscribing application taking samples from the Data Reader. +The ``READER_DATA_LIFECYCLE`` QoS policy may also be helpful. diff --git a/docs/devguide/index.rst b/docs/devguide/index.rst index c85f09737ef..c7a87f054c7 100644 --- a/docs/devguide/index.rst +++ b/docs/devguide/index.rst @@ -24,3 +24,4 @@ The Developer's Guide explains how to use OpenDDS. dds_security internet_enabled_rtps xtypes + faq diff --git a/docs/devguide/introduction.rst b/docs/devguide/introduction.rst index 8907d91c6a9..2bdd71f6200 100644 --- a/docs/devguide/introduction.rst +++ b/docs/devguide/introduction.rst @@ -20,8 +20,6 @@ OpenDDS is implemented in C++ and contains support for :doc:`Java `__, `Node.js `__, and `Python `__. OpenDDS is sponsored by the OpenDDS Foundation and is available via https://opendds.org and https://github.com/OpenDDS/OpenDDS. -There is an FAQ available at https://opendds.org/faq.html. - .. _specs: ************** From 21c67d10ea5aadd3bf1222e0f5a1df1663f76e87 Mon Sep 17 00:00:00 2001 From: "Justin R. Wilson" Date: Tue, 10 Oct 2023 14:58:04 -0500 Subject: [PATCH 3/7] DDS Overview is not separate Problem ------- The DDS overview is not separate. Solution -------- Factor it out and combine it with overview from website. Move it to the front of the DevGuide. --- docs/devguide/index.rst | 1 + docs/devguide/introduction.rst | 220 +--------------------- docs/devguide/introduction_to_dds.rst | 259 ++++++++++++++++++++++++++ docs/index.rst | 10 +- 4 files changed, 269 insertions(+), 221 deletions(-) create mode 100644 docs/devguide/introduction_to_dds.rst diff --git a/docs/devguide/index.rst b/docs/devguide/index.rst index c7a87f054c7..7bc0b34f3b4 100644 --- a/docs/devguide/index.rst +++ b/docs/devguide/index.rst @@ -6,6 +6,7 @@ The Developer's Guide explains how to use OpenDDS. .. toctree:: + introduction_to_dds introduction quickstart/index building/index diff --git a/docs/devguide/introduction.rst b/docs/devguide/introduction.rst index 2bdd71f6200..be41308366a 100644 --- a/docs/devguide/introduction.rst +++ b/docs/devguide/introduction.rst @@ -1,8 +1,8 @@ .. _introduction: -############ -Introduction -############ +####################### +Introduction to OpenDDS +####################### .. _introduction--what-is-opendds: @@ -188,218 +188,6 @@ The source code for all these examples is available as part of the OpenDDS sourc MPC files are provided with the examples for generating build-tool specific files, such as GNU Makefiles or Visual C++ project and solution files. To run an example, execute the ``run_test.pl`` Perl script. -.. - Sect<1> - -.. _introduction--dcps-overview: - -********************************************** -Data-Centric Publish-Subscribe (DCPS) Overview -********************************************** - -.. - Sect<1.1> - -Data-Centric Publish-Subscribe (DCPS) is the application model defined by the DDS specification. -This section describes the main concepts and entities of the DCPS API and discuss how they interact and work together. - -.. _introduction--basic-concepts: - -Basic Concepts -============== - -.. - Sect<1.1.1> - -This is an overview of the DDS DCPS layer: - -.. figure:: images/domain.png - - DCPS Conceptual Overview - -The following subsections define the concepts shown in the diagram. - -.. _introduction--domain: - -Domain ------- - -.. - Sect<1.1.1.1> - -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. - -.. _introduction--domainparticipant: - -DomainParticipant ------------------ - -.. - Sect<1.1.1.2> - -A *domain participant* is the entry-point for an application to interact within a particular domain. -The domain participant is a factory for many of the objects involved in writing or reading data. - -.. _introduction--topic: - -Topic ------ - -.. - Sect<1.1.1.3> - -The *topic* is the fundamental means of interaction between publishing and subscribing applications. -Each topic has a unique name within the domain and a specific data type that it publishes. -Each topic data type can specify zero or more fields that make up its *key*. -When publishing data, the publishing process always specifies the topic. -Subscribers request data via the topic. -In DCPS terminology you publish individual data *samples* for different *instances* on a topic. -Each instance is associated with a unique value for the key. -A publishing process publishes multiple data samples on the same instance by using the same key value for each sample. - -.. _introduction--datawriter: - -DataWriter ----------- - -.. - Sect<1.1.1.4> - -The *data writer* is used by the publishing application code to pass values to the DDS. -Each data writer is bound to a particular topic. -The application uses the data writer's type-specific interface to publish samples on that topic. -The data writer is responsible for marshaling the data and passing it to the publisher for transmission. - -Dynamic data writers (:ref:`xtypes--creating-and-using-a-dynamicdatawriter-or-dynamicdatareader`) can be used when code generated from IDL is not available or desired. -Dynamic data writers are also type-safe, but type checking happens at runtime. - -.. _introduction--publisher: - -Publisher ---------- - -.. - Sect<1.1.1.5> - -The *publisher* is responsible for taking the published data and disseminating it to all relevant subscribers in the domain. -The exact mechanism employed is left to the service implementation. - -.. _introduction--subscriber: - -Subscriber ----------- - -.. - Sect<1.1.1.6> - -The *subscriber* receives the data from the publisher and passes it to any relevant data readers that are connected to it. - -.. _introduction--datareader: - -DataReader ----------- - -.. - Sect<1.1.1.7> - -The *data reader* takes data from the subscriber, demarshals it into the appropriate type for that topic, and delivers the sample to the application. -Each data reader is bound to a particular topic. -The application uses the data reader's type-specific interfaces to receive the samples. - -Dynamic data readers (:ref:`xtypes--creating-and-using-a-dynamicdatawriter-or-dynamicdatareader`) can be used when code generated from IDL is not available or desired. -Dynamic data readers are also type-safe, but type checking happens at runtime. - -.. _introduction--built-in-topics: - -Built-in Topics -=============== - -.. - Sect<1.1.2> - -The DDS specification defines a number of topics that are built-in to the DDS implementation. -Subscribing to these *built-in topics* gives application developers access to the state of the domain being used including which topics are registered, which data readers and data writers are connected and disconnected, and the QoS settings of the various entities. -While subscribed, the application receives samples indicating changes in the entities within the domain. - -The following table shows the built-in topics defined within the DDS specification: - -.. list-table:: Built-in Topics - :header-rows: 1 - - * - Topic Name - - - Description - - * - ``DCPSParticipant`` - - - Each instance represents a domain participant. - - * - ``DCPSTopic`` - - - Each instance represents a normal (not built-in) topic. - - * - ``DCPSPublication`` - - - Each instance represents a data writer. - - * - ``DCPSSubscription`` - - - Each instance represents a data reader. - -.. _introduction--quality-of-service-policies: - -Quality of Service Policies -=========================== - -.. - Sect<1.1.3> - -The DDS specification defines a number of Quality of Service (QoS) policies that are used by applications to specify their QoS requirements to the service. -Participants specify what behavior they require from the service and the service decides how to achieve these behaviors. -These policies can be applied to the various DCPS entities (topic, data writer, data reader, publisher, subscriber, domain participant) although not all policies are valid for all types of entities. - -Subscribers and publishers are matched using a request-versus-offered (RxO) model. -Subscribers *request* a set of policies that are