eProsima Micro XRCE-DDS¶
eProsima Micro XRCE-DDS is a software solution that allows communicating eXtremely Resource Constrained Environments (XRCEs) with an existing DDS network. This implementation complies with the specification of the eXtremely Resource Constrained Environments DDS (DDS-XRCE) protocol as defined and maintained by the Object Management Group (OMG) consortium.
The eprosima Micro XRCE-DDS library implements a client-server protocol that enables resource-constrained devices (clients) to take part in DDS communications. The eProsima Micro XRCE-DDS Agent (server) acts as a bridge to make this communication possible. It acts on behalf of the Micro XRCE-DDS Clients by enabling them to take part to the DDS Global Data Space as DDS publishers and/or subscribers. It also allows for Remote Procedure Calls, as defined by the DDS-RPC standard, which implement a request/reply communication pattern.
eProsima Micro XRCE-DDS provides both a plug and play eProsima Micro XRCE-DDS Agent and an API layer which allows the user to implement the eProsimaMicro XRCE-DDS Clients.
Main Features¶
- High performance.
The eProsima Micro XRCE-DDS Client uses a static low-level serialization library (eProsima Micro CDR) that serializes in XCDR.
- Low resources.
The Client library is dynamic and static memory free, as the only memory footprint is due to the stack growth. It can manage a simple publisher/subscriber with less of 2 kB of RAM. Besides, the Client is built according to a profiles concept, allowing to add or remove functionalities to/from the library at the same time as changing the binary size.
- Multi-platform.
The OS dependencies are treated as pluggable modules, so that users can easily implement their platform-specific modules for the eProsima Micro XRCE-DDS Client library. By default, the project can run both over the standard Operating Systems Linux and Windows, and on the Real-Time Operating Systems Nuttx, FreeRTOS and Zephyr.
- Compiler dependencies free.
The Client library uses pure C99 standard. No C compiler extensions are used.
- Free and Open Source.
The Client library, the Agent executable, the generator tool and other internal dependencies as eProsima Micro CDR or eProsima Fast DDS are all free and open-source.
- Easy to use.
The project provides several examples. This documentation guides the user step-by-step through some of them, namely how to create a publisher/subscriber, a requester/replier and a Peer-to-Peer publiser/subscriber Client example. An interactive demo can also be found to interact with the ShapesDemo application, useful to understand the DDS-XRCE protocol and to make tests. The Client API is thoroughly explained.
- Implementation of the DDS-XRCE standard.
DDS-XRCE is a standard communication protocol by the OMG consortium focused on communicating eXtremely Resource Constrained Environments with the DDS world.
- Best effort and reliable communication.
eProsima Micro XRCE-DDS supports both best-effort and reliable communication modes. The first implements a fast and light communication, while the second ensures reliability independently of the transport layer used underneath.
- Pluggable transport layer.
eProsima Micro XRCE-DDS is not built over a specific transport protocol as Serial or UDP. It is agnostic about the transport used, and give the user the possibility of implementing the needed transport easily. By default, UDP, TCP, and Serial transports are provided. Also, an easy way to implement Custom transport is offered.
- Commercial support
Available at support@eprosima.com
Installation¶
To install eProsima Micro XRCE-DDS, follow the instructions provided in the Installation page.
User manual¶
To test eProsima Micro XRCE-DDS, follow the Quick start instructions. This page shows how to create simple publisher/subscriber and requester/replier applications.
Additionally, there is an interactive example called Shapes Demo allowing users to create entities and to send/receive topics by instructions given by the command line. This example is useful to understand how the DDS-XRCE protocol interfaces with the DDS World.
To learn how to handle all the ingredients needed to create a Client, carefully read the Getting started page. This page describes how to use the eProsima Micro XRCE-DDS API in order to set up and run a Client application.
A generic introduction to the library can be found in the Overview page. To know more about Clients and Agents, find detailed information in the eProsima Micro XRCE-DDS Client and Client API pages, and in the eProsima Micro XRCE-DDS Agent and Agent API pages respectively.
eProsima Micro XRCE-DDS Gen¶
To create a serialization/deserialization topic code for the eProsima Micro XRCE-DDS Client,
there is a tool called microxrceddsgen.
Information about this tool can be found in the eProsima Micro XRCE-DDS Gen page.
Structure of the documentation¶
External dependencies¶
In this section we list the dependencies of the libraries composing the eProsima Micro XRCE-DDS suite.
eProsima Micro XRCE-DDS Client¶
The eProsima Micro XRCE-DDS Client has no external dependencies.
eProsima Micro XRCE-DDS Agent¶
- eProsima Fast DDS
The eProsima Micro XRCE-DDS Agent requires eProsima Fast DDS to work. If eProsima Fast DDS is already installed in the system, the Agent will look for it and use it. Otherwise, it will be automatically downloaded together with the Agent application.
If willing to install eProsima Fast DDS, follow the instructions provided in the installation guide of the eProsima Fast DDS documentation.
eProsima Micro XRCE-DDS Gen¶
In order to compile the code generation tool Micro XRCE-DDS Gen, the following packages need to be installed in the system.
- Java JDK
The JDK is a development environment for building applications and components using the Java language. Download and install it following the steps provided in the Oracle website.
- Gradle
Gradle is an open-source build automation tool, version 7.0 or higher is required. Download and install it following the steps provided in the Gradle website.
Windows¶
- Microsoft Visual C++ 2017 or greater
eProsima Micro XRCE-DDS is supported on Windows over the Microsoft Visual C++ 2017 or greater frameworks.
Installation¶
In this section, instructions are provided to install the following packages:
The user can decide wether to install the Agent and Client as stand-alone packages, or together. If the first approach is chosen, refer to the Release Notes section in order to match versions that are compatible.
Using pre-installed docker images¶
Download here the Micro XRCE-DDS and Fast-DDS Suite docker image that contains a pre-installed client and agent as well as some compiled examples. More information about this Docker image can be found here.
Installing the Agent standalone¶
Clone the project from GitHub:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
$ cd Micro-XRCE-DDS-Agent
$ mkdir build && cd build
On Linux, inside of the build folder, execute the following commands:
$ cmake ..
$ make
$ sudo make install
On Windows first select the Visual Studio version:
$ cmake -G "Visual Studio 15 2017 Win64" ..
$ cmake --build .
$ cmake --build . --target install
Note
The eProsima Micro XRCE-DDS Agent can be configured at compile-time via several CMake definitions. Find them listed in the Configuration section of the eProsima Micro XRCE-DDS Agent page.
Now the the executable eProsima Micro XRCE-DDS Agent is installed in the system. Before running it, add
/usr/local/lib to the dynamic loader-linker directories.
sudo ldconfig /usr/local/lib/
Important
The eProsima Micro XRCE-DDS Agent executable comes with a rich CLI. Find out all the options offered by this CLI when running the Agent in the Agent CLI section of the eProsima Micro XRCE-DDS Agent page.
Installation from Snap package¶
The eProsima Micro XRCE-DDS Agent can also be installed as a Snap package..
To this aim, simply execute sudo snap install micro-xrce-dds-agent in the console.
This will download the Snap package corresponding to the stable version, that is, the master branch on GitHub.
For downloading the Snap image corresponding to the develop branch, add the --edge flag to the installation command.
Note
The Snap package is only available for Linux.
Installing the Client standalone¶
Clone the project from GitHub:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Client.git
$ cd Micro-XRCE-DDS-Client
$ mkdir build && cd build
On Linux, inside of build folder, execute the following commands:
$ cmake ..
$ make
$ sudo make install
Now the the executable eProsima Micro XRCE-DDS Client is installed in the system. Before running it, add
/usr/local/lib to the dynamic loader-linker directories.
sudo ldconfig /usr/local/lib/
On Windows first select the Visual Studio version:
$ cmake -G "Visual Studio 15 2017 Win64" ..
$ cmake --build .
$ cmake --build . --target install
Note
In order to install the eProsima Micro XRCE-DDS Client examples, add -DUCLIENT_BUILD_EXAMPLES=ON
to the cmake .. command-line options. This flag will enable the compilation of the examples.
In addition to this flag, there are several other CMake definitions for configuring the building of the client
library at compile-time.
Find them in the Profiles and configurations sections of the eProsima Micro XRCE-DDS Client page.
For building a Client app in the host machine, compile against the following libs:
gcc <main.c> -lmicrocdr -lmicroxrcedds_client
Installing the Micro XRCE-DDS Gen tool¶
Install dependencies, clone the project from GitHub and build:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Gen.git
$ cd Micro-XRCE-DDS-Gen
$ git submodule init
$ git submodule update
$ ./gradlew assemble
The Micro XRCE-DDS-Gen tool will be available as:
$ ./scripts/microxrceddsgen -help
Installing Agent and Client¶
Clone the project from GitHub:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS.git
$ cd Micro-XRCE-DDS
$ mkdir build && cd build
On Linux, inside of the build folder, execute the following commands:
$ cmake ..
$ make
$ sudo make install
On Windows choose the Visual Studio version using the CMake option -G, for example:
$ cmake -G "Visual Studio 15 2017 Win64" ..
$ cmake --build . --target install
Now both the eProsima Micro XRCE-DDS Agent and the eProsima Micro XRCE-DDS Client are installed in the system.
Note
In order to install the eProsima Micro XRCE-DDS Gen tool as well, add -DUXRCE_ENABLE_GEN=ON
to the cmake .. command-line options. This flag will enable the downloading and compilation of the code generating tool.
Note
In order to install the eProsima Micro XRCE-DDS examples, add -DUXRCE_BUILD_EXAMPLES=ON
to the cmake .. command-line options. This flag will enable the compilation of the examples.
Overview¶
This section provides an overview of the Micro XRCE-DDS library. It is organized as follows:
DDS-XRCE protocol¶
eProsima Micro XRCE-DDS implements the DDS-XRCE protocol specified in the DDS for eXtremely Resource Constrained Environments standard as defined and maintained by the Object Management Group (OMG) consortium.
This protocol allows resource-constrained devices to communicate with a larger DDS (Data Distribution Service) network. This communication is based on a client-server architecture, where the server (XRCE Agent) acts as an intermediary between the clients (XRCE Clients) and the DDS Global Data Space.
The DDS-XRCE protocol defines the wire protocol between XRCE Agents and XRCE Clients. The messages exchanged revolve around operations and their responses. The XRCE Clients request the XRCE Agents to run operations, and the XRCE Agents reply with the result of the requested operations. Making use of these operations, the XRCE Clients can create the DDS entities’ hierarchy necessary to publish and/or receive data from DDS. The DDS entities are created and stored on the XRCE Agent’s side so the XRCE Clients can reuse them at will with subsequent operations requests.
eProsima Micro XRCE-DDS implements the DDS-XRCE protocol using an XRCE Agent as a broker and providing a C API for developing XRCE Clients applications. The Micro XRCE-DDS Agent uses eProsima Fast DDS to reach the DDS Global Data Space.
DDS standard and Fast DDS¶
eProsima Fast DDS is a C++ implementation of the DDS standard and makes underneath use of the RTPS (Real-Time Publish-Subscribe) wire protocol, which provides publisher-subscriber communications over unreliable transports such as UDP. Both the DDS specification and the RTPS protocol are defined and maintained by the OMG consortium.
For more extensive information, please refer to the official documentation: eProsima Fast DDS.
Operations and entities¶
The communication between XRCE Clients and XRCE Agents is based upon Operations and responses. Clients request operations to the Agents, which generate responses with the result of these operations. The Client, once informed back on the result of th requested operations, will be able to perform subsequent actions and/or request further operations.
The communication starts with a handshake for the Agent to acknowledge that a Client is present in the network. This happens via a Create session operation forwarded from the Client to the Agent, with which the latter registers the Client. Without registering a session, all the subsequent operations sent to the Agent will be refused. Once registered, the Client can request operations to the Agent, through which it can create and query entities. The communication with DDS is handled by the Agent using these Entities.
The Create entity operation is the request used to create entities in the Agent. Each of these entities corresponds to an eProsima Fast DDS object.
For sending and receiving data from/to DDS, the Client has access to the DataWriter and DataReader entities. These entities handle the writing/reading operations. For sending and receiving any topic, the Write Data and Read Data operations must be used.
To remove any entity from the Agent, use the Delete entity operation. Also, to log out a Client session from the Agent, use the Delete session operation.
Operations¶
Operations are the possible actions the eProsima Micro XRCE-DDS Client can request to the eProsima Micro XRCE-DDS Agent. Operations revolve around Entities. The eProsima Micro XRCE-DDS Agent will respond to all the requests with the status of the operation.
Operation |
Description |
|---|---|
Create session |
With this operation Clients asks the Agents to register a session.
It is the first operation that must be performed. |
Delete session |
This operation deletes the Client-Agent connection and removes all entities associated with it.
After this operation, |
Create entity |
A session can create all the entities it needs. There is a Create entity operation for each entity the
session can handle. |
Delete entity |
Analogously, a session can delete the entities that were previously created on the Agent. To drop an entity, the entity ID must be used. |
Request Data |
This operation configures the data reception, which the Agent will deliver from the DDS data space to the Client.
Data are received |
Entities¶
The protocol underlying eProsima Micro XRCE-DDS (DDS-XRCE), defines entities that have a direct correspondence with their analogous actors on eProsima Fast DDS. The entities manage the communication between eProsima Micro XRCE-DDS Clients and the DDS Global Data Space. Entities are stored in the eProsima Micro XRCE-DDS Agent and the eProsima Micro XRCE-DDS Client can create, use and destroy these entities.
The entities are uniquely identified by an ID called Object ID. The Object ID is the way a Client refers to them inside an Agent. In most of the Client request operations it is necessary to specify an ID referring to one of the Client entities stored in the Agent.
Find below a table describing the entities the Client can interact with.
Entity |
Description |
|---|---|
Participant |
Participants can hold any number of Publishers and/or Subscribers. |
Publisher |
Publishers can hold any number of data writers. |
Subscriber |
Subscribers can hold any number of data readers. |
Topic |
Topic data is the base of the communication. A Topic is composed of a name and a data type. |
DataWriter |
This is the endpoint able to write Topic data. |
DataReader |
This is the endpoint able to read Topic data. |
Requester |
This is the endpoint able to write Request data and to read Reply data. |
Replier |
This is the endpoint able to read Request data and to write Reply data. |
This figure shows the entities hierarchy
The creation the entities listed above needs to be done using the DDS XML configuration of the object to create. The XML configuration follows the same rules as in eProsima Fast DDS.
The data sent by the Client to the DDS Global Data Space closely resembles that of eProsima Fast DDS. The Interface Definition Language (IDL) is used to define the type and must be known by the Client. Having the type defined as IDL, we provide the eProsima Micro XRCE-DDS Gen tool. This tool can generate a compatible type that the XRCE Client can use to send and receive. The type has to match the one used on the DDS Side.
Quick start¶
eProsima Micro XRCE-DDS provides a C API which allows the creation of eProsima Micro XRCE-DDS Clients that can either publish/subscribe to topics from the DDS Global Data Space, or act as client-service applications following a request/reply pattern.
In this section, we will guide the user through the deployment of two out-of-the-box examples. In the first one, an eProsima Micro XRCE-DDS Agent bridges two eProsima Micro XRCE-DDS Clients publishing and subscribing to the DDS world. The second example shows instead the deployment of a client-service application using the Requester and Replier entities, also put into communication via an eProsima Micro XRCE-DDS Agent.
The section is organized as follows:
Running an Agent¶
First of all, install the Agent as explained in the Installing the Agent standalone section. On Linux, this would be:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
$ cd Micro-XRCE-DDS-Agent
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install
After having installed the Agent system-wide, it’s possible to launch it.
For this example, the Client-Agent communication will be done through UDP, using the port 2019
and with the XML creation mode, which is the default mode for creating entities:
$ cd /usr/local/bin && MicroXRCEAgent udp4 -p 2019
Running a Publisher-Subscriber example¶
In this section, we guide the user through the configuration and deployment of a simple publish/subscribe example where the communication is mediated by the Agent created above.
Before considering the publisher and subscriber examples, it is useful to briefly summarize how the Publisher and Subscriber entities work, as well as to list the functions related to both entities.
- Publisher
The Publisher will be associated with a Topic and will handle a DDS publisher that publishes topics.
To create a Publisher entity, the
uxr_buffer_create_publisher_xmloruxr_buffer_create_publisher_refshall be used. Once created, topics can be published throughuxr_prepare_output_stream.- Subscriber
The Subscriber will be associated with a Topic and will handle a DDS subscriber that receives topics.
To create a Subscriber entity, the
uxr_buffer_create_subscriber_xmloruxr_buffer_create_subscriber_refshall be used. Topics can be received by sending a data request to the Agent withuxr_buffer_request_data, and through the on_topic callback which shall be set by theuxr_set_topic_callback. This callback has a parameter request_id which identifies the data request.
All the files and the code used in this example can be found in the Micro-XRCE-DDS-Client/examples/PublishHelloWorld and Micro-XRCE-DDS-Client/examples/SubscribeHelloWorld folders.
Publisher application¶
Let’s now install the Client locally, and with the -DUCLIENT_BUILD_EXAMPLES=ON flag enabled, so as
to activate the compilation of the examples. On Linux, this implies running the following:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Client.git
$ cd Micro-XRCE-DDS-Client
$ mkdir build && cd build
$ cmake .. -DUCLIENT_BUILD_EXAMPLES=ON
$ make
At this point, it’s possible to launch the PublishHelloWorldClient executable
located in the folder Micro-XRCE-DDS-Client/build/examples/PublishHelloWorld, which’ll make
the Client publish in the DDS World the HelloWorld topic
(take a look at the IDL defining this topic in the file
Micro-XRCE-DDS-Client/examples/PublishHelloWorld/HelloWorld.idl).
$ examples/PublishHelloWorld/PublishHelloWorldClient 127.0.0.1 2019
The source code of the PublishHelloWorldClient can be found in
Micro-XRCE-DDS-Client/examples/PublishHelloWorld/main.c.
Subscriber application¶
After having executed the publisher app, we can launch the SubscribeHelloWorldClient executable,
which is located in the folder Micro-XRCE-DDS-Client/build/examples/SubscribeHelloWorld, which’ll make
this Client subscribe to the same HelloWorld topic from the DDS World.
$ examples/SubscribeHelloWorld/SubscribeHelloWorldClient 127.0.0.1 2019
The source code of the SubscribeHelloWorldClient can be found in
Micro-XRCE-DDS-Client/examples/SubscribeHelloWorld/main.c.
At this point, the subscriber will receive the topics that are being sent by the publisher.
In order to see the messages from the DDS Global Data Space point of view, use the eProsima Fast DDS HelloWorld example running a subscriber. Find more information on how to do so at Fast DDS HelloWorld.
Running a Requester/Replier example¶
This section shows an example of a client-service application using the Requester and Replier entities. This application has two ends, the client (RequestAdder) and the service (ReplyAdder). On the one hand, the client is in charge of sending requests which contain two integers, as well as receiving the responses from the service. On the other hand, the service is in charge of receiving the requests from the client, summing the two integers, and finally of sending the response to the client.
Before considering the client and service examples, it is useful to briefly summarize how the Requester and Replier entities work, as well as to list the functions related to both entities.
- Requester
The Requester entity is composed of a Publisher and a Subscriber associated with a RequestTopic and a ReplyTopic respectively. The Publisher is in charge of sending the request, while the Susbscriber receives the replies.
To create a Requester entity, the
uxr_buffer_create_requester_xmloruxr_buffer_create_requester_refshall be used. Once created, requests can be sent throughuxr_buffer_request. Replies can be received by sending a data request to the Agent withuxr_buffer_request_data, and through the on_reply callback which shall be set by theuxr_set_reply_callback. This callback has a parameterreply_idwhich corresponds to the identifier returned by theuxr_buffer_requestcall.- Replier
The Reply entity is a mirror of the Requester, that is, it contains a Publisher and a Subscriber as well, but the topic association is reversed, as the Publisher is associated with the ReplyTopic and the Subscriber to the RequestTopic. In this case, the Subscriber is in charge of receiving the request from the Requester, while the Publisher sends the replies.
To create a Replier entity, the
uxr_buffer_create_replier_xmloruxr_buffer_create_replier_refshall be used. Once created, replies can be sent throughuxr_buffer_reply. Requests can be received by sending a data request to the Agent withuxr_buffer_request_data, and through the on_request callback which shall be set by theuxr_set_request_callback. This callback has a parameter sample_id which identifies the request and should be used in theuxr_buffer_reply.
All the files and the code used in this example can be found in the Micro-XRCE-DDS-Client/examples/RequestAdder and Micro-XRCE-DDS-Client/examples/ReplyAdder folders.
Requester application¶
Let’s now install the Client locally, and with the -DUCLIENT_BUILD_EXAMPLES=ON flag enabled, so as
to activate the compilation of the examples. On Linux, this implies running the following:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Client.git
$ cd Micro-XRCE-DDS-Client
$ mkdir build && cd build
$ cmake .. -DUCLIENT_BUILD_EXAMPLES=ON
$ make
At this point, it’s possible to launch the RequestAdder executable
located in the folder Micro-XRCE-DDS-Client/build/examples/RequestAdder, which’ll make
the Client send two integers as a request, and receive the sum of both integers as a response.
$ examples/RequestAdder/RequestAdder 127.0.0.1 2019
The source code of the RequestAdder can be found in
Micro-XRCE-DDS-Client/examples/RequestAdder/main.c.
Replier application¶
After having executed the Requester app, we can launch the ReplyAdder executable,
which is located in the folder Micro-XRCE-DDS-Client/build/examples/ReplyAdder, which’ll make
this Client receive requests composed by two integers, sum both numbers, and finally send the response.
$ examples/ReplyAdder/ReplyAdder 127.0.0.1 2019
The source code of the ReplyAdder can be found in
Micro-XRCE-DDS-Client/examples/ReplyAdder/main.c.
At this point, the Requester and the Replier will start communicating.
Learn More¶
Find a detailed explanation of the code used to write and run these applications in the Getting started section.
Find other relevant material:
eProsima Fast DDS: eProsima Fast DDS
To learn how to install eProsima Micro XRCE-DDS read: Installation
To learn more about eProsima Micro XRCE-DDS read: Overview
To learn more about eProsima Micro XRCE-DDS Gen read: eProsima Micro XRCE-DDS Gen
Getting started¶
This page shows how to get started with the eProsima Micro XRCE-DDS Client. We will create a Client that can publish and subscribe to a topic, or engage in a request-reply kind of communication. Also, we illustrate how to create C code consumable by the client from a IDL file with eProsima Micro XRCE-DDS Gen. Finally, we provide a deployment example.
The section is organized as follows:
Hint
The code shown here can be found in the examples below:
examples/PublishHelloWorldexamples/SubscribeHelloWorldexamples/ReplyAdderexamples/RequestAdderexamples/Deployment
Note
This example makes use of the creation mode by XML, which is one of the two possible representation formats for creating DDS entities: by XML or by reference (see the Creation Mode: Client and Creation Mode: Agent sections).
Prerequisites¶
First, make sure to have correctly installed the following:
Generate code from an IDL¶
We will use HelloWorld as our Topic whose IDL is the following:
struct HelloWorld
{
unsigned long index;
string message;
};
In the Client we need to create an equivalent C type with its serialization/deserialization code. This is done automatically by eProsima Micro XRCE-DDS Gen:
$ microxrceddsgen HelloWorld.idl
Initialize a Session¶
In the source example file, we include the generated type code, to have access to its serialization/deserialization functions along to the writing function. Also, we will specify the max buffer for the streams and its historical associated for the reliable streams.
#include "HelloWorldWriter.h"
#define STREAM_HISTORY 8
#define BUFFER_SIZE UXR_CONFIG_UDP_TRANSPORT_MTU * STREAM_HISTORY
Before create a Session we need to indicate the transport to use (the Agent must be configured for listening from UDP at port 2018).
uxrUDPTransport transport;
if (!uxr_init_udp_transport(&transport, UXR_IPv4, "127.0.0.1", "2018"))
{
printf("Error at create transport.\n");
return 1;
}
Next, we will create a session that allows us interacting with the Agent:
uxrSession session;
uxr_init_session(&session, &transport.comm, 0xABCDABCD);
uxr_set_topic_callback(&session, on_topic, NULL);
if(!uxr_create_session(&session))
{
printf("Error at create session.\n");
return 1;
}
The first function uxr_init_session initializes the session structure with the transport and the Client Key (the session identifier for an Agent).
The uxr_set_topic_callback function is for registering the function on_topic which will be called when the Client receives a topic.
Once the session has been initialized, we can send the first message for logging the Client in the Agent side: uxr_create_session.
This function will try to connect with the Agent by CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS attempts (configurable as a CMake argument).
Optionally, we also could add a status callback with the function uxr_set_status_callback, but for this example, we do not need it.
Once we have logged in the session successfully, we can create the streams that we will use. In this case, we will use two, both reliables, for input and output.
uint8_t output_reliable_stream_buffer[BUFFER_SIZE];
uxrStreamId reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream_buffer, BUFFER_SIZE, STREAM_HISTORY);
uint8_t input_reliable_stream_buffer[BUFFER_SIZE];
uxrStreamId reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, BUFFER_SIZE, STREAM_HISTORY);
To publish and/or subscribes to a topic, we need to create a hierarchy of XRCE entities in the Agent side. These entities will be created from the Client.
Setup a Participant¶
For establishing DDS communication, we need to create a Participant entity for the Client in the Agent. We can do this calling Create participant operation:
uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
const char* participant_xml = "<dds>"
"<participant>"
"<rtps>"
"<name>default_xrce_participant</name>"
"</rtps>"
"</participant>"
"</dds>";
uint16_t participant_req = uxr_buffer_create_participant_ref(&session, reliable_out, participant_id, participant_xml, UXR_REPLACE);
In any XRCE Operation that creates an entity, an Object ID is necessary.