minimally required. -Publishers *offer* a set of QoS policies to potential subscribers. -The DDS implementation then attempts to match the requested policies with the offered policies; if these policies are compatible then the association is formed. - -The QoS policies currently implemented by OpenDDS are discussed in detail in :ref:`qos`. - -.. _introduction--listeners: - -Listeners -========= - -.. - Sect<1.1.4> - -The DCPS layer defines a callback interface for each entity that allows an application processes to listen for certain state changes or events pertaining to that entity. -For example, a Data Reader Listener is notified when there are data values available for reading. - -.. _introduction--conditions: - -Conditions -========== - -.. - Sect<1.1.5> - -*Conditions* and *Wait Sets* allow an alternative to listeners in detecting events of interest in DDS. -The general pattern is - -The application creates a specific kind of ``Condition`` object, such as a ``StatusCondition``, and attaches it to a ``WaitSet``. - -* The application waits on the ``WaitSet`` until one or more conditions become true. - -* The application calls operations on the corresponding entity objects to extract the necessary information. - -* The ``DataReader`` interface also has operations that take a ``ReadCondition`` argument. - -* ``QueryCondition`` objects are provided as part of the implementation of the Content-Subscription Profile. - The ``QueryCondition`` interface extends the ``ReadCondition`` interface. - .. _introduction--opendds-implementation: ********************** @@ -632,7 +420,7 @@ In the case of interoperability between DDS implementations, the OMG DDSI-RTPS ` OpenDDS provides two options for discovery. -#. Information Repository: a centralized repository style that runs as a separate process allowing publishers and subscribers to discover one another centrally or +#. DCPSInfoRepo: a centralized repository style that runs as a separate process allowing publishers and subscribers to discover one another centrally or #. RTPS Discovery: a peer-to-peer style of discovery that utilizes the RTPS protocol to advertise availability and location information. diff --git a/docs/devguide/introduction_to_dds.rst b/docs/devguide/introduction_to_dds.rst new file mode 100644 index 00000000000..08b746940c6 --- /dev/null +++ b/docs/devguide/introduction_to_dds.rst @@ -0,0 +1,259 @@ +.. include:: + +.. + Sect<1> + +.. _introduction--dcps-overview: + +################### +Introduction to DDS +################### + +.. + Sect<1.1> + +The Data Distribution Service (DDS |reg|) is a specification for distributed systems based on the publish-subscribe paradigm published by the Object Management Group (OMG |reg|). +DDS applications efficiently share data across the network using strongly-typed and asynchronous cache updates based on topics and QoS policies. +:omgspec:`dds:2.2.1.2` contains a detailed overview of DDS. +Data-Centric Publish-Subscribe (DCPS) is the application model defined by the DDS specification. +This section describes the main concepts and entities of the DCPS API and discuss how they interact and work together. + +.. _introduction--basic-concepts: + +Basic Concepts +============== + +.. + Sect<1.1.1> + +This is an overview of the DDS DCPS API: + +.. figure:: images/domain.png + + DCPS Conceptual Overview + +The following subsections define the concepts shown in the diagram. + +.. _introduction--domain: + +Domain +------ + +.. + Sect<1.1.1.1> + +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. +There is no entity in the DCPS API that represents the domain. + +Entity +------ + +An *entity* is an object in a domain that has a QoS policy, status, and can be used with listeners and waitsets. +"Entity" is an interface that is implemented by the other concepts in a DCPS domain. +The QoS policy for each derived entity is specialized for that entity. + +.. _introduction--domainparticipant: + +Domain Participant +------------------ + +.. + Sect<1.1.1.2> + +A *domain participant* or just *participant* is the entry-point for an application to interact within a particular domain. +The domain participant is a factory for many of the objects involved in writing or reading data. + +.. _introduction--topic: + +Topic +----- + +.. + Sect<1.1.1.3> + +The *topic* is the fundamental means of interaction between publishing and subscribing applications. +Each topic has a unique name within the domain. +In DCPS terminology, an application publishes individual data *samples* for different *instances* on a topic. +Each topic has a specific type that describes the samples. +Each topic data type can specify zero or more fields that make up its *key*. +Each instance is associated with a unique value for the key. +A publishing process publishes multiple data samples on the same instance by using the same key value for each sample. + +A publishing process specifies the topic when publishing samples and a subscribing process requests samples via the topic. +Multiple processes can publish on a topic and multiple processes can subscribe to a topic which allows for many-to-many communication. + +When publishing data, the publishing process always specifies the topic. +Subscribers request data via the topic. + + +.. _introduction--datawriter: + +DataWriter +---------- + +.. + Sect<1.1.1.4> + +A *data writer* is used by the publishing application code to introduce samples for distribution. +Each data writer is bound to a particular topic. +The application uses the data writer's type-specific interface to publish samples on that topic. +The data writer is responsible for marshaling the data and passing it to the publisher for transmission. + +Dynamic data writers (:ref:`xtypes--creating-and-using-a-dynamicdatawriter-or-dynamicdatareader`) can be used when code generated from IDL is not available or desired. +Dynamic data writers are also type-safe, but type checking happens at runtime. + +.. _introduction--publisher: + +Publisher +--------- + +.. + Sect<1.1.1.5> + +A *publisher* is responsible for taking the published data and disseminating it to all relevant subscribers in the domain. +The exact mechanism employed is left to the service implementation. +A participant can have multiple publishers and each publisher can have multiple data writers which may be on different topics. +A publisher can group a sequence of writes that span multiple data writers so that it appears as a coherent change to subscribers. + +.. _introduction--subscriber: + +Subscriber +---------- + +.. + Sect<1.1.1.6> + +A *subscriber* receives the data from the publisher and passes it to any relevant data readers that belong to it. +A participant can have multiple subscribers and each subscriber can have multiple data readers which may be on different topics. + +.. _introduction--datareader: + +DataReader +---------- + +.. + Sect<1.1.1.7> + +A *data reader* takes data from the subscriber, demarshals it into the appropriate type for that topic, and delivers the sample to the application. +Each data reader is bound to a particular topic. +The application uses the data reader's type-specific interfaces to receive the samples. + +Dynamic data readers (:ref:`xtypes--creating-and-using-a-dynamicdatawriter-or-dynamicdatareader`) can be used when code generated from IDL is not available or desired. +Dynamic data readers are also type-safe, but type checking happens at runtime. + +Discovery, Matching, and Association +==================================== + +Discovery is the process whereby a participant learns about the publications and subscriptions offered by other participants. +The OMG DDS specification (``formal/2015-04-10``) leaves the details of discovery to the implementation. +However, the OMG DDSI-RTPS specification (``formal/2014-09-01``) defines an interoperable peer-to-peer system for discovery. + +After discovering a remote publication and subscription, a participant compares the remote entity with its local entities to determine if they are