It is used to represent and manage the entity in the Client side.
In this case, we will create the entity by its XML description, but also could be done by a reference of the entity in the Agent.
Each operation returns a Request ID.
This identifier of the operation can be used later for associating the status with the operation.
In this case, the operation has been written into the stream reliable_out.
Later, in the run_session function, the data written in the stream will be sent to the Agent.
Create topics¶
Once the Participant has been created, we can use Create topic operation to register a Topic entity within the Participant.
uxrObjectId topic_id = uxr_object_id(0x01, UXR_TOPIC_ID);
const char* topic_xml = "<dds>"
"<topic>"
"<name>HelloWorldTopic</name>"
"<dataType>HelloWorld</dataType>"
"</topic>"
"</dds>";
uint16_t topic_req = uxr_buffer_create_topic_xml(&session, reliable_out, topic_id, participant_id, topic_xml, UXR_REPLACE);
As any other XRCE Operation used to create an entity, an Object ID must be specified to represent the entity.
The participant_id is the participant where the Topic will be registered.
To determine which topic will be used, an XML is sent to the Agent for creating and defining the Topic in the DDS Global Data Space.
That definition consists of a name and a type.
Publishers & Subscribers¶
Similar to Topic registration, we can create Publishers and Subscribers entities. We create a publisher or subscriber on a participant entity, so it is necessary to provide the ID of the Participant which will hold those Publishers or Subscribers.
uxrObjectId publisher_id = uxr_object_id(0x01, UXR_PUBLISHER_ID);
const char* publisher_xml = "";
uint16_t publisher_req = uxr_buffer_create_publisher_xml(&session, reliable_out, publisher_id, participant_id, publisher_xml, UXR_REPLACE);
uxrObjectId subscriber_id = uxr_object_id(0x01, UXR_SUBSCRIBER_ID);
const char* subscriber_xml = "";
uint16_t subscriber_req = uxr_buffer_create_subscriber_xml(&session, reliable_out, subscriber_id, participant_id, subscriber_xml, UXR_REPLACE);
The Publisher and Subscriber XML information is given when the DataWriter and DataReader are created.
DataWriters & DataReaders¶
Analogously to publishers and subscribers entities, we create the DataWriters and DataReaders entities. These entities are in charge of sending and receiving the data. DataWriters are referred to as publishers, and DataReaders are referred to as subscribers. The configuration of these DataReaders and DataWriters are contained in the XML.
uxrObjectId datawriter_id = uxr_object_id(0x01, UXR_DATAWRITER_ID);
const char* datawriter_xml = "<dds>"
"<data_writer>"
"<topic>"
"<kind>NO_KEY</kind>"
"<name>HelloWorldTopic</name>"
"<dataType>HelloWorld</dataType>"
"</topic>"
"</data_writer>"
"</dds>";
uint16_t datawriter_req = uxr_buffer_create_datawriter_xml(&session, reliable_out, datawriter_id, publisher_id, datawriter_xml, UXR_REPLACE);
uxrObjectId datareader_id = uxr_object_id(0x01, UXR_DATAREADER_ID);
const char* datareader_xml = "<dds>"
"<data_reader>"
"<topic>"
"<kind>NO_KEY</kind>"
"<name>HelloWorldTopic</name>"
"<dataType>HelloWorld</dataType>"
"</topic>"
"</data_reader>"
"</dds>";
uint16_t datareader_req = uxr_buffer_create_datareader_xml(&session, reliable_out, datareader_id, subscriber_id, datareader_xml, UXR_REPLACE);
Requester & Replier¶
There is another pair of coupled entities, the Requester and the Replier. These entities provide request-reply functionality using the underlining publish-subscribe pattern. It is achieved through a mirror configuration between a Requester and a Replier, that is, both entities contain a Publisher and a Subscriber, the Publisher of the Requester and the Subscriber of the Replier are associated with the same Topic and vice versa. In that way, each time a Requester publishes a request it will be received by the Replier, then the latter will generate a reply and publish it, and finally, this reply will be received by the Requester.
The following code shows how to create a Requester and a Replier using the XML representation.
uxrObjectId requester_id = uxr_object_id(0x01, UXR_REQUESTER_ID);
const char* requester_xml = "<dds>"
"<requester profile_name=\"my_requester\""
"service_name=\"service_name\""
"request_type=\"request_type\""
"reply_type=\"reply_type\">"
"</requester>"
"</dds>";
uint16_t requester_req = uxr_buffer_create_requester_xml(&session, reliable_out, requester_id, participant_id, requester_xml, UXR_REPLACE);
replier_id = uxr_object_id(0x01, UXR_REPLIER_ID);
const char* replier_xml = "<dds>"
"<replier profile_name=\"my_replier\""
"service_name=\"service_name\""
"request_type=\"request_type\""
"reply_type=\"reply_type\">"
"</replier>"
"</dds>";
uint16_t replier_req = uxr_buffer_create_replier_xml(&session, reliable_out, replier_id, participant_id, replier_xml, UXR_REPLACE);
Agent response¶
In operations such as create a session, create entity or request data from the Agent, a status is sent from the Agent to the Client indicating what happened.
For Create session or Delete session operations, the status value is stored into the session.info.last_request_status.
For the rest of the operations, the statuses are sent to the input reliable stream 0x80, that is,
the first input reliable stream created, with index 0.
The different status values that the Agent can send to the Client are the following (defined in uxr/client/core/session/session_info.h):
UXR_STATUS_OK
UXR_STATUS_OK_MATCHED
UXR_STATUS_ERR_DDS_ERROR
UXR_STATUS_ERR_MISMATCH
UXR_STATUS_ERR_ALREADY_EXISTS
UXR_STATUS_ERR_DENIED
UXR_STATUS_ERR_UNKNOWN_REFERENCE
UXR_STATUS_ERR_INVALID_DATA
UXR_STATUS_ERR_INCOMPATIBLE
UXR_STATUS_ERR_RESOURCES
UXR_STATUS_NONE (never send, only used when the status is known)
The status can be handled by the on_status_callback callback (configured in uxr_set_status_callback function) or by the run_session_until_all_status as we will see.
uint8_t status[6]; // we have 6 request to check.
uint16_t requests[6] = {participant_req, topic_req, publisher_req, subscriber_req, datawriter_req, datareader_req};
if(!uxr_run_session_until_all_status(&session, 1000, requests, status, 6))
{
printf("Error at create entities\n");
return 1;
}
The run_session functions are the main functions of the eProsima Micro XRCE-DDS Client library.
They perform several tasks: send the stream data to the Agent, listen to data from the Agent, call callbacks, and manage the reliable connection.
There are five variations of run_session function:
- uxr_run_session_time
- uxr_run_session_until_timeout
- uxr_run_session_until_confirmed_delivery
- uxr_run_session_until_all_status
- uxr_run_session_until_one_status
Here we use the uxr_run_session_until_all_status variation that will perform these actions until all statuses have been confirmed or the timeout has been reached.
This function will return true in case all statuses were OK.
After calling this function, the status can be read from the status array previously declared.
Write Data¶
Once we have created a valid data writer entity, we can write data into the DDS Global Data Space using the writing operation. For creating a message with data, first, we must decide which stream we want to use, and write that topic in this stream.
HelloWorld topic = {count++, "Hello DDS world!"};
ucdrBuffer ub;
uint32_t topic_size = HelloWorld_size_of_topic(&topic, 0);
(void) uxr_prepare_output_stream(&session, reliable_out, datawriter_id, &ub, topic_size);
(void) HelloWorld_serialize_topic(&ub, &topic);
uxr_run_session_until_confirmed_delivery(&session, 1000);
HelloWorld_size_of_topic and HelloWorld_serialize_topic functions are automatically generated by eProsima Micro XRCE-DDS Gen from the IDL.
The function uxr_prepare_output_stream requests a writing for a topic of topic_size size into the reliable stream represented by reliable_out,
with a datawriter_id (correspond to the data writer entity used for sending the data in the DDS World).
If the stream is available and the topic fits in it, the function will initialize the ucdrBuffer structure ub.
Once the ucdrBuffer is prepared, the topic can be serialized into it.
We are careless about uxr_prepare_output_stream return value because the serialization only will occur if the ucdrBuffer is valid.
After calling the writing function, the topic has been serialized into the buffer, but it has not been sent yet.
To send the topic, it is necessary to call a run_session function.
In this case, the function uxr_run_session_until_confirmed_delivery is called, which will wait until the message was confirmed or until the timeout has been reached.
Read Data¶
Once we have created a valid DataReader entity, we can read data from the DDS Global Data Space using the read operation. This operation configures how the Agent will send the data to the Client. The current implementation sends unlimited topics to the Client.
uxrDeliveryControl delivery_control = {0};
delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
uint16_t read_data_req = uxr_buffer_request_data(&session, reliable_out, datareader_id, reliable_in, &delivery_control);
To configure how the Agent will send the topic, we must set the input stream. In this case, we use the input reliable stream previously defined.
datareader_id corresponds with the DataDeader entity used for receiving the data.
The delivery_control parameter is optional, and allows specifying how the data will be delivered to the Client.
For the example purpose, we set it as unlimited, so any number HelloWorld topic will be delivered to the Client.
The run_session function will call the topic callback each time a topic will be received from the Agent.
void on_topic(uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id, struct ucdrBuffer* ub, uint16_t length, void* args)
{
(void) session; (void) object_id; (void) request_id; (void) stream_id; (void) length; (void) args;
HelloWorld topic;
HelloWorld_deserialize_topic(ub, &topic);
}
To know which kind of Topic has been received, we can use the object_id parameter or the request_id.
The id of the object_id corresponds to the DataReader that has read the Topic, so it can be useful to discretize among different topics.
The args argument corresponds to user-free-data, that has been given at uxr_set_status_callback function.
Close the Client¶
To close a Client, we must perform two steps. First, we need to tell the Agent that the session is no longer available. This is done sending the next message:
uxr_delete_session(&session);
After this, we can close the transport used by the session.
uxr_close_udp_transport(&transport);
Deployment example¶
This section is devoted to illustrate how to deploy a system using eProsima Micro XRCE-DDS in a real environment.
An example of this can be found in the examples/Deployment folder.
The tutorials above are based on all in one examples, that is, examples that create entities, publish or subscribe and then delete the resources. One possible real purpose of this consists in differentiating the logic of creating entities and the actions of publishing and subscribing. It can be done by creating two differents Clients, one in charge of configuring the entities in the Agent, which runs once, only for creating the entities at compile-time, and other/s that log(s) in the same session as the first Client (sharing the entities) and only publish(es) or subscrib(es) to data.
This allows creating Clients in a real scenario with the only purpose of sending and receiving data. The concept of profiles allows building the Client library only with the chosen behavior (only to publish or to subscribe, for example). See eProsima Micro XRCE-DDS Client for more information.
The diagram below shows an example of how to configure the environment using a configurator client.
Initial state¶
The environment contains two Agents (it’s perfectly possible to use only one Agent too), and two Clients, one for publishing and another for subscribing.
Publisher configuration¶
In this state a configurator client is connected to the Agent A with the client key that will be used by the future publisher client (0xAABBCCDD). Once a session is logged in, the configurator client creates all the necessary entities for the publisher client. This implies the creation of participant, topic, publisher, and datawriter entities. These entities have a representation as DDS entities, and can be reached from the DDS world, that is, any subscriber DDS entity could already be listening to topics if it matches with such publisher DDS entity through the DDS world.
Publisher¶
Then, the publisher client is connected to the Agent A. This Client logs in a session with its Client key (0xAABBCCDD).
At that moment, it can use all entities created related to this client key. Because all entities that it uses were successfully created by the configurator client, the publisher client can immediately publish to DDS.
Subscriber configuration¶
Again, the configurator client connects and logs in, this time to Agent B, now with the subscriber’s key (0x11223344). In this case, the entities that the configurator client creates are a participant, a topic, a subscriber, and a datareader. The entities created by the configuraton client will be available until the session is deleted.
Subscriber¶
Once the subscriber is configured, the subscriber client logs in the Agent B. Since all of its entities have been created previously, it only needs to configure the read after the login. Once the data request message has been sent, the subscriber will receive the topics from the publisher through the DDS world.
Shapes Demo¶
ShapesDemo is an interactive example for testing how eProsima Fast RTPS working in the DDS Global Data Space. Because eProsima Micro XRCE-DDS aims to connect an XRCE Client to the DDS World, in this example, we will create a Client which will interact with the Shapes Demo. It can be found at examples/uxr/client/ShapeDemoClient inside of the installation directory. This interactive Client waits for user input indicating commands to execute.
The available commands are the following:
- create_session
Creates a Session, if exists, reuse it.
- create_participant <participant id>:
Creates a Participant on the current session.
- create_topic <topic id> <participant id>:
Registers a Topic using <participant id> participant.
- create_publisher <publisher id> <participant id>:
Creates a Publisher on <participant id> participant.
- create_subscriber <subscriber id> <participant id>:
Creates a Subscriber on <participant id> participant.
- create_datawriter <datawriter id> <publisher id>:
Creates a DataWriter on the publisher <publisher id>.
- create_datareader <datareader id> <subscriber id>:
Creates a DataReader on the subscriber <subscriber id>.
- write_data <datawriter id> <stream id> [<x> <y> <size> <color>]:
Writes data into a <stream id> using <data writer id> DataWriter.
- request_data <datareader id> <stream id> <samples>:
Reads <sample> topics from a <stream id> using <datareader id> DataReader,
- cancel_data <datareader id>:
Cancels any previous request data of <datareader id> DataReader.
- delete <id_prefix> <type>:
Removes object with <id prefix> and <type>.
- stream, default_output_stream <stream_id>:
Changes the default output stream for all messages except of write data. <stream_id> can be 1-127 for best effort and 128-255 for reliable. The streams must be initially configured.
- exit:
Closes session and exit.
- tree, entity_tree <id>:
Creates the necessary entities for a complete publisher and subscriber. All entities will have the same <id> as id.
- h, help:
Shows this message.
For example, to create a publisher Client that sends a square Topic in reliable mode, run the following commands:
> create_session
> create_participant 1
> create_topic 1 1
> create_publisher 1 1
> create_datawriter 1 1
> write_data 1 128 200 200 40 BLUE
This Client will publish a topic in the reliable mode that will have color BLUE, x coordinate 200, y coordinate 200, and size 40.
In case of a subscriber Client that receives square topics in a reliable mode, run the following:
> create_session
> create_participant 1
> create_topic 1 1
> create_subscriber 1 1
> create_datareader 1 1
> request_data 1 128 5
This Client will receive 5 topics in reliable mode.
To create the entities tree easily, run the command entity_tree <id>.
For example, the following command creates the necessary entities for publishing and subscribing data with id 3:
> entity_tree 3
create_participant 3
create_topic 3 3
create_publisher 3 3
create_subscriber 3 3
create_datawriter 3 3
create_datareader 3 3
To modify the output default stream, change it with stream <id>.
The maximum available streams correspond to the CONFIG_MAX_OUTPUT_BEST_EFFORT_STREAMS and
CONFIG_MAX_OUTPUT_RELIABLE_STREAMS properties as CMake arguments.
> stream 1
Now the messages will be sent in best-effort mode.
eProsima Micro XRCE-DDS Client¶
In eProsima Micro XRCE-DDS, a Client can communicate with the DDS Network as any other DDS actor could do. Clients can either publish and subscribe to data Topics in the DDS Global Data Space, or act as a client/service application following a request-reply pattern.
This section explains how the Client-Agent communication happens through streams that can be either best-effort or reliable.
After this, it is explained how users can configure Clients applications and the communication with the Agent
via sets of CMake flags (-D<parameter>=<value>) that enable/disable profiles and/or allow customize
the size of several parameters.
Finally, a table is presented to explain the creation mode options of the Clients on the Agent’s side.
The section is organized as follows:
eProsima Micro XRCE-DDS provides the user with a C API to create eProsima Micro XRCE-DDS Clients applications. Find the full Client API in the dedicated page.
Streams¶
The Client-Agent communication is performed by streams. The streams can be seen as communication channels. There are two types of streams: best-effort and reliable. The user can define a maximum of 127 best-effort streams and 128 reliable streams, but for the majority of purposes, only one stream in either best-effort or reliable mode is used.
- Best-effort streams
Best-effort streams send and receive the data leaving the reliability to the transport layer. As a result, they consume fewer resources than reliable streams. Also, no history is stored and so the message size sent or received by a best-effort stream must be less or equal than the MTU defined in the transport layer.
- Reliable streams
Reliable streams perform the communication without loss, regardless of the transport layer used, and allow for message fragmentation to send and receive messages longer than the MTU.
To avoid loss of data, reliable streams use additional messages to confirm the delivery. Moreover, reliable streams have a history associated, used to store messages that can not be processed due to issues such as delivery order or incomplete fragments or messages that can not be confirmed yet. The size of the history can be tailored to fit the specific requirements of the application. The size of the stream corresponds to the MTU defined in the transport layer times the history.
If the history is full:
The messages written to the Agent will be discarded until the history is freed and has space to store the new messages.
The messages received from the agent will be discarded. The library will try to recover the discarded messages requesting them to the agent (increasing the bandwidth consumption in the process).
Summarizing:
A short history causes more messages to be discarded, increasing the data traffic because they need to be sent again. At the same time, it consumes less memory.
A long history will reduce the traffic of confirmation messages when the loss rate is high.
This internal management of the communication implies that a reliable stream is more expensive than a best-effort stream, in both memory and bandwidth, but it is possible to play with these values using the history size.
The streams are probably the highest memory load part of the application. For that, the choice of a right configuration for the application is highly recommendable, especially when the target is a limited resource device. The Memory optimization page explains more in detail how to achieve this.
Profiles¶
The Client library follows a profile concept that enables to choose, add or remove some features at compile-time, thus allowing to customize the Client library size, if there are features that are not used.
The profiles can be chosen using CMake arguments and start with the prefix UCLIENT_PROFILE
(-D<parameter>=<value>) before the compilation.
By means of these profiles, the user can choose which transport to use, and whether to enable or not the discovery and framing functionalities.
Definition |
Description |
Values |
Default |
|---|---|---|---|
|
Enables or disables the possibility to connect with the Agent by UDP. |
|
|
|
Enables or disables the possibility to connect with the Agent by TCP. |
|
|
|
Enables or disables the possibility to connect with the Agent by Serial. |
|
|
|
Enables or disables the possibility to connect with the Agent by CAN FD. |
|
|
|
Enables or disables the possibility to connect with the Agent by Custom Transport. |
|
|
|
Enables or disables the functions of the discovery feature |
|
|
|
Enables or disables the stream framing protocol. |
|
|
|
Enables or disables the multithread locking operation of the library. |
|
|
|
Enables or disables a basic local memory transport operation between entities in the same application. |
|
|
Transport profiles¶
The implementation of the transport depends on the platform. As mentioned in the Introductory page, the Client is supported by the following platforms: Linux, Windows, FreeRTOS, Zephyr and NuttX. Linux and all three RTOSes present a POSIX-compliant API to some degree. Find below a table summarizing the compatibility of each these Operating Systems, according to their POSIX compliance, with the transports supported by the eProsima Micro XRCE-DDS Client.
The table below shows the current implementation.
Transport |
POSIX |
Windows |
|---|---|---|
UDP |
X |
X |
TCP |
X |
X |
Serial |
X |
|
CAN FD |
X |
|
Custom |
X |
X |
Each available transport can be activated or desactivated via the opportune CMake flag:
UCLIENT_PROFILE_<transport>, where <transport> = UDP, TCP, SERIAL, CAN, or
UCLIENT_PROFILE_CUSTOM_TRANSPORT in the case Custom transport is to be used.
eProsima Micro XRCE-DDS provides a user API that allows interfacing with the lowest level transport layer at runtime. In this way, a user is enabled to implement its own transports based on one of the two communication approaches: stream-oriented or packet-oriented.
By means of this API, a user can set four callbacks which will be in charge of opening and closing the transport, and writing and reading from it. This custom transport API is enabled by setting the CMake argument UCLIENT_PROFILE_CUSTOM_TRANSPORT=<bool> to true. In the case that stream-oriented transport is used UCLIENT_PROFILE_STREAM_FRAMING=<bool> should also be enabled.
Find out more in the Transport section of the Client API.
Discovery profile¶
The discovery profile allows discovering Agents in the network by UDP.
The reachable Agents will respond to the discovery call sending information about themselves, as their IP and port.
This can happen in two ways: multicast or unicast.
The discovery phase can be performed before the uxr_create_session call to determine the Agent to connect with.
The declaration of these functions can be found in uxr/client/profile/discovery/discovery.h.
This profile is enabled when the UCLIENT_DISCOVERY_PROFILE is ON.
Find out more in the dedicated section of the API.
Note
This feature is only available on Linux.
Framing profile¶
The framing profile enables HDLC Framing for using stream-oriented transports such as Serial transports or Custom transports that require framing.
Multithread profile¶
The multithread profile enables the thread-safe operation with the Micro XRCE-DDS Client library. It lockguards all the critical sections of the API and allows the usage from concurrent tasks.
Configurations¶
There are several definitions for configuring and building the Client library at compile-time.
These definitions allow users to create a version of the library according to their requirements.
These parameters can be selected as CMake flags (-D<parameter>=<value>) before the compilation.
By means of these flags, the user can change the default value of all the parameters listed below.
Definition |
Description |
Values |
Default |
|---|---|---|---|
|
Configures the maximum output best-effort streams that a session could |
|
|
|
Configures the maximum output reliable streams that a session could have. |
|
|
|
Configures the maximum input best-effort streams that a session could |
|
|
|
Configures the maximum input reliable streams that a session could have. |
|
|
|
This value indicates the number of attempts that |
|
|
|
This value represents how long it will take to send a new |
|
|
|
In a reliable communication, this value represents how long it will take for |
|
|
|
This value must correspond to the memory endianness of the device in |
|
|
|
This value corresponds to the Maximum Transmission Unit (MTU) that can |
|
|
|
This value corresponds to the Maximum Transmission Unit (MTU) that can |
|
|
|
This value corresponds to the Maximum Transmission Unit (MTU) that can |
|
|
|
This value corresponds to the Maximum Transmission Unit (MTU) that can |
|
|
|
This value corresponds to the Max number of entities involved in shared memory. |
|
|
|
This value corresponds to the Max number data buffers stored in shared memory. |
|
|
|
Enables Micro XRCE-DDS Client hard liveliness check. |
|
|
|
Sets Micro XRCE-DDS Client hard liveliness check timeout in milliseconds. Maximum value is 999999 ms. |
|
|
Note
The MTU of the CAN transport is fixed to 64 bytes, which is the maximum payload supported by CAN FD frames. Take this into account to calculate the size of the streams for the requirements of the application.
Read Access Delivery Control¶
The Read Access Delivery Control handles the read operation from a datareader previously created
on the Agent to fetch data from the middleware.
It comes with an optional control argument, that allows the Client setting the following parameters:
max_bytes_per_second: Maximum rate at which data messages may be returned, measured in bytes per secpond.max_elapsed_time: Maximum amount of time that can be spent by the Agent in delivering the topic, measured in seconds.max_samples: Maximum number of topics that the Agent can send to the Client.min_pace_period: Minimum elapsed time between two topics deliveries, measured in milliseconds,.
For more information, consult the Read access of the Client API.
Creation Mode: Client¶
The creation of Entities on the Agent which can act on behalf of the Clients in the DDS world can be done in three ways: by XML, by reference or by binary. In this section, we explain these three creation modes and provide guidance on their usage.
- XML
In the XML case, when creating the entities in the Client application, the user must provide each
entitywith a const char* <entity>_xml parameter containing a string of text with XML syntax, matching the DDS rules for creating a DDS entity with an XML profile, as explained here.For instance, when creating a participant or a topic, the profiles shall look as follows:
<!-- PARTICIPANT --> const char* participant_xml = "<dds>" "<participant>" "<rtps>" "<name>[PARTICIPANT NAME]</name>" "</rtps>" "</participant>" "</dds>"; <!-- TOPIC --> const char* topic_xml = "<dds>" "<topic>" "<name>[TOPIC NAME]</name>" "<dataType>[TOPIC TYPE]</dataType>" "</topic>" "</dds>"
As detailed in the Getting started section, participants, topics, datawriters, datareaders, requesters and repliers work similarly. Publishers and subscribers, instead, inherit their XML fields from their associated dataWriters and dataReaders.
Creation by XML has the advantage of being configurable direclty within the Client application, but comes with the drawback of offering a very limited set of options as regards the QoS with which the DDS entities profiles can be configured. Indeed, only best-effort or reliable communication streams can be set with this creation mode. In many cases, these QoS configurations alone may not be enough. For these cases, eProsima Micro XRCE-DDS allows the users to use the creation by references mode.
- References
Creation by references happens by feeding the Agent with an XML profile containing a string of text similar to the snippets provided above, with a label associated to it. Therefore, when creating an entity, the Client will only need to provide a reference to this label in spite of the complete XML profile. This creation mode comes with two advantages:
It consumes less Client memory, making the application more lightweight.
It allows the Clients to write their own XML QoS and run the Agent with a custom configuration which can benefit of the full set of QoS available in DDS.