compatible. +This process is called matching. +A data writer and data reader match if they are on the same topic, they have compatible types, and they have compatible QoS policies. + +If a local entity matches a remote entity, then the implementation is configured to allow data to flow from the data writer to the data reader. + +Conceptual Data Flow +==================== + +The application on the publishing side initiates the flow of data by writing a sample to the DataWriter which then passes it to its associated Publisher. +The Publisher sends the sample to associated Subscribers. +Each Subscriber gives the received sample to its DataReaders that are associated with the sending DataWriter. +The flow ends when the application on the subscribing side retrieves the data from the DataReader. + +Quality of Service (QoS) Policies control the flow of the data through the system. +The QoS policies of the Publisher, DataWriter, and Topic control the data on the sending side. +The QoS policies of the Subscriber, DataReader, and Topic control the data on the receiving side. + +.. _introduction--built-in-topics: + +Built-in Topics +=============== + +.. + Sect<1.1.2> + +The DDS specification defines a number of topics that are built-in to the DDS implementation. +Subscribing to these *built-in topics* gives application developers access to the state of the domain being used including which topics are registered, which data readers and data writers have been discovered and their status, and the QoS settings of the various entities. +While subscribed, the application receives samples indicating changes in the entities within the domain. + +The following table shows the built-in topics defined within the DDS specification: + +.. list-table:: Built-in Topics + :header-rows: 1 + + * - Topic Name + + - Description + + * - ``DCPSParticipant`` + + - Each instance represents a domain participant. + + * - ``DCPSTopic`` + + - Each instance represents a normal (not built-in) topic. + + * - ``DCPSPublication`` + + - Each instance represents a data writer. + + * - ``DCPSSubscription`` + + - Each instance represents a data reader. + +.. _introduction--quality-of-service-policies: + +Quality of Service Policies +=========================== + +.. + Sect<1.1.3> + +The DDS specification defines a number of Quality of Service (QoS) policies that are used by applications to specify their QoS requirements to the service. +Participants specify what behavior they require from the service and the service decides how to achieve these behaviors. +These policies can be applied to the various DCPS entities (topic, data writer, data reader, publisher, subscriber, domain participant) although not all policies are valid for all types of entities. + +Subscribers and publishers are matched using a request-versus-offered (RxO) model. +Subscribers *request* a set of policies that are minimally required. +Publishers *offer* a set of QoS policies to potential subscribers. +The DDS implementation then attempts to match the requested policies with the offered policies; if these policies are compatible then the association is formed. + +The QoS policies currently implemented by OpenDDS are discussed in detail in :ref:`qos`. + +.. _introduction--listeners: + +Listeners +========= + +.. + Sect<1.1.4> + +The DCPS API defines a callback interface for each entity that allows an application to listen for certain state changes or events pertaining to that entity. +For example, a Data Reader Listener is notified when there are data values available for reading. + +.. _introduction--conditions: + +Conditions +========== + +.. + Sect<1.1.5> + +*Conditions* and *Wait Sets* can also be used to detect events of interest in DDS Entities and are an alternative to listeners. +The general pattern is + +The application creates a specific kind of ``Condition`` object, such as a ``StatusCondition``, and attaches it to a ``WaitSet``. + +* The application waits on the ``WaitSet`` until one or more conditions become true. + +* The application calls operations on the corresponding entity objects to extract the necessary information. + +* The ``DataReader`` interface also has operations that take a ``ReadCondition`` argument. + +* ``QueryCondition`` objects are provided as part of the implementation of the Content-Subscription Profile. + The ``QueryCondition`` interface extends the ``ReadCondition`` interface. diff --git a/docs/index.rst b/docs/index.rst index 4e192addc2c..6ae5a3305a8 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -40,14 +40,14 @@ They are attached to their corresponding releases as ``OpenDDS-VERSION.pdf``. Using OpenDDS ************* -:doc:`devguide/building/index` - How to build and install OpenDDS +:ref:`introduction--dcps-overview` + A conceptual overview of the Data Distribution Service :ref:`introduction--what-is-opendds` - A brief explanation of what OpenDDS is + OpenDDS is an open-source DDS -:ref:`introduction--dcps-overview` - A conceptual overview of how DDS works +:doc:`devguide/building/index` + How to build and install OpenDDS :doc:`devguide/getting_started` A tutorial on making basic OpenDDS applications From 01fb101e206d8bfb9f47e0387d959054937969a3 Mon Sep 17 00:00:00 2001 From: "Justin R. Wilson" Date: Wed, 11 Oct 2023 09:11:50 -0500 Subject: [PATCH 4/7] Shapes demo is lumped with quickstarts Problem ------- The Shapes demo allows users to download an OpenDDS application and use it. In that case, it is a quick start. However, the intent of the demo is to explore different QoS settings and DDS features. Solution -------- Move the Shapes demo to after the introduction to DDS as a continuation of the exploration of DDS concepts. --- docs/devguide/index.rst | 3 ++- docs/devguide/quickstart/index.rst | 1 - docs/devguide/{quickstart => }/shapes.rst | 0 .../shapes/content-based-filter-1.png | Bin .../shapes/content-based-filter-2.png | Bin .../shapes/content-based-filter-menu.png | Bin .../{quickstart => }/shapes/contentfilter.rst | 0 docs/devguide/{quickstart => }/shapes/default.png | Bin .../{quickstart => }/shapes/durability-example.png | Bin .../devguide/{quickstart => }/shapes/durability.rst | 0 docs/devguide/{quickstart => }/shapes/instances.rst | 0 .../shapes/ownership-example-final.png | Bin .../shapes/ownership-example-initial.png | Bin docs/devguide/{quickstart => }/shapes/ownership.rst | 0 .../{quickstart => }/shapes/partition-example.png | Bin docs/devguide/{quickstart => }/shapes/partition.rst | 0 .../{quickstart => }/shapes/pub-circle-matched.png | Bin .../shapes/pub-circle-unmatched.png | Bin .../{quickstart => }/shapes/pub-sub-triangle.png | Bin .../{quickstart => }/shapes/pub-triangle.png | Bin .../{quickstart => }/shapes/publisher-qos-menu.png | Bin .../{quickstart => }/shapes/reliability-example.png | Bin .../{quickstart => }/shapes/reliability.rst | 0 .../{quickstart => }/shapes/subscriber-qos-menu.png | Bin .../shapes/time-based-filter-example-1.png | Bin .../shapes/time-based-filter-example-2.png | Bin docs/devguide/{quickstart => }/shapes/timebased.rst | 0 .../shapes/two-instances-pub-triangle.png | Bin .../{quickstart => }/shapes/two-instances.png | Bin docs/index.rst | 3 +++ 30 files changed, 5 insertions(+), 2 deletions(-) rename docs/devguide/{quickstart => }/shapes.rst (100%) rename docs/devguide/{quickstart => }/shapes/content-based-filter-1.png (100%) rename docs/devguide/{quickstart => }/shapes/content-based-filter-2.png (100%) rename docs/devguide/{quickstart => }/shapes/content-based-filter-menu.png (100%) rename docs/devguide/{quickstart => }/shapes/contentfilter.rst (100%) rename docs/devguide/{quickstart => }/shapes/default.png (100%) rename docs/devguide/{quickstart => }/shapes/durability-example.png (100%) rename docs/devguide/{quickstart => }/shapes/durability.rst (100%) rename docs/devguide/{quickstart => }/shapes/instances.rst (100%) rename docs/devguide/{quickstart => }/shapes/ownership-example-final.png (100%) rename docs/devguide/{quickstart => }/shapes/ownership-example-initial.png (100%) rename docs/devguide/{quickstart => }/shapes/ownership.rst (100%) rename docs/devguide/{quickstart => }/shapes/partition-example.png (100%) rename docs/devguide/{quickstart => }/shapes/partition.rst (100%) rename docs/devguide/{quickstart => }/shapes/pub-circle-matched.png (100%) rename docs/devguide/{quickstart => }/shapes/pub-circle-unmatched.png (100%) rename docs/devguide/{quickstart => }/shapes/pub-sub-triangle.png (100%) rename docs/devguide/{quickstart => }/shapes/pub-triangle.png (100%) rename docs/devguide/{quickstart => }/shapes/publisher-qos-menu.png (100%) rename docs/devguide/{quickstart => }/shapes/reliability-example.png (100%) rename docs/devguide/{quickstart => }/shapes/reliability.rst (100%) rename docs/devguide/{quickstart => }/shapes/subscriber-qos-menu.png (100%) rename docs/devguide/{quickstart => }/shapes/time-based-filter-example-1.png (100%) rename docs/devguide/{quickstart => }/shapes/time-based-filter-example-2.png (100%) rename docs/devguide/{quickstart => }/shapes/timebased.rst (100%) rename docs/devguide/{quickstart => }/shapes/two-instances-pub-triangle.png (100%) rename docs/devguide/{quickstart => }/shapes/two-instances.png (100%) diff --git a/docs/devguide/index.rst b/docs/devguide/index.rst index 7bc0b34f3b4..8fe0cff99ed 100644 --- a/docs/devguide/index.rst +++ b/docs/devguide/index.rst @@ -6,9 +6,10 @@ The Developer's Guide explains how to use OpenDDS. .. toctree:: + quickstart/index introduction_to_dds + shapes introduction - quickstart/index building/index getting_started quality_of_service diff --git a/docs/devguide/quickstart/index.rst b/docs/devguide/quickstart/index.rst index 4acaedc2c97..103f6555ac4 100644 --- a/docs/devguide/quickstart/index.rst +++ b/docs/devguide/quickstart/index.rst @@ -10,6 +10,5 @@ Quick Start Guides linux pi docker - shapes See :ref:`building` for detailed build instructions. diff --git a/docs/devguide/quickstart/shapes.rst b/docs/devguide/shapes.rst similarity index 100% rename from docs/devguide/quickstart/shapes.rst rename to docs/devguide/shapes.rst diff --git a/docs/devguide/quickstart/shapes/content-based-filter-1.png b/docs/devguide/shapes/content-based-filter-1.png similarity index 100% rename from docs/devguide/quickstart/shapes/content-based-filter-1.png rename to docs/devguide/shapes/content-based-filter-1.png diff --git a/docs/devguide/quickstart/shapes/content-based-filter-2.png b/docs/devguide/shapes/content-based-filter-2.png similarity index 100% rename from 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a/docs/devguide/quickstart/shapes/two-instances.png b/docs/devguide/shapes/two-instances.png similarity index 100% rename from docs/devguide/quickstart/shapes/two-instances.png rename to docs/devguide/shapes/two-instances.png diff --git a/docs/index.rst b/docs/index.rst index 6ae5a3305a8..70f4f8a9dee 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -40,6 +40,9 @@ They are attached to their corresponding releases as ``OpenDDS-VERSION.pdf``. Using OpenDDS ************* +:ref:`quickstart` + Download and compile OpenDDS and then run an example application + :ref:`introduction--dcps-overview` A conceptual overview of the Data Distribution Service From 8bdf06dbf8d45d44a13b904047fd69b542890025 Mon Sep 17 00:00:00 2001 From: "Justin R. Wilson" Date: Wed, 11 Oct 2023 14:35:44 -0500 Subject: [PATCH 5/7] DevGuide introduction needs refactoring Problem ------- The "Introduction" chapter contains a wide variety of content. This PR attempts to reorganize it for completeness and approachability. Solution -------- * Move the "About This Guide" section to its own chapter at the beginning of the DevGuide. * Move "Licensing Terms" to the second section. * Add a "Source Code Organization" section. * Add "Static Discovery" section. * Rework "Threading" section. --- docs/devguide/about.rst | 54 ++++++ docs/devguide/index.rst | 1 + docs/devguide/introduction.rst | 240 ++++++++++++-------------- docs/devguide/introduction_to_dds.rst | 11 +- 4 files changed, 169 insertions(+), 137 deletions(-) create mode 100644 docs/devguide/about.rst diff --git a/docs/devguide/about.rst b/docs/devguide/about.rst new file mode 100644 index 00000000000..ae3538af3f2 --- /dev/null +++ b/docs/devguide/about.rst @@ -0,0 +1,54 @@ +**************** +About This Guide +**************** + +.. + Sect<0.3> + +This Developer's Guide corresponds to OpenDDS version |release|. +This guide is primarily focused on the specifics of using and configuring OpenDDS to build distributed publish-subscribe applications. +While it does give a general overview of the OMG Data Distribution Service, this guide is not intended to provide comprehensive coverage of the specification. +The intent of this guide is to help you become proficient with OpenDDS as quickly as possible. +Readers are encouraged to submit corrections to this guide using a GitHub pull request. +The source for this guide can be found at :ghfile:`docs/devguide` and :doc:`/internal/docs` contains guidance for editing and building it. + +Conventions +=========== + +.. + Sect<0.4.2> + +This guide uses the following conventions: + +.. list-table:: + :header-rows: 0 + + * - ``Fixed pitch text`` + + - Indicates example code or information a user would enter using a keyboard. + + * - *Italic text* + + - Indicates a point of emphasis. + + * - ... + + - An ellipsis indicates a section of omitted text. + +``DDS_ROOT`` +============ + +This guide refers to the ``DDS_ROOT`` environment variable which should point to the base directory of the OpenDDS distribution. +Often, this will be written as ``$DDS_ROOT`` indicating the value of the environment variable. + +Examples +======== + +.. + Sect<0.5> + +The examples in this guide are intended for the learning of the reader and should not be considered to be "production-ready" code. +In particular, error handling is sometimes kept to a minimum to help the reader focus on the particular feature or technique that is being presented in the example. +The source code for all these examples is available as part of the OpenDDS source code distribution in the :ghfile:`DevGuideExamples` directory. +MPC files are provided with the examples for generating build-tool specific files, such as GNU Makefiles or Visual C++ project and solution files. +To run an example, execute the ``run_test.pl`` Perl script. diff --git a/docs/devguide/index.rst b/docs/devguide/index.rst index 8fe0cff99ed..b0d3017d77e 100644 --- a/docs/devguide/index.rst +++ b/docs/devguide/index.rst @@ -6,6 +6,7 @@ The Developer's Guide explains how to use OpenDDS. .. toctree:: + about quickstart/index introduction_to_dds shapes diff --git a/docs/devguide/introduction.rst b/docs/devguide/introduction.rst index be41308366a..2c8f579f202 100644 --- a/docs/devguide/introduction.rst +++ b/docs/devguide/introduction.rst @@ -20,6 +20,29 @@ OpenDDS is implemented in C++ and contains support for :doc:`Java `__, `Node.js `__, and `Python `__. OpenDDS is sponsored by the OpenDDS Foundation and is available via https://opendds.org and https://github.com/OpenDDS/OpenDDS. +*************** +Licensing Terms +*************** + +.. + Sect<0.2> + +OpenDDS is *open source software*. +The source code may be freely downloaded and is open for inspection, review, comment, and improvement. +Copies may be freely installed across all your systems and those of your customers. +There is no charge for development or run-time licenses. +The source code is designed to be compiled, and used, across a wide variety of hardware and operating systems architectures. +You may modify it for your own needs, within the terms of the license agreements. +You must not copyright OpenDDS software. +For details of the licensing terms, see the file named :ghfile:`LICENSE` that is included in the OpenDDS source code distribution or visit https://opendds.org/about/license.html. + +OpenDDS also utilizes other open source software products including MPC (Make Project Creator), ACE (the ADAPTIVE Communication Environment), and