For instance, when creating a participant or a topic, the profiles shall look as follows:
<!-- PARTICIPANT --> const char* participant_ref = "participant_label"; <!-- TOPIC --> const char* topic_ref = "topic_label"
Binary
Creation by binary provides a comprehensive API in the Micro XRCE-DDS Client library that can be used to generate and send over the XRCE-DDS middleware binary representations of the entities that are being created. This creation mode comes with two advantages:
It consumes less Client memory than XML mode, making the application more lightweight.
It provides much more flexibility than the REF mode in the client side.
For instance, when creating a participant or a topic, the profiles shall look as follows:
uxrQoS_t qos = { .reliability = UXR_RELIABILITY_RELIABLE, .durability = UXR_DURABILITY_TRANSIENT_LOCAL, .history = UXR_HISTORY_KEEP_LAST, .depth = 0 }; uxr_buffer_create_topic_bin(&session, reliable_out, topic_id, participant_id, "ExampleTopic", "ExampleType", UXR_REPLACE); uxr_buffer_create_datawriter_bin(&session, reliable_out, datawriter_id, publisher_id, topic_id, qos, UXR_REPLACE);
Find more information in the Creation Mode: Agent section in the eProsima Micro XRCE-DDS Agent page.
Creation Policy Table¶
The following table summarizes the behaviour of the Agent under entity creation request.
Creation flags |
Entity exists |
Result |
|---|---|---|
Don’t care |
NO |
Entity is created. |
|
YES |
No action is taken, and |
|
YES |
Existing entity is deleted, requested entity is created and |
|
YES |
If entity matches no action is taken and
UXR_STATUS_OK_MATCHED is returned.If entity does not match any action is taken and
UXR_STATUS_ERR_MISMATCH is returned. |
|
YES |
If entity matches no action is taken and
UXR_STATUS_OK_MATCHED is returned.If entity does not match, exiting entity is deleted, requested entity is created and
UXR_STATUS_OK is returned. |
eProsima Micro XRCE-DDS Agent¶
The eProsima Micro XRCE-DDS Agent acts as a server between the DDS Network and eProsima Micro XRCE-DDS Clients applications. The Agents receive messages containing operations from the Clients, and keep track of the Clients and of the entities they create. These entities are used by the Agents to interact with the DDS Global Data Space on behalf of the Clients.
The communication between a Client and an Agent currently supports UDP, TCP, Serial, CAN FD, and Custom transports, depending on the peripherals and communication technologies offered by the platforms. A section dedicated to the configuration and use of the Custom Transport can be found at the end of this page.
While running, the Agent attends any received requests from the Clients and answers back with the result of those requests.
This section is organized as follow:
Agent CLI¶
To run the Agent, first of all build it as indicated in the Installation page. Once it is built successfully, launch it by executing one of the following commands:
- UDP transport
The communication via UDP can be executed using two modes, IPv4 and IPv6; and configured as follows:
$ ./MicroXRCEAgent [ udp4 | udp6 ] [OPTIONS] Options: -h,--help Print the help message. -p,--port UINT REQUIRED Select the IP port. -m,--middleware TEXT in {ced,rtps,dds}=dds Select the kind of middleware among the supported ones. By default, it will be FastDDS. -r,--refs FILEPATH Load a references file from the given path. -v,--verbose UINT in {0,1,2,3,4,5,6}=4 Select log level from none (0) to full verbosity (6). -d,--discovery UINT=7400 Activate the Discovery server. If no port is specified, 7400 will be used. --p2p UINT Activate the P2P profile, using the given port.- TCP transport
The communication via TCP can be executed using two modes, IPv4 and IPv6; and configured as follows:
$ ./MicroXRCEAgent [ tcp4 | tcp6 ] [OPTIONS] Options: -h,--help Print the help message. -p,--port UINT REQUIRED Select the IP port. -m,--middleware TEXT in {ced,rtps,dds}=dds Select the kind of middleware among the supported ones. By default, it will be FastDDS. -r,--refs FILEPATH Load a references file from the given path. -v,--verbose UINT in {0,1,2,3,4,5,6}=4 Select log level from none (0) to full verbosity (6). -d,--discovery UINT=7400 Activate the Discovery server. If no port is specified, 7400 will be used. --p2p UINT Activate the P2P profile, using the given port.- Communication via Serial transport (only Linux)
The communication via Serial transport can be executed and configured as follows:
$ ./MicroXRCEAgent serial [OPTIONS] Options: -h,--help Print the help message. -D,--dev FILE REQUIRED Specify the serial device. -f,--file FILE REQUIRED Specify a text file with the serial device name. -b,--baudrate TEXT=115200 Select the baudrate. -m,--middleware TEXT in {ced,rtps,dds}=dds Select the kind of middleware among the supported ones. By default, it will be FastDDS. -r,--refs FILEPATH Load a references file from the given path. -v,--verbose UINT in {0,1,2,3,4,5,6}=4 Select log level from none (0) to full verbosity (6).
Note
The Agent will check and wait for the proper availability of the Serial port to start the connection. Its expected to start the transport with a disconnected Serial port.
- Communication via Multiserial transport (only Linux)
This transport allows multiple serial connections on the same Agent instance. The communication via Multiserial transport can be executed and configured as follows:
$ ./MicroXRCEAgent multiserial [OPTIONS] Options: -h,--help Print the help message. -D,--devs FILE REQUIRED Specify the serial devices. -f,--file FILE REQUIRED Specify a text file with one serial device per line. -b,--baudrate TEXT=115200 Select the baudrate. -m,--middleware TEXT in {ced,rtps,dds}=dds Select the kind of middleware among the supported ones. By default, it will be FastDDS. -r,--refs FILEPATH Load a references file from the given path. -v,--verbose UINT in {0,1,2,3,4,5,6}=4 Select log level from none (0) to full verbosity (6).
Note
The Agent will check and wait for the proper availability of each Serial port to start the connection. Its expected to start the transport with multiple disconnected ports.
- Communication via CAN FD transport (only Linux)
The communication via CAN FD transport can be executed and configured as follows:
$ ./MicroXRCEAgent canfd [OPTIONS] Options: -h,--help Print the help message. -D,--dev INTERFACE REQUIRED Specify the CAN interface. -m,--middleware TEXT in {ced,rtps,dds}=dds Select the kind of middleware among the supported ones. By default, it will be FastDDS. -r,--refs FILEPATH Load a references file from the given path. -v,--verbose UINT in {0,1,2,3,4,5,6}=4 Select log level from none (0) to full verbosity (6).
Note
The used interface must support CAN FD frames with a maximum payload of 64 bytes. The agent will use the received message identifiers from each client on its output frames.
- Communication via pseudo terminal (only Linux)
The communication via pseudo serial can be executed and configured as follow:
$ ./MicroXRCEAgent pseudoterminal [OPTIONS] Options: -h,--help Print the help message. -D,--dev FILE REQUIRED Specify the pseudo serial device. -b,--baudrate TEXT=115200 Select the baudrate. -m,--middleware TEXT in {ced,rtps,dds}=dds Select the kind of middleware among the supported ones. By default, it will be FastDDS. -r,--refs FILEPATH Load a references file from the given path. -v,--verbose UINT in {0,1,2,3,4,5,6}=4 Select log level from none (0) to full verbosity (6).
The reference file shall be composed by a set of Fast DDS profiles following the XML syntax described in the eProsima Fast DDS documentation. The
profile_nameattribute of each profile represents a reference to an XRCE entity, so that it can be used by the Clients to create entities by reference.The
-b,--baudrate <baudrate>options sets the baud rate of the communication. It can take the following values: 0, 50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 240, 4800, 9600, 19200, 38400, 57600, 115200 (default), 230400, 460800, 500000, 576000, 921600, 1000000, 1152000, 1500000, 2000000, 2500000, 3000000, 3500000 or 4000000 bauds.The
-v,--verbose <level[0-6]>option sets log level from less to more verbose, where level 0 corresponds to the logger being off. Then, from 1 to 6, the following logging levels are activated: critical, error, warning, info, debug and trace.The option
-m,--middleware <middleware-impl>sets the middleware implementation to use. There are three: RTPS (based on eProsima Fast RTPS), DDS (specified by the XRCE standard and using Fast DDS) and Centralized (topic are managed by the Agent similarly to MQTT). More information about the supported middlewares can be found here.The
--p2p <port>option enables P2P communication, this option is only available on network transports. Centralized middleware is necessary for this option.
Custom transport¶
If none of the transports specified above is suitable for the target application, users can easily create an instance of a Micro XRCE-DDS Agent, together with a custom transport implementation.
For this purpose, the eprosima::uxr::CustomAgent class was developed. It follows the policy of giving users function signatures to implement, which hide as much as possible the underneath implementation details of the Agent.
Thus, this methods provide common parameters used when implementing a receive/send message method, such as an octet pointer to a raw data buffer, buffer/message length, timeout, and so on.
More details on how to implement a custom transport can be found in the Custom Transport Agent’s section of this documentation.
Configuration¶
There are several parameters which can be set at compile-time to configure the eProsima Micro XRCE-DDS Agent.
These parameters can be selected as CMake flags (-D<parameter>=<value>) before the compilation.
The following is a table listing these parameters and the functionalities they carry out:
Definition |
Description |
Values |
Default |
|---|---|---|---|
|
Specifies the history of the reliable streams. |
|
|
|
Specifies the history of the best-effort streams. |
|
|
|
Specifies the |
|
|
|
Specifies the maximum number of connections that the Agent can manage. |
|
|
|
Specifies the maximum number of incoming connections (pending to be |
|
|
|
Maximum server’s queues size. |
|
|
|
Client dead time in milliseconds. |
|
|
|
Server buffer size. |
|
|
Domain ID¶
The Domain ID of the Domain Participants created by the Agent can be overrided at runtime with the environment variable XRCE_DOMAIN_ID_OVERRIDE.
To allow this override, the Client shall use the reserved Domain ID value 255 when the participant is created.
Creation Mode: Agent¶
As explained in the Creation Mode: Client section in the eProsima Micro XRCE-DDS Client page, the creation of Entities on the Agent can be done in two ways: by XML, or by reference.
While the creation by XML is configured directly on the Client, creation by reference must be configured on the Agent, via
an agent.refs file which must be loaded as a CLI parameter by using the
-r option followed by the path to the reference file. If a Custom trasnport is used, the agent.refs file must be fed to the
:ref:`load_config_file <load_config_file>` function defined in the Agent.
The agent.refs file should define the desired profiles as follows:
<profiles>
<participant profile_name="default_xrce_participant">
<rtps>
<name>default_xrce_participant</name>
</rtps>
</participant>
<data_writer profile_name="shapetype_data_writer">
<topic>
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
</data_writer>
<data_reader profile_name="shapetype_data_reader">
<topic>
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
</data_reader>
<topic profile_name="shapetype_topic">
<kind>WITH_KEY</kind>
<name>Square</name>
<dataType>ShapeType</dataType>
</topic>
<requester profile_name="shapetype_requester"
service_name="shapetype_service"
request_type="request_type"
reply_type="reply_type">
</requester>
<replier profile_name="shapetype_replier"
service_name="shapetype_service"
request_type="request_type"
reply_type="reply_type">
</replier>
</profiles>
In the reference file, each entity must be associated to a profile_name which serves as a label to which the Client can refere
when creating entities.
Middleware Abstraction Layer¶
The Middleware Abstraction Layer is an interface whose purpose is to isolate the XRCE core from the middleware, as well as to allow providing multiple middleware implementations. The interface has a set of pure virtual functions, which are called by the ProxyClient each time a Client requests to create/delete an entity or to write/read data.
For the moment, the Agent counts with two active middleware implementations (FastDDSMiddleware and CedMiddleware) and another one that is currently deprecated (FastMiddleware).
FastDDSMiddleware¶
The FastDDSMiddleware uses eProsima Fast DDS, a C++ implementation of the DDS standard.
This middleware allows the Clients to produce and consume data in the DDS Global Data Space, and as such also in the ROS 2 ecosystem. The Agent has the behaviour described in the DDS-XRCE standard, that is, for each DDS-XRCE entity a DDS proxy entity is created, and the writing/reading action produces a publishing/subscribing operation in the DDS world.
CedMiddleware¶
The CedMiddleware (Centralized Middleware) works similar to MQTT, that is, the Agent acts as a broker but has no output to the DDS world. It:
Accepts connection from the Clients,
Accepts messages published by the Clients,
Processes subscribe and unsubscribe requests from the Clients,
Forwards messages that match the Clients’ subscriptions,
Closes the connection opened by the Clients.
By default, this middleware does not allow communication between Clients connected to different Agents, but the P2P communication enables this feature.
FastMiddleware¶
The FastMiddleware uses eProsima Fast RTPS, a C++ implementation of the RTPS (Real Time Publish Subscribe) protocol. This middleware allows Client to produce and consume data in the DDS Global Data Space, and as such also in the ROS 2 ecosystem. As in the case of the FastDDSMiddleware, the Agent has the behaviour described in the DDS-XRCE standard, that is, for each DDS-XRCE entity a DDS proxy entity is created, and the writing/reading action produces a publishing/subscribing operation in the DDS world.