TAO (The ACE ORB). + +OpenDDS is open source and the development team welcomes contributions of code, tests, documentation, and ideas. +Active participation by users ensures a robust implementation. +Contact the OpenDDS Foundation if you are interested in contributing to the development of OpenDDS. +Please note that any code or documentation that is contributed to and becomes part of the OpenDDS open source code base is subject to the same licensing terms as the rest of the OpenDDS code base. + .. _specs: ************** @@ -115,92 +138,14 @@ This specification defines an :term:`IDL` to Java mapping and is used for the :r The version OpenDDS uses is :omgspec:`java`. -*************** -Licensing Terms -*************** - -.. - Sect<0.2> - -OpenDDS is *open source software*. -The source code may be freely downloaded and is open for inspection, review, comment, and improvement. -Copies may be freely installed across all your systems and those of your customers. -There is no charge for development or run-time licenses. -The source code is designed to be compiled, and used, across a wide variety of hardware and operating systems architectures. -You may modify it for your own needs, within the terms of the license agreements. -You must not copyright OpenDDS software. -For details of the licensing terms, see the file named :ghfile:`LICENSE` that is included in the OpenDDS source code distribution or visit https://opendds.org/about/license.html. - -OpenDDS also utilizes other open source software products including MPC (Make Project Creator), ACE (the ADAPTIVE Communication Environment), and TAO (The ACE ORB). - -OpenDDS is open source and the development team welcomes contributions of code, tests, documentation, and ideas. -Active participation by users ensures a robust implementation. -Contact the OpenDDS Foundation if you are interested in contributing to the development of OpenDDS. -Please note that any code or documentation that is contributed to and becomes part of the OpenDDS open source code base is subject to the same licensing terms as the rest of the OpenDDS code base. - -**************** -About This Guide -**************** - -.. - Sect<0.3> - -This Developer's Guide corresponds to OpenDDS version |release|. -This guide is primarily focused on the specifics of using and configuring OpenDDS to build distributed publish-subscribe applications. -While it does give a general overview of the OMG Data Distribution Service, this guide is not intended to provide comprehensive coverage of the specification. -The intent of this guide is to help you become proficient with OpenDDS as quickly as possible. -Readers are encouraged to submit corrections to this guide using a GitHub pull request. -The source for this guide can be found at :ghfile:`docs/devguide` and :doc:`/internal/docs` contains guidance for editing and building it. - -Conventions -=========== - -.. - Sect<0.4.2> - -This guide uses the following conventions: - -.. list-table:: - :header-rows: 0 - - * - ``Fixed pitch text`` - - - Indicates example code or information a user would enter using a keyboard. - - * - *Italic text* - - - Indicates a point of emphasis. - - * - ... - - - An ellipsis indicates a section of omitted text. - -******** -Examples -******** - -.. - Sect<0.5> - -The examples in this guide are intended for the learning of the reader and should not be considered to be "production-ready" code. -In particular, error handling is sometimes kept to a minimum to help the reader focus on the particular feature or technique that is being presented in the example. -The source code for all these examples is available as part of the OpenDDS source code distribution in the :ghfile:`DevGuideExamples` directory. -MPC files are provided with the examples for generating build-tool specific files, such as GNU Makefiles or Visual C++ project and solution files. -To run an example, execute the ``run_test.pl`` Perl script. - -.. _introduction--opendds-implementation: - -********************** -OpenDDS Implementation -********************** - .. Sect<1.2> .. _introduction--compliance: +********** Compliance -========== +********** .. Sect<1.2.1> @@ -213,7 +158,7 @@ See :ref:`specs` for how OpenDDS complies with other specifications it implement .. _introduction--dds-compliance: DDS Compliance --------------- +============== .. Sect<1.2.1.1> @@ -246,7 +191,7 @@ Although version 1.5 of the DDS specification is not yet published, OpenDDS inco .. _introduction--ddsi-rtps-compliance: DDSI-RTPS Compliance --------------------- +==================== .. Sect<1.2.1.2> @@ -256,7 +201,7 @@ The OpenDDS implementation complies with the requirements of the OMG DDSI-RTPS s .. _introduction--opendds-rtps-implementation-notes: OpenDDS RTPS Implementation Notes -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +--------------------------------- .. Sect<1.2.1.2.1> @@ -293,7 +238,7 @@ Items not implemented in OpenDDS: .. _introduction--idl-compliance: IDL Compliance --------------- +============== .. Sect<1.2.1.3> @@ -333,8 +278,9 @@ OpenDDS supports the following building blocks, with notes/caveats listed below .. _introduction--extensions-to-the-dds-specification: +*********************************** Extensions to the DDS Specification -=================================== +*********************************** .. Sect<1.2.2> @@ -354,21 +300,31 @@ Those include features like Recorder and Replayer (:ref:`altdata`) and also: .. _introduction--opendds-architecture: -OpenDDS Architecture -==================== +*************************************** +OpenDDS Implementation and Architecture +*************************************** .. Sect<1.2.3> This section gives a brief overview of the OpenDDS implementation, its features, and some of its components. -The ``$DDS_ROOT`` environment variable should point to the base directory of the OpenDDS distribution. -Source code for OpenDDS can be found under the :ghfile:`dds/` directory. -Tests can be found under :ghfile:`tests/`. + +Source Code Organization +======================== + +Relative to ``$DDS_ROOT``: + +* the :ghfile:`dds/` directory contains the source code for OpenDDS. +* the :ghfile:`tests/` directory contains tests. +* the :ghfile:`tools/` directory contains tools and libraries like the DCPSInfoRepo, RtpsRelay, and the Modeling SDK. +* the :ghfile:`DevGuideExamples/` directory contains examples used in this guide. +* the :ghfile:`examples/` directory contains examples *not* used in this guide. +* the :ghfile:`docs/` directory contains documentation for users and developers of OpenDDS. .. _introduction--design-philosophy: Design Philosophy ------------------ +================= .. Sect<1.2.3.1> @@ -383,7 +339,7 @@ Defining them as local interfaces improves performance, reduces memory usage, si .. _introduction--extensible-transport-framework-etf: Extensible Transport Framework (ETF) ------------------------------------- +==================================== .. Sect<1.2.3.2> @@ -407,44 +363,45 @@ See the :ghfile:`dds/DCPS/transport/udp/` directory for details. .. _introduction--dds-discovery: -DDS Discovery -------------- +Discovery +========= .. Sect<1.2.3.3> -DDS applications must discover one another via some central agent or through some distributed scheme. -An important feature of OpenDDS is that DDS applications can be configured to perform discovery using the DCPSInfoRepo or RTPS discovery, but utilize a different transport type for data transfer between data writers and data readers. -The OMG DDS specification (``formal/2015-04-10``) leaves the details of discovery to the implementation. -In the case of interoperability between DDS implementations, the OMG DDSI-RTPS ``(formal/2014-09-01)`` specification provides requirements for a peer-to-peer style of discovery. - -OpenDDS provides two options for discovery. - -#. DCPSInfoRepo: a centralized repository style that runs as a separate process allowing publishers and subscribers to discover one another centrally or +DDS applications