Warning
This implementation is deprecated at the moment.
How to add a middleware¶
Adding a new middleware implementation is quite simple, if the steps below are followed:
Create a class that implement the Middleware class (see inclue/uxr/agent/middleware/fast/FastMiddleware.hpp and src/cpp/middleware/fast.cpp as examples).
Add a enum member protected by defines in Middleware::Kind at include/uxr/agent/middleware/Middleware.hpp.
Add a case in the switch of the ProxyClient constructor at src/cpp/client/ProxyClient.cpp.
In CMakeLists.txt add an option similar to UAGENT_FAST_PROFILE and add the source to SRCS variable.
In include/uxr/agent/config.hpp.in add a #cmakedefine with the name of the CMake option.
Finally, add the CLI middleware option in MiddlewareOpt constructor at include/uxr/agent/utils/CLI.hpp.
API¶
This section provides the detailed information for programming Client and Agent applications with the API provided by eProsima Micro XRCE-DDS.
Client API¶
eProsima Micro XRCE-DDS provides the user with a C API to create eProsima Micro XRCE-DDS Clients applications.
All functions needed to set up the Client can be found in the client.h header.
That is the only header the user needs to include.
In this section, we provide the full API for the Micro XRCE-DDS Client.
As a nomenclature, this API uses the uxr_ prefix in all of its public functions and the uxr
prefix in the types. In constants values, the UXR_ prefix is used.
The functions belonging to the public interface of the library are only those with the tag UXRDDLAPI
in their declarations.
The functions are grouped as follows:
Session¶
These functions are available even if no profile has been enabled.
The declaration of these functions can be found in uxr/client/core/session/session.h.
void uxr_init_session(uxrSession* session, uxrCommunication* comm, uint32_t key);
Initializes a session structure.
Once this function is called, a create_session call can be performed.
- session
Session structure where to manage the session data.
- comm
Communication used for connecting to the Agent. All different transports have a common attribute
uxrCommunication. This parameter can not be shared between active sessions.- key
The key identifier of the Client. All Clients connected to an Agent must have a different key.
void uxr_set_status_callback(uxrSession* session, uxrOnStatusFunc on_status_func, void* args);
Assigns the callback for the Agent status messages.
- session
Session structure previously initialized.
- on_status_func
Function callback that is called when a valid status message comes from the Agent.
- args
User pointer data. The args are provided to the
on_status_funcfunction.
The function signature for the on_status_func callback is:
typedef void (*uxrOnStatusFunc) (struct uxrSession* session, uxrObjectId object_id, uint16_t request_id,
uint8_t status, void* args);
- session
Session structure related to the status.
- object_id
The identifier of the entity related to the status.
- request_id
Status request id.
- status
Status value.
- args
User pointer data.
void uxr_set_topic_callback(uxrSession* session, uxrOnTopicFunc on_topic_func, void* args);
Assigns the callback for topics.
The topics are received only if a request_data function has been called.
- session
Session structure previously initialized.
- on_status_func
Function callback that is called when a valid data message comes from the Agent.
- args
User pointer data. The args are provided to the
on_topic_funcfunction.
The function signature for the on_topic_func callback is:
typedef void (*uxrOnTopicFunc) (struct uxrSession* session, uxrObjectId object_id, uint16_t request_id, uxrStreamId stream_id,
struct ucdrBuffer* ub, uint16_t length, void* args);
- session
Session structure related to the topic.
- object_id
The identifier of the entity related to the topic.
- request_id
Request id of the``request_data`` transaction.
- stream_id
Id of the stream used for the communication.
- ub
Serialized topic data.
- length
Length of the serialized data.
- args
User pointer data.
void uxr_set_time_callback(uxrSession* session, uxrOnTimeFunc on_time_func, void* args);
Assigns the time callback, to let the user perform custom time calculations based on client and agent timestamps.
- session
Session structure previously initialized.
- on_time_func
Function callback that is called .. ?
- args
User pointer data. The args are provided to the
on_time_funcfunction.
The function signature for the on_time_func callback is:
typedef void (*uxrOnTimeFunc) (struct uxrSession* session, int64_t current_timestamp, int64_t transmit_timestamp,
int64_t received_timestamp, int64_t originate_timestamp, void* args);
- session
Session structure related to the topic.
- current_timestamp
Client’s timestamp of the response packet reception.
- transmit_timestamp
Client’s timestamp of the request packet transmission.
- received_timestamp
Agent’s timestamp of the request packet reception.
- originate_timestamp
Agent’s timestamp of the response packet transmission.
- args
User pointer data.
void uxr_set_request_callback(uxrSession* session, uxrOnRequestFunc on_request_func, void* args);
Sets the request callback, which is called when the Agent sends a READ_DATA submessage associated with a Requester.
- session
Session structure previously initialized.
- on_request_func
Function callback that is called when the Agent sends a
READ_DATAsubmessage associated with aRequester.- args
User pointer data. The args are provided to the
on_request_funcfunction.
The function signature for the on_request_func callback is:
typedef void (*uxrOnRequestFunc) (struct uxrSession* session, uxrObjectId object_id, uint16_t request_id,
SampleIdentity* sample_id, struct ucdrBuffer* ub, uint16_t length, void* args);
- session
Session structure related to the topic.
- object_id
The identifier of the entity related to the request.
- request_id
Request id of the``request_data`` transaction.
- sample_id
Identifier of the request.
- ub
Serialized request data.
- length
Length of the serialized data.
- args
User pointer data.
void uxr_set_reply_callback(uxrSession* session, uxrOnReplyFunc on_reply_func, void* args);
Sets the reply callback, which is called when the Agent sends a READ_DATA submessage associated with a Replier.
- session
Session structure previously initialized.
- on_reply_func
Function callback that is called when the Agent sends a
READ_DATAsubmessage associated with aReplier- args
User pointer data. The args are provided to
on_reply_funcfunction.
typedef void (*uxrOnReplyFunc) (struct uxrSession* session, uxrObjectId object_id, uint16_t request_id, uint16_t reply_id,
struct ucdrBuffer* ub, uint16_t length, void* args);
- session
Session structure related to the topic.
- object_id
The identifier of the entity related to the request.
- request_id
Request id of the``request_data`` transaction.
- reply_id
Identifier of the reply.
- ub
Serialized request data.
- length
Length of the serialized data.
- args
User pointer data.
bool uxr_create_session(uxrSession* session);
Creates a new session on the Agent. This function logs in a session, enabling any other XRCE communication with the Agent.
- session
Session structure previously initialized.
void uxr_create_session_retries(uxrSession* session, size_t retries);
Attempts to establish a new session on the Agent retries times.
This function logs in a session, enabling any other XRCE communication with the Agent.
- session
Session structure previously initialized.
- retries
Number of attempts for creating a session.
bool uxr_delete_session(uxrSession* session);
Deletes a session previously created. All XRCE entities created with the session are removed. This function logs out a session, disabling any other XRCE communication with the Agent.
- session
Session structure previously initialized and created.
bool uxr_delete_session_retries(uxrSession* session, size_t retries);
Attempts to delete a previously created session retries times.
All XRCE entities created with the session are removed.
This function logs out a session, disabling any other XRCE communication with the Agent.
- session
Session structure previously initialized and created.
- retries
Number of attempts for deleting a session.
uxrStreamId uxr_create_output_best_effort_stream(uxrSession* session, uint8_t* buffer, size_t size);
Creates and initializes an output best-effort stream for writing.
The uxrStreamId returned represents the new stream and can be used to manage it.
The number of available calls to this function must be less or equal than CONFIG_MAX_OUTPUT_BEST_EFFORT_STREAMS CMake argument.
- session
Session structure previously initialized and created.
- buffer
Memory block where the messages are written.
- size
Buffer size.
uxrStreamId uxr_create_output_reliable_stream(uxrSession* session, uint8_t* buffer, size_t size, size_t history);
Creates and initializes an output reliable stream for writing.
The uxrStreamId returned represents the new stream and can be used to manage it.
The number of available calls to this function must be less or equal than CONFIG_MAX_OUTPUT_RELIABLE_STREAMS CMake argument.
- session
Session structure previously initialized and created.
- buffer
Memory block where the messages are written.
- size
Buffer size.
- history
History used for reliable connection. The buffer size is split into a
historynumber of smaller buffers. The history must be a divisor of the buffer size and a power of two.
uxrStreamId uxr_create_input_best_effort_stream(uxrSession* session);
Creates and initializes an input best-effort stream for receiving messages.
The uxrStreamId returned represents the new stream and can be used to manage it.
The number of available calls to this function must be less or equal than CONFIG_MAX_INPUT_BEST_EFFORT_STREAMS CMake argument.
- session
Session structure previously initialized and created.
uxrStreamId uxr_create_input_reliable_stream(uxrSession* session, uint8_t* buffer, size_t size, size_t history);
Creates and initializes an input reliable stream for receiving messages.
The returned uxrStreamId represents the new stream and can be used to manage it.
The number of available calls to this function must be less or equal than CONFIG_MAX_INPUT_RELIABLE_STREAMS CMake argument.
- session
Session structure previously initialized and created.
- buffer
Memory block where the messages are stored.
- size
Buffer size.
- history
History used for reliable connection. The buffer size is split into a
historynumber of smaller buffers. The history must be a divisor of the buffer size and a power of two.
void uxr_flash_output_streams(uxrSession* session);
Flashes all output streams sending the data through the transport.
- session
Session structure previously initialized and created.
void uxr_run_session_time(uxrSession* session, int timeout_ms);
This function processes the internal functionality of a session. It implies:
Flushing all output streams sending the data through the transport.
If there is any reliable stream, it performs the associated reliable behaviour to ensure communication.
Listening to messages from the Agent and calling the associated callback if it exists (which can be a status/topic/time/request or reply callback)
The time suffix function version perform these actions and listens to messages for a timeout_ms duration,
which is refreshed each time a new message is received, that is, the counter restarts for another timeout_ms period.
Only when the wait time for a message overcomes the timeout_ms duration, the function finishes.
The function returns true if the sending data have been confirmed, false otherwise.
- session
Session structure previously initialized and created.
- timeout_ms
Time for waiting for each new message, in milliseconds. For waiting without timeout, set the value to
UXR_TIMEOUT_INF
void uxr_run_session_timeout(uxrSession* session, int timeout_ms);
This function processes the internal functionality of a session. It implies:
Flushing all output streams sending the data through the transport.
If there is any reliable stream, it performs the associated reliable behaviour to ensure communication.
Listening to messages from the Agent and calling the associated callback if it exists (which can be a status/topic/time/request or reply callback)
The timeout suffix function version performs these actions and listens to messages for a total timeout_ms duration.
Each time a new message is received, the counter retakes from where it left, that is, for a period equal to
timeout_ms minus the time spent waiting for the previous message(s).
When the total wait time overcomes the timeout_ms duration, the function finishes.
The function returns true if the sending data have been confirmed, false otherwise.
- session
Session structure previously initialized and created.
- timeout_ms
Total time for waiting for a new message, in milliseconds. For waiting without timeout, set the value to
UXR_TIMEOUT_INF
void uxr_run_session_until_timeout(uxrSession* session, int timeout_ms);
This function processes the internal functionality of a session. It implies:
Flushing all output streams sending the data through the transport.
If there is any reliable stream, it performs the associated reliable behaviour to ensure communication.
Listening to messages from the Agent and calling the associated callback if it exists (which can be a status/topic/time/request or reply callback)
The until_timeout suffix function version performs these actions until receiving one message,
for a timeout_ms time duration.
Once a message has been received or the timeout has been reached, the function finishes.
The function returns true if it has received a message, false if the timeout has been reached.
- session
Session structure previously initialized and created.
- timeout_ms
Maximum time for waiting for a new message, in milliseconds. For waiting without timeout, set the value to
UXR_TIMEOUT_INF
bool uxr_run_session_until_confirm_delivery(uxrSession* session, int timeout_ms);
This function processes the internal functionality of a session. It implies:
Flushing all output streams sending the data through the transport.
If there is any reliable stream, it performs the associated reliable behaviour to ensure communication.
Listening to messages from the Agent and calling the associated callback if it exists (which can be a status/topic/time/request or reply callback)
The until_confirm_delivery suffix function version performs these actions during timeout_ms
or until the output reliable streams confirm that the sent messages have been received by the Agent.
The function returns true if the sent data have been confirmed, false otherwise.
- session
Session structure previously initialized and created.
- timeout_ms
Maximum waiting time for a new message, in milliseconds. For waiting without timeout, set the value to
UXR_TIMEOUT_INF
bool uxr_run_session_until_all_status(uxrSession* session, int timeout_ms, const uint16_t* request_list,
uint8_t* status_list, size_t list_size);
This function processes the internal functionality of a session. It implies:
Flushing all output streams sending the data through the transport.
If there is any reliable stream, it performs the associated reliable behaviour to ensure communication.
Listening to messages from the Agent and calling the associated callback if it exists (which can be a status/topic/time/request or reply callback)
The until_all_status suffix function version performs these actions during a timeout_ms duration
or until all requested statuses have been received.
The function returns true if all statuses have been received and all of them have the value UXR_STATUS_OK
or UXR_STATUS_OK_MATCHED, false otherwise.
- session
Session structure previously initialized and created.
- timeout_ms
Maximum waiting time for a new message, in milliseconds. For waiting without timeout, set the value to
UXR_TIMEOUT_INF- request_list
An array of requests to confirm with a status.
- status_list
An uninitialized array with the same size as
request_listwhere the status values are written. The position of each status in the status_list matches the corresponding request position in therequest_list.- list_size
The size of the
request_listandstatus_listarrays.
bool uxr_run_session_until_one_status(uxrSession* session, int timeout_ms, const uint16_t* request_list,
uint8_t* status_list, size_t list_size);
This function processes the internal functionality of a session. It implies:
Flushing all output streams sending the data through the transport.
If there is any reliable stream, it performs the associated reliable behaviour to ensure communication.
Listening to messages from the Agent and calling the associated callback if it exists (which can be a status/topic/time/request or reply callback)
The until_one_status suffix function version performs these actions during a timeout_ms duration
or until one requested status has been received.
The function returns true if one status has been received and has the value UXR_STATUS_OK or UXR_STATUS_OK_MATCHED,
false otherwise.
- session
Session structure previously initialized and created.
- timeout_ms
Maximum waiting time for a new message, in milliseconds. For waiting without timeout, set the value to
UXR_TIMEOUT_INF- request_list
An array of requests to confirm with a status.
- status_list
An uninitialized array with the same size as
request_listwhere the status values are written. The position of each status in the status_list matches the corresponding request position in therequest_list.- list_size
The size of the
request_listandstatus_listarrays.
bool uxr_run_session_until_data(uxrSession* session, int timeout_ms);
This function processes the internal functionality of a session. It implies:
Flushing all output streams sending the data through the transport.
If there is any reliable stream, it operates according to the associated reliable behaviour to ensure communication.
Listening to messages from the Agent and calling the associated callback if it exists (which can be a status/topic/time/request or reply callback)
The until_data suffix function version performs these actions during a timeout_ms duration
or until a subscription data, request or reply is received.
The function returns true if a subscription data, request or reply is received, and false otherwise.
- session
Session structure previously initialized and created.
- timeout_ms
Maximum waiting time for a new message, in milliseconds. For waiting without timeout, set the value to
UXR_TIMEOUT_INF
bool uxr_sync_session(uxrSession* session, int time);
This function synchronizes the session time with the Agent using the NTP protocol by default.
- session
Session structure previously initialized and created.
- time
The waiting time in milliseconds.
int64_t uxr_epoch_millis(uxrSession* session);
This function returns the epoch time in milliseconds, taking into account the offset computed during the time synchronization.
- session
Session structure previously initialized.
int64_t uxr_epoch_nanos(uxrSession* session);
This function returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization.
- session
Session structure previously initialized and created.
Create entities by XML¶
The declaration of these functions can be found in uxr/client/profile/session/create_entities_xml.h.
uint16_t uxr_buffer_create_participant_xml(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uint16_t domain_id, const char* xml, uint8_t mode);
Creates a participant entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_PARTICIPANT_ID.- domain_id
The DDS domain identifier.
- xml
An XML representation of the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_topic_xml(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* xml, uint8_t mode);
Creates a topic entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_TOPIC_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- xml
An XML representation of the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_publisher_xml(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* xml, uint8_t mode);
Creates a publisher entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_PUBLISHER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- xml
An XML representation of the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_subscriber_xml(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* xml, uint8_t mode);
Creates a subscriber entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_SUBSCRIBER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- xml
An XML representation of the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_datawriter_xml(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId publisher_id, const char* xml, uint8_t mode);
Creates a datawriter entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_DATAWRITER_ID.- publisher_id
The identifier of the associated publisher. The type must be
UXR_PUBLISHER_ID.- xml
An XML representation of the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_datareader_xml(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId subscriber_id, const char* xml, uint8_t mode);
Creates a datareader entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_DATAREADER_ID.- subscriber_id
The identifier of the associated subscriber. The type must be
UXR_SUBSCRIBER_ID.- xml
An XML representation of the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_requester_xml(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* xml, uint8_t mode);
Creates a requester entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_REQUESTER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- xml
An XML representation of the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_replier_xml(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* xml, uint8_t mode);
Creates a replier entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_REPLIER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- xml
An XML representation of the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
Create entities by reference¶
The declaration of these functions can be found in uxr/client/profile/session/create_entities_ref.h.
uint16_t uxr_buffer_create_participant_ref(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uint16_t domain_id, const char* ref, uint8_t mode);
Creates a participant entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_PARTICIPANT_ID- domain_id
DDS Domain ID for the participant.
- ref
A reference to the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_topic_ref(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* ref, uint8_t mode);
Creates a topic entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_TOPIC_ID- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID- ref
A reference to the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_datawriter_ref(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId publisher_id, const char* ref, uint8_t mode);
Creates a datawriter entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_DATAWRITER_ID- publisher_id
The identifier of the associated publisher. The type must be
UXR_PUBLISHER_ID- ref
A reference to the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_datareader_ref(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId subscriber_id, const char* ref, uint8_t mode);
Creates a datareader entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_DATAREADER_ID.- subscriber_id
The identifier of the associated subscriber. The type must be
UXR_SUBSCRIBER_ID.- ref
A reference to the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_requester_ref(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* ref, uint8_t mode);
Creates a requester entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_REQUESTER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- ref
A reference to the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_replier_ref(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* ref, uint8_t mode);
Creates a replier entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_REPLIER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- ref
A reference to the new entity.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
Create entities by binary¶
The declaration of these functions can be found in uxr/client/profile/session/create_entities_ref.h.
uint16_t uxr_buffer_create_participant_bin(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uint16_t domain_id, const char* participant_name, uint8_t mode);
Creates a participant entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_PARTICIPANT_ID- domain_id
DDS Domain ID for the participant.
- participant_name
Participant name.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_topic_bin(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* topic_name, const char* type_name, uint8_t mode);
Creates a topic entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_TOPIC_ID- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID- topic_name
Topic name.
- type_name
Type name.
- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uint16_t uxr_buffer_create_publisher_bin(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, uint8_t mode);
Creates a publisher entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_PUBLISHER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uint16_t uxr_buffer_create_subscriber_bin(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, uint8_t mode);
Creates a subscriber entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_SUBSCRIBER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_datawriter_bin(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId publisher_id, uxrObjectId topic_id, uxrQoS_t qos, uint8_t mode);
Creates a datawriter entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_DATAWRITER_ID- publisher_id
The identifier of the associated publisher. The type must be
UXR_PUBLISHER_ID- topic_id
The identifier of the associated topic. The type must be
UXR_TOPIC_ID- qos
uxrQoS_tstruct describing QoS.- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_datareader_bin(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId subscriber_id, uxrObjectId topic_id, uxrQoS_t qos, uint8_t mode);
Creates a datareader entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_DATAREADER_ID.- subscriber_id
The identifier of the associated subscriber. The type must be
UXR_SUBSCRIBER_ID.- topic_id
The identifier of the associated topic. The type must be
UXR_TOPIC_ID- qos
uxrQoS_tstruct describing QoS.- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_requester_bin(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* service_name, const char* request_type, const char* reply_type,
const char* request_topic_name, const char* reply_topic_name, uxrQoS_t qos, uint8_t mode);
Creates a requester entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_REQUESTER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- service_name
Service name.
- request_type
Request type name.
- reply_type
Reply type name.
- request_topic_name
Request topic name.
- reply_topic_name
Reply topic name.
- qos
uxrQoS_tstruct describing QoS.- mode
Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to the
UXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
uint16_t uxr_buffer_create_replier_bin(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id,
uxrObjectId participant_id, const char* service_name, const char* request_type, const char* reply_type,
const char* request_topic_name, const char* reply_topic_name, uxrQoS_t qos, uint8_t mode);
Creates a replier entity in the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the new entity. Later, the entity can be referenced with this id. The type must be
UXR_REPLIER_ID.- participant_id
The identifier of the associated participant. The type must be
UXR_PARTICIPANT_ID.- service_name
Service name.
- request_type
Request type name.
- reply_type
Reply type name.
- request_topic_name
Request topic name.
- reply_topic_name
Reply topic name.
- qos
uxrQoS_tstruct describing QoS.:mode: Determines the creation entity mode. The Creation Policy Table describes the entities’ creation behaviour according to theUXR_REUSEandUXR_REPLACEflags (see Creation Policy Table).
Create entities common profile¶
These functions are enabled when either PROFILE_CREATE_ENTITIES_XML or PROFILE_CREATE_ENTITIES_REF are activated as CMake arguments.
The declaration of these functions can be found in uxr/client/profile/session/common_create_entities.h.
uint16_t uxr_buffer_delete_entity(uxrSession* session, uxrStreamId stream_id, uxrObjectId object_id);
Removes an entity.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- object_id
The identifier of the object which is deleted.
Read access¶
The Read Access is used by the Client to handle the read operation on the Agent.
The declaration of these functions can be found in uxr/client/profile/session/read_access.h.
uint16_t uxr_buffer_request_data(uxrSession* session, uxrStreamId stream_id, uxrObjectId datareader_id,
uxrStreamId data_stream_id, const uxrDeliveryControl* const control);
This function requests a datareader previously created on the Agent to perform a read operation
that fetches data from the middleware.
The returned value is an identifier of the request.
All received topics have the same request identifier.
The topics are received on the callback topic through the run_session function.
If there is no error with the request data, a status callback with the value UXR_STATUS_OK is generated along with
the topics retrieval.
If there is an error, a status error is sent by the Agent.
The message is written into the stream buffer.
To send the message, it is necessary to call either the uxr_flash_output_streams or the uxr_run_session function.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID used to send messages to the Agent.
- datareader_id
The ID of the datareader that reads the topics from the middleware.
- data_stream_id
The input stream ID where the data is received.
- control
Optional information allowing the Client to configure the data delivery from the Agent. Details on the configurable parameters can be found in the Read Access Delivery Control of the eProsima Micro XRCE-DDS Client page. A
NULLvalue is accepted, in which case only one topic is received.
uint16_t uxr_buffer_cancel_data(uxrSession* session, uxrStreamId stream_id, uxrObjectId datareader_id);
This function requests a datareader, requester or replier previously created on the Agent to cancel the data received from the middleware.
It does so by resetting the delivery_control parameters and the input stream ID used to receive the data.
The returned value is an identifier of the request.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID used to send messages to the Agent.
- datareader_id
The ID of the datareader that reads the topics from the middleware.
Write access profile¶
The Write Access is used by the Client to handle the write operation on the Agent.
The declaration of these functions can be found in uxr/client/profile/session/write_access.h.
uint16_t uxr_prepare_output_stream(uxrSession* session, uxrStreamId stream_id, uxrObjectId entity_id,
ucdrBuffer* ub, uint32_t data_size);
This function requests a datawriter, requester or replier previously created on the Agent to perform a write operation
into a specific output stream.
It initializes a ucdrBuffer struct where a data of data_size size must be serialized.
If there is sufficient space for writing data_size bytes into the stream, the returned value is the XRCE request ID, otherwise it is 0.
The topic is sent in the following run_session function.
If UCLIENT_PROFILE_MULTITHREAD is enabled, user should unlock the stream lock after serializing the requested amount of data using
UXR_UNLOCK_STREAM_ID(session, stream_id);
Note
All data_size bytes requested are sent to the Agent after a run_session call,
no matter if the ucdrBuffer has been used or not.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- entity_id
The ID of the datawriter, requester or replier that writes data into the middleware.
- ub
The
ucdrBufferstruct used to serialize the data. This struct points to the requested memory slot in the stream.- data_size
The slot, in bytes, that is reserved in the stream.
bool uxr_buffer_request(uxrSession* session, uxrStreamId stream_id, uxrObjectId requester_id, uint8_t* buffer, size_t len);
This function buffers a request into a specific output stream.
The request is sent in the following run_session function call.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- requester_id
The ID of the requester that forwards the request to the middleware.
- buffer
The raw buffer that contains the serialized request.
- len
The size of the serialized request.
bool uxr_buffer_reply(uxrSession* session, uxrStreamId stream_id, uxrObjectId replier_id, uint8_t* buffer, size_t len);
This function buffers a reply into a specific output stream.
The request is sent in the following run_session function call.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- replier_id
The ID of the replier that writes the reply to the middleware.
- buffer
The raw buffer that contains the serialized reply.
- len
The size of the serialized reply.
bool uxr_buffer_topic(uxrSession* session, uxrStreamId stream_id, uxrObjectId datawriter_id, uint8_t* buffer, size_t len);
This function buffers a topic into a specific output stream.
The request is sent in the following run_session function call.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- datawriter_id
The ID of the datawriter that writes the reply to the middleware.
- buffer
The raw buffer that contains the serialized topic.
- len
The size of the serialized topic.
uint16_t uxr_prepare_output_stream_fragmented(uxrSession* session, uxrStreamId stream_id, uxrObjectId entity_id,
struct ucdrBuffer* ub, size_t data_size, uxrOnBuffersFull flush_callback);
This function requests a datawriter, requester or replier previously created on the Agent to allocate an output stream of data_size bytes
for a write operation.
This function initializes an ucdrBuffer struct where a topic of data_size size is serialized.
If there is sufficient space for writing data_size bytes into the stream, the returned value is the XRCE request ID, otherwise it is 0.
The topic is sent in the following run_session function. If, during the serialization process, the buffer gets overfilled, the
flush_callback function is called and the user has to run a session for flushing the stream.
If UCLIENT_PROFILE_MULTITHREAD is enabled, user should unlock the stream lock after serializing the requested amount of data using
UXR_UNLOCK_STREAM_ID(session, stream_id);
Note
This approach is not valid for best-effort streams.
- session
Session structure previously initialized and created.
- stream_id
The output stream ID where the messages are written.
- entity_id
The ID of the datawriter, requester or replier that writes data into the middleware.
- ub
The
ucdrBufferstruct used to serialize the topic. This struct points to the requested memory slot in the stream.- data_size
The slot, in bytes, that is reserved in the stream.
- flush_callback
Callback for flushing the output buffers.
The function signature for the flush_callback callback is:
typedef bool (*uxrOnBuffersFull) (struct uxrSession* session);
- session
Session structure related to the buffer to be flushed.
Discovery profile¶
The discovery profile allows discovering Agents in the network by UDP.
The reachable Agents respond to the discovery call by sending information about themselves, as their IP and port.
There are two modes: unicast and multicast.
The discovery phase precedes the call to the uxr_create_session function, as it serves to determine the
Agent to connect with.
These functions are enabled when PROFILE_DISCOVERY is activated as a CMake argument.
The declaration of these functions can be found in uxr/client/profile/discovery/discovery.h.
Note
This feature is only available on Linux.
bool uxr_discovery_agents_default(uint32_t attempts, int period, uxrOnAgentFound on_agent_func, void* args);
This function looks for Agents in the network using UDP/IP multicast with address “239.255.0.2” and port 7400 (which is the default used by the Agent).
- attempts
The times a discovery message is sent across the network.
- period
The wait time between two successive discovery calls.
- on_agent_func
The callback function that is called when an Agent is discovered. It returns a boolean value. A
truemeans that the discovery routine has finished. Afalseimplies that the discovery routine must continue searching Agents.- args
User arguments passed to the callback function.
The function signature for the on_agent_func callback is:
typedef bool (*uxrOnAgentFound) (const TransportLocator* locator, void* args);
- locator
Transport locator of a discovered agent.
- args
User pointer data.
bool uxr_discovery_agents(uint32_t attempts, int period, uxrOnAgentFound on_agent_func, void* args,
const TransportLocator* agent_list, size_t agent_list_size);
This function looks for Agents in the network using UDP/IP unicast, using a list of unicast directions with the addresses and ports set by the user.
- attempts
The times a discovery message is sent across the network.
- period
The wait time between two successive discovery calls.
- on_agent_func
The callback function that is called when an Agent is discovered. It returns a boolean value. A
truemeans that the discovery routine has finished. Afalseimplies that the discovery routine must continue searching Agents.- args
User arguments passed to the callback function.
- agent_list
The list of addresses used for discovering Agents.
- agent_list_size
The size of the
agent_list.
The function signature for the on_time_func callback is the same as above.
Topic serialization¶
Functions to serialize and deserialize topics.
These functions are generated automatically by the eProsima Micro XRCE-DDS Gen utility fed with an IDL file with a topic TOPICTYPE.
The declaration of these functions can be found in the generated file TOPICTYPE.h.
bool TOPICTYPE_serialize_topic(struct ucdrBuffer* writer, const TOPICTYPE* topic);
This function serializes a topic into an ucdrBuffer.
The returned value indicates if the serialization was successful.
- writer
The
ucdrBufferrepresenting the buffer for the serialization.- topic
Struct to serialize.
bool TOPICTYPE_deserialize_topic(struct ucdrBuffer* reader, TOPICTYPE* topic);
This function deserializes a topic from an ucdrBuffer.
The returned value indicates if the deserialization was successful.
- reader
An
ucdrBufferrepresenting the buffer for the deserialization.- topic
Struct to deserialize.
uint32_t TOPICTYPE_size_of_topic(const TOPICTYPE* topic, uint32_t size);
This function counts the number of bytes that the topic needs in an ucdrBuffer.
- topic
Struct to count the size.
- size
Number of bytes already written into the ucdrBuffer. Typically, its value is 0 if the purpose is to use in
uxr_prepare_output_streamfunction.
General utilities¶
Utility functions.
The declaration of these functions can be found in uxr/client/core/session/stream_id.h and uxr/client/core/session/object_id.h.
uxrStreamId uxr_stream_id(uint8_t index, uxrStreamType type, uxrStreamDirection direction);
This function creates a stream identifier. This function does not create a new stream, it only creates its identifier to be used in the Client API.
- index
Identifier of the stream. Its value corresponds to the creation order of the stream, different for each
type.- type
The type of the stream, it can be
UXR_BEST_EFFORT_STREAMorUXR_RELIABLE_STREAM.- direction
Represents the direction (input or output) of the stream. It can be
UXR_INPUT_STREAMorUXR_OUTPUT_STREAM.
uxrStreamId uxr_stream_id_from_raw(uint8_t stream_id_raw, uxrStreamDirection direction);
This function creates a stream identifier. This function does not create a new stream, it only creates its identifier to be used in the Client API.
- stream_id_raw
Identifier of the stream. It goes from 0 to 255. 0 is for internal library use. 1 to 127 are for best effort. 128 to 255 are for reliable.
- direction
Represents the direction (input or output) of the stream. It can be
UXR_INPUT_STREAMorMT_OUTPUT_STREAM.
uxrObjectId uxr_object_id(uint16_t id, uint8_t type);
This function creates an identifier to reference an entity.
- id
Identifier of the object, different for each
type. There can be several objects with the same ID, provided they have different types.- type
The type of the entity. It can be:
UXR_PARTICIPANT_ID,UXR_TOPIC_ID,UXR_PUBLISHER_ID,UXR_SUBSCRIBER_ID,UXR_DATAWRITER_ID,UXR_DATAREADER_ID,UXR_REQUESTER_ID, orUXR_REPLIER_ID.
bool uxr_ping_agent_session(struct uxrSession* session, const int timeout_ms, const uint8_t attempts);
This function pings a Micro XRCE-DDS Agent to check if it is already up and running.
This method does require an XRCE session to be established beforehand. Internally it spins the session until ping answer is received or it timeouts.
It returns true if a response was received from the Agent, false otherwise.
- session
A pointer to a properly initialized XRCE-DDS session, used to send the ping request.
- timeout_ms
The maximum time that the Client will wait to receive the answer (pong) message, before returning.
- attempts
Maximum amount of times that the Client will try to ping the Agent and receive a response back.
bool uxr_ping_agent(const uxrCommunication* comm, const int timeout_ms);
This function pings a Micro XRCE-DDS Agent to check if it is already up and running.
This method does not require an XRCE session to be established beforehand. It acts directly over the transport layer so if a session is running simultaneouly, data can be loss.
It returns true if a response was received from the Agent, false otherwise.
- comm
A pointer to a properly initialized XRCE-DDS communication structure, used to send the ping request.
- timeout_ms
The maximum time that the Client will wait to receive the answer (pong) message, before returning.
bool uxr_ping_agent_attempts(const uxrCommunication* comm, const int timeout_ms, const uint8_t attempts);
This function provides the same functionality as the method described in uxr_ping_agent, but allows to specify the number of ping attempts before returning a value.
- comm
A pointer to a properly initialized XRCE-DDS communication structure, used to send the ping request.
- timeout_ms
The maximum time per attempt that the Client will wait to receive the answer (pong) message, before returning.
- attempts
Maximum amount of times that the Client will try to ping the Agent and receive a response back.
Transport¶
These functions are platform-dependent.
The declaration of these functions can be found in the uxr/client/profile/transport/ folder.
The common init transport functions follow the nomenclature below.
bool uxr_init_udp_transport(uxrUDPTransport* transport, uxrIpProtocol ip_protocol, const char* ip, const char* port);
This function initializes a UDP connection.
- transport
The uninitialized structure used for managing the transport. This structure must be accessible during the connection.
- ip_protocol
IPv4 or IPv6.
- ip
Agent IP.
- port
Agent port.
bool uxr_init_tcp_transport(uxrTCPTransport* transport, uxrIpProtocol ip_protocol, const char* ip, const char* port);
This function initializes a TCP connection. In the case of TCP, the behaviour of best-effort streams is similar to that of reliable streams in UDP.
- transport
The uninitialized structure used for managing the transport. This structure must be accessible during the connection.
- ip_protocol
IPv4 or IPv6.
- ip
Agent IP.
- port
Agent port.
bool uxr_init_serial_transport(uxrSerialTransport* transport, const int fd, uint8_t remote_addr, uint8_t local_addr);
This function initializes a Serial connection using a file descriptor.
- transport
The uninitialized structure used for managing the transport. This structure must be accessible during the connection.
- fd
File descriptor of the serial connection. Usually, the
fdcomes from theopenOS function.- remote_addr
Identifier of the Agent in the connection. By default, the Agent identifier in a seria connection is 0.
- local_addr
Identifier of the Client in the serial connection.
bool uxr_init_can_transport(uxrCANTransport* transport, const char* dev, uint32_t can_id);
This function initializes a CAN FD connection using a network interface.
- transport
The uninitialized structure used for managing the transport. This structure must be accessible during the connection.
- dev
Interface name of the CAN FD bus.
- can_id
Can identifier of this Client.
Note
The used interface must support CAN FD frames with a maximum payload of 64 bytes. The can identifier will be used on the CAN frames and should be unique for each client.
bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);
This function initializes a Custom connection using user-defined arguments.
- transport
The uninitialized structure used for managing the transport. This structure must be accessible during the connection.
argsis accesible astransport->args.
bool uxr_close_PROTOCOL_transport(PROTOCOLTransport* transport);
This function closes a transport previously opened. PROTOCOL can be udp, tcp, serial, can or custom.
- transport
The structure used for managing the transport that must be closed.
void uxr_set_custom_transport_callbacks(uxrCustomTransport* transport, bool framing, open_custom_func open,
close_custom_func close, write_custom_func write, read_custom_func read);
This function assigns the callback for custom transport.
- transport
The uninitialized structure used for managing the transport. This structure must be accessible during the connection.
- framing
Enables or disables Stream Framing Protocol for a custom transport.
- open
Callback for opening a custom transport.
- close
Callback for closing a custom transport.
- write
Callback for writing to a custom transport.
- read
Callback for reading from a custom transport.
The function signatures for the above callbacks are:
typedef bool (*open_custom_func) (struct uxrCustomTransport* transport);
- transport
Custom transport structure. Has the
argspassed throughbool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);.
typedef bool (*close_custom_func) (struct uxrCustomTransport* transport);
- transport
Custom transport structure. Has the
argspassed throughbool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);.
typedef size_t (*write_custom_func) (struct uxrCustomTransport* transport, const uint8_t* buffer, size_t length, uint8_t* error_code);
- transport
Custom transport structure. Has the
argspassed throughbool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);.- buffer
Buffer to be sent.
- length
Length of buffer.
- error_code
Error code that should be set in case the write process experiences some error.
This function should return the number of successfully sent bytes.
typedef size_t (*read_custom_func) (struct uxrCustomTransport* transport, uint8_t* buffer, size_t length, int timeout, uint8_t* error_code);
- transport
Custom transport structure. Has the
argspassed throughbool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);.- buffer
Buffer to write.
- length
Maximum length of buffer.
- timeout
Maximum timeout of the read operation.
- error_code
Error code that should be set in case the write process experiences some error.
This function should return the number of successfully received bytes.
Agent API¶
The Micro XRCE-DDS Agent is developed using a fully compliant C++11 API. This allowed to focus its development on modularity and usability, while keeping it simple for the final user.
Keeping up with this philosophy, the API provided to the user attempts to be as much intuitive as possible, while allowing to configure all the different aspects related to the Agent’s behaviour.
That being said, most user will find out that, with te provided MicroXRCEAgent standalone application, it is more than enough to launch an Agent and start the communication process with Micro XRCE-DDS Client applications. This is possible thanks to the intuitive built-in Agent CLI and its multiple configuration parameters.
Alternatively, users can access the underneath Agent implementation and fine-tune all of its parameters, options, and behaviour in their final application. This is specially useful when dealing with a Custom Transport implementation.
The