must discover one another via some central agent or through some distributed scheme (see :ref:`dds-introduction--discovery`). +OpenDDS provides three options for discovery: :ref:`introduction--centralized-discovery-with-dcpsinforepo`, :ref:`introduction--peer-to-peer-discovery-with-rtps`, and :ref:`introduction--static-discovery`. +The choice of discovery is independent of the choice of transport in most cases. +For example, one can use the tcp transport with RTPS Discovery. +Two notable exceptions are: -#. RTPS Discovery: a peer-to-peer style of discovery that utilizes the RTPS protocol to advertise availability and location information. +#. If using DDS Security, RTPS must be used for both the transport and discovery. +#. RTPS must be used for the transport when using Static Discovery. -Interoperability with other DDS implementations must utilize the peer-to-peer method, but can be useful in OpenDDS-only deployments. +Like transports, additional discovery implementations can be created and plugged in. .. _introduction--centralized-discovery-with-dcpsinforepo: -Centralized Discovery with DCPSInfoRepo -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +DCPSInfoRepo +------------ .. Sect<1.2.3.3.1> -OpenDDS implements a standalone service called the DCPS Information Repository (DCPSInfoRepo) to achieve the centralized discovery method. -It is implemented as a CORBA server. -When a client requests a subscription for a topic, the DCPS Information Repository locates the topic and notifies any existing publishers of the location of the new subscriber. -The DCPSInfoRepo process needs to be running whenever OpenDDS is being used in a non-RTPS configuration. -An RTPS configuration does not use the DCPSInfoRepo. -The DCPSInfoRepo is not involved in data propagation, its role is limited in scope to OpenDDS applications discovering one another. - .. figure:: images/inforepo_discovery.png Centralized Discovery with DCPSInfoRepo +OpenDDS contains a standalone CORBA service called :ref:`inforepo`. +An instance of the DCPSInfoRepo is shared by all the participants in a domain and constitutes a centralized approach to discovery. +Each OpenDDS application connects to the DCPSInfoRepo and creates records for its participants, topics, data writers, and data readers. +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. +The DCPSInfoRepo is not involved in data propagation; its role is limited in scope to OpenDDS applications discovering one another. +The DCPSInfoRepo populates the :ref:`introduction--built-in-topics` for a participant if configured to do so. +OpenDDS creates its own ORB and a separate thread to run that ORB when using DCPSInfoRepo discovery. +See :ref:`run_time_configuration--configuring-applications-for-dcpsinforepo` for details on how applications can be configured to use the DCPSInfoRepo. + Application developers are free to run multiple information repositories with each managing their own non-overlapping sets of DCPS domains. It is also possible to operate domains with more than a single repository, thus forming a distributed virtual repository. @@ -454,23 +411,27 @@ See :ref:`the_dcps_information_repository--repository-federation` for further in .. _introduction--peer-to-peer-discovery-with-rtps: -Peer-to-Peer Discovery with RTPS -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +RTPS Discovery +-------------- .. Sect<1.2.3.3.2> -DDS applications requiring a Peer-to-Peer discovery pattern can be accommodated by OpenDDS capabilities. -This style of discovery is accomplished only through the use of the RTPS protocol as of the current release. -This simple form of discovery is accomplished through simple configuration of DDS application data readers and data writers running in application processes as shown below. - .. figure:: images/rtps_discovery.png Peer-to-peer Discovery with RTPS -As each participating process activates the DDSI-RTPS discovery mechanisms in OpenDDS for their data readers and writers, network endpoints are created with either default or configured network ports such that DDS participants can begin advertising the availability of their data readers and data writers. -After a period of time, those seeking one another based on criteria will find each other and establish a connection using a transport. -A more detailed description of this flexible configuration approach is discussed in :ref:`run_time_configuration--transport-concepts` and :ref:`run_time_configuration--rtps-udp-transport-configuration-options`. +RTPS Discovery is an implementation of the OMG DDSI-RTPS ``(formal/2014-09-01)`` specification (see :omgspec:`rtps:8.5 Discovery Module`). +RTPS Discovery uses the RTPS protocol to advertise and discover participants, data writers, and data readers. +RTPS Discovery uses multicast to discover participants and *builtin endpoints* (not to be confused with Builtin Topics). +This part of RTPS discovery is called the Simple Participant Discovery Protocol (SPDP). +After the builtin endpoints are discovered and associated, they exchange information about data writers and data readers which are called *endpoints*. +This part of RTPS discovery is called Simple Endpoint Discovery Protocol (SEDP). +RTPS Discovery is a peer-to-peer approach to discovery as each participant interacts directly with other participants to accomplish discovery. +RTPS is interoperable and supports :ref:`dds_security`. +RTPS discovery populates the Builtin Topics for a participant. +See :ref:`run_time_configuration--configuring-for-ddsi-rtps-discovery` for details on how applications can be configured to use RTPS Discovery. +See also :ref:`run_time_configuration--rtps-udp-transport-configuration-options` as the parameters for configuring an RTPS transport also apply to SEDP. The following are additional implementation limits that developers need to take into consideration when developing and deploying applications that use RTPS discovery: @@ -481,32 +442,45 @@ The following are additional implementation limits that developers need to take #. OpenDDS's native multicast transport does not work with RTPS Discovery due to the way GUIDs are assigned (a warning will be issued if this is attempted). -For more details on RTPS discovery, see :omgspec:`rtps:8.5 Discovery Module`. +.. _introduction--static-discovery: + +Static Discovery +---------------- + +In Static Discovery, each particpant starts with a database containing identifiers, QoS settings, and network locators for all participants, topics, data writers, data readers. +The RTPS transport must be used with Static Discovery. +When an application creates a data writer or data reader, Static Discovery causes it to send out periodic announcements. +Upon receiving one of these announcements, Static Discovery consults its local database of entities to look up the details necessary for matching and matches it against local entities. +See :ref:`run_time_configuration--configuring-for-static-discovery` for details on how applications can be configured to use Static Discovery. + +Static Discovery requires that the :ref:`quality_of_service--user-data` QoS be configured for each participant, data writer, and data reader. +This user data must contain the identifier of the entity that is being created. +Thus, the user data QoS is not available for general use when using Static Discovery. +Static Discovery also requires that the network locators for all entities be determined up front by configuring the transport with the necessary networking information. .. _introduction--threading: Threading ---------- +========= .. Sect<1.2.3.4> -OpenDDS creates its own ORB (when one is required) as well as a separate thread upon which to run that ORB. -It also uses its own threads to process incoming and outgoing transport I/O. -A separate thread is created to cleanup resources upon unexpected connection closure. -Your application may get called back from these threads via the Listener mechanism of DCPS. +OpenDDS creates its own threads for handling I/O, timers, asynchronous jobs, and cleanup tasks. +These threads are collectively called *service threads*. +Applications may receive a callback from these threads via :ref:`introduction--listeners` (see :ref:`conditions_and_listeners--listeners`). -When publishing a sample via DDS, OpenDDS normally attempts to send the sample to any connected subscribers using the calling thread. -If the send call blocks, then the sample may be queued for sending on a separate service thread. +When publishing a sample, OpenDDS normally attempts to send the sample to any connected subscribers using the calling thread. +If the send call would block, then the sample may be queued for sending on a separate service thread. This behavior depends on the QoS policies described in :ref:`qos`. -All incoming data in the subscriber is read by a service thread and queued for reading by the application. -DataReader listeners are called from the service thread. +All incoming data is read by a service thread and queued for reading in DataReaders by the application. +If a DataReader has a listener that should be invoked when data is available, then the listener is invoked by the service thread. .. _introduction--configuration: Configuration -------------- +============= .. Sect<1.2.3.5> diff --git a/docs/devguide/introduction_to_dds.rst b/docs/devguide/introduction_to_dds.rst index 08b746940c6..037de2112c6 100644 --- a/docs/devguide/introduction_to_dds.rst +++ b/docs/devguide/introduction_to_dds.rst @@ -144,18 +144,21 @@ The application uses the data reader's type-specific interfaces to receive the s Dynamic data readers (:ref:`xtypes--creating-and-using-a-dynamicdatawriter-or-dynamicdatareader`) can be used when code generated from IDL is not available or desired. Dynamic data readers are also type-safe, but type checking happens at runtime. +.. _dds-introduction--discovery: + Discovery, Matching, and Association ==================================== -Discovery is the process whereby a participant learns about the publications and subscriptions offered by other participants. +*Discovery* is the process whereby a participant learns about the publications and subscriptions offered by other participants. The OMG DDS specification (``formal/2015-04-10``) leaves the details of discovery to the implementation. However, the OMG DDSI-RTPS specification (``formal/2014-09-01``) defines an interoperable peer-to-peer system for discovery. After discovering a remote publication and subscription, a participant compares the remote entity with its local entities to determine if they are compatible. -This process is called matching. +This process is called *matching*. A data writer and data reader match if they are on the same topic, they have compatible types, and they have compatible QoS policies. If a local entity matches a remote entity, then the implementation is configured to allow data to flow from the data writer to the data reader. +This is called *association*. Conceptual Data Flow ==================== @@ -171,8 +174,8 @@ The QoS policies of the Subscriber, DataReader, and Topic control the data on th .. _introduction--built-in-topics: -Built-in Topics -=============== +Built-in Topics (BITs) +====================== .. Sect<1.1.2> From 92f546b6a8497df3dc00c18563888f3b3e57e724 Mon Sep 17 00:00:00 2001 From: "Justin R. Wilson" Date: Thu, 12 Oct 2023 09:02:54 -0500 Subject: [PATCH 6/7] From review --- docs/devguide/about.rst | 15 +++--- docs/devguide/introduction.rst | 2 +- docs/devguide/introduction_to_dds.rst | 73 +++++++++++++++------------ 3 files changed, 50 insertions(+), 40 deletions(-) diff --git a/docs/devguide/about.rst b/docs/devguide/about.rst index ae3538af3f2..b97c7cd2020 100644 --- a/docs/devguide/about.rst +++ b/docs/devguide/about.rst @@ -1,6 +1,6 @@ -**************** +################ About This Guide -**************** +################ .. Sect<0.3> @@ -12,8 +12,9 @@ The intent of this guide is to help you become proficient with OpenDDS as quickl Readers are encouraged to submit corrections to this guide using a GitHub pull request. The source for this guide can be found at :ghfile:`docs/devguide` and :doc:`/internal/docs` contains guidance for editing and building it. +*********** Conventions -=========== +*********** .. Sect<0.4.2> @@ -35,14 +36,16 @@ This guide uses the following conventions: - An ellipsis indicates a section of omitted text. +************ ``DDS_ROOT`` -============ +************ -This guide refers to the ``DDS_ROOT`` environment variable which should point to the base directory of the OpenDDS distribution. +This guide refers to the :envvar:`DDS_ROOT` environment variable which should point to the base directory of the OpenDDS distribution. Often, this will be written as ``$DDS_ROOT`` indicating the value of the environment variable. +******** Examples -======== +******** .. Sect<0.5> diff --git a/docs/devguide/introduction.rst b/docs/devguide/introduction.rst index 2c8f579f202..24b63ac9e2a 100644 --- a/docs/devguide/introduction.rst +++ b/docs/devguide/introduction.rst @@ -312,7 +312,7 @@ This section gives a brief overview of the OpenDDS implementation, its features, Source Code Organization ======================== -Relative to ``$DDS_ROOT``: +Relative to :envvar:`DDS_ROOT`: * the :ghfile:`dds/` directory contains the source code for OpenDDS. * the :ghfile:`tests/` directory contains tests. diff --git a/docs/devguide/introduction_to_dds.rst b/docs/devguide/introduction_to_dds.rst index 037de2112c6..ee2c83de323 100644 --- a/docs/devguide/introduction_to_dds.rst +++ b/docs/devguide/introduction_to_dds.rst @@ -20,8 +20,9 @@ This section describes the main concepts and entities of the DCPS API and discus .. _introduction--basic-concepts: +************** Basic Concepts -============== +************** .. Sect<1.1.1> @@ -37,7 +38,7 @@ The following subsections define the concepts shown in the diagram. .. _introduction--domain: Domain ------- +====== .. Sect<1.1.1.1> @@ -49,7 +50,7 @@ Domains are identified by an identifier. There is no entity in the DCPS API that represents the domain. Entity ------- +====== An *entity* is an object in a domain that has a QoS policy, status, and can be used with listeners and waitsets. "Entity" is an interface that is implemented by the other concepts in a DCPS domain. @@ -58,7 +59,7 @@ The QoS policy for each derived entity is specialized for that entity. .. _introduction--domainparticipant: Domain Participant ------------------- +================== .. Sect<1.1.1.2> @@ -69,7 +70,7 @@ The domain participant is a factory for many of the objects involved in writing .. _introduction--topic: Topic ------ +===== .. Sect<1.1.1.3> @@ -92,7 +93,7 @@ Subscribers request data via the topic. .. _introduction--datawriter: DataWriter ----------- +========== .. Sect<1.1.1.4> @@ -108,7 +109,7 @@ Dynamic data writers are also type-safe, but type checking happens at runtime. .. _introduction--publisher: Publisher ---------- +========= .. Sect<1.1.1.5> @@ -121,7 +122,7 @@ A publisher can group a sequence of writes that span multiple data writers so th .. _introduction--subscriber: Subscriber ----------- +========== .. Sect<1.1.1.6> @@ -132,7 +133,7 @@ A participant can have multiple subscribers and each subscriber can have multipl .. _introduction--datareader: DataReader ----------- +========== .. Sect<1.1.1.7> @@ -146,8 +147,9 @@ Dynamic data readers are also type-safe, but type checking happens at runtime. .. _dds-introduction--discovery: +************************************ Discovery, Matching, and Association -==================================== +************************************ *Discovery* is the process whereby a participant learns about the publications and subscriptions offered by other participants. The OMG DDS specification (``formal/2015-04-10``) leaves the details of discovery to the implementation. @@ -160,8 +162,29 @@ A data writer and data reader match if they are on the same topic, they have com If a local entity matches a remote entity, then the implementation is configured to allow data to flow from the data writer to the data reader. This is called *association*. +.. _introduction--quality-of-service-policies: + +*************************** +Quality of Service Policies +*************************** + +.. + Sect<1.1.3> + +The DDS specification defines a number of Quality of Service (QoS) policies that are used by applications to specify their QoS requirements to the service. +Participants specify what behavior they require from the service and the service decides how to achieve these behaviors. +These policies can be applied to the various DCPS entities (topic, data writer, data reader, publisher, subscriber, domain participant) although not all policies are valid for all types of entities. + +Subscribers and publishers are matched using a request-versus-offered (RxO) model. +Subscribers *request* a set of policies that are minimally required. +Publishers *offer* a set of QoS policies to potential subscribers. +The DDS implementation then attempts to match the requested policies with the offered policies; if these policies are compatible then the association is formed. + +The QoS policies currently implemented by OpenDDS are discussed in detail in :ref:`qos`. + +******************** Conceptual Data Flow -==================== +******************** The application on the publishing side initiates the flow of data by writing a sample to the DataWriter which then passes it to its associated Publisher. The Publisher sends the sample to associated Subscribers. @@ -174,8 +197,9 @@ The QoS policies of the Subscriber, DataReader, and Topic control the data on th .. _introduction--built-in-topics: +********************** Built-in Topics (BITs) -====================== +********************** .. Sect<1.1.2> @@ -209,29 +233,11 @@ The following table shows the built-in topics defined within the DDS specificati - Each instance represents a data reader. -.. _introduction--quality-of-service-policies: - -Quality of Service Policies -=========================== - -.. - Sect<1.1.3> - -The DDS specification defines a number of Quality of Service (QoS) policies that are used by applications to specify their QoS requirements to the service. -Participants specify what behavior they require from the service and the service decides how to achieve these behaviors. -These policies can be applied to the various DCPS entities (topic, data writer, data reader, publisher, subscriber, domain participant) although not all policies are valid for all types of entities. - -Subscribers and publishers are matched using a request-versus-offered (RxO) model. -Subscribers *request* a set of policies that are minimally required. -Publishers *offer* a set of QoS policies to potential subscribers. -The DDS implementation then attempts to match the requested policies with the offered policies; if these policies are compatible then the association is formed. - -The QoS policies currently implemented by OpenDDS are discussed in detail in :ref:`qos`. - .. _introduction--listeners: +********* Listeners -========= +********* .. Sect<1.1.4> @@ -241,8 +247,9 @@ For example, a Data Reader Listener is notified when there are data values avail .. _introduction--conditions: +********** Conditions -========== +********** .. Sect<1.1.5> From e611009f42bc219a39f099f1565db5143fabbf8d Mon Sep 17 00:00:00 2001 From: "Justin R. Wilson" Date: Tue, 17 Oct 2023 12:49:22 -0500 Subject: [PATCH 7/7] From review --- docs/devguide/introduction_to_dds.rst | 28 +++++++++++++++++++-------- docs/devguide/quickstart/linux.rst | 2 +- docs/devguide/quickstart/pi.rst | 2 +- docs/news.d/quickstart.rst | 5 +++++ 4 files changed, 27 insertions(+), 10 deletions(-) create mode 100644 docs/news.d/quickstart.rst diff --git a/docs/devguide/introduction_to_dds.rst b/docs/devguide/introduction_to_dds.rst index ee2c83de323..61a4830293c 100644 --- a/docs/devguide/introduction_to_dds.rst +++ b/docs/devguide/introduction_to_dds.rst @@ -76,19 +76,31 @@ Topic Sect<1.1.1.3> The *topic* is the fundamental means of interaction between publishing and subscribing applications. -Each topic has a unique name within the domain. +Each topic has a unique name within the domain that connects publishers to subscribers. +Multiple processes can publish on a topic and multiple processes can subscribe to a topic which allows for many-to-many communication. +A publishing process specifies the topic when publishing samples and a subscribing process requests samples via the topic. + +Samples, Instances, and Types +============================= + In DCPS terminology, an application publishes individual data *samples* for different *instances* on a topic. Each topic has a specific type that describes the samples. Each topic data type can specify zero or more fields that make up its *key*. Each instance is associated with a unique value for the key. A publishing process publishes multiple data samples on the same instance by using the same key value for each sample. - -A publishing process specifies the topic when publishing samples and a subscribing process requests samples via the topic. -Multiple processes can publish on a topic and multiple processes can subscribe to a topic which allows for many-to-many communication. - -When publishing data, the publishing process always specifies the topic. -Subscribers request data via the topic. - +Conceptually, a topic data type without a key has a single instance. + +A type can be defined at compile-time (static type) or at run-time (dynamic type). +An application can use both static types and dynamic types. +Static types are defined using OMG Interface Description Language (:term:`IDL`). +See :ref:`getting_started--defining-data-types-with-idl` for more information and examples. +Dynamic types can be created or acquired via API. +(OpenDDS current does not support the creation of dynamic types.) + +The type associated with a topic is relative to a participant. +That is, two different participants may have different definitions for the same topic type. +A feature called :ref:`xtypes` allows participants with different topic types to still exchange samples. +If XTypes is not used, then the types must match exactly. .. _introduction--datawriter: diff --git a/docs/devguide/quickstart/linux.rst b/docs/devguide/quickstart/linux.rst index b385cf670eb..7c4996d642c 100644 --- a/docs/devguide/quickstart/linux.rst +++ b/docs/devguide/quickstart/linux.rst @@ -67,7 +67,7 @@ Once the publisher finds the subscriber, it sends 10 messages to the subscriber .. important:: - ``The setenv.sh`` script sets various environment variables needed for running OpenDDS tests. + The ``setenv.sh`` script sets various environment variables needed for running OpenDDS tests. Be sure to ``source setenv.sh`` if you start a new terminal session. ********** diff --git a/docs/devguide/quickstart/pi.rst b/docs/devguide/quickstart/pi.rst index d5e97eb3688..e8c00d00185 100644 --- a/docs/devguide/quickstart/pi.rst +++ b/docs/devguide/quickstart/pi.rst @@ -30,7 +30,7 @@ Perform these all these steps on the host computer: #. Download and extract the `Linux GCC 10.2 cross-compiler toolchain `__ from the `ARM Developer website `__. Rename the resulting directory from ``gcc-arm-10.2-2020.11-x86_64-arm-none-linux-gnueabihf`` to ``cross-pi-gcc`` and move it to ``/opt``. -#. If building with DDS Security, follow :ref:`the steps below ` to build OpenSSL and Xerces-C++ for the Pi. +#. If building with :ref:`dds_security`, follow :ref:`the steps below ` to build OpenSSL and Xerces-C++ for the Pi. #. Enter the ``OpenDDS-`` directory diff --git a/docs/news.d/quickstart.rst b/docs/news.d/quickstart.rst new file mode 100644 index 00000000000..44f1c44d73c --- /dev/null +++ b/docs/news.d/quickstart.rst @@ -0,0 +1,5 @@ +.. news-prs: 4297 + +.. news-start-section: Documentation +- Incorporate the quick start guides, FAQ, and shapes demo into the DevGuide. +.. news-end-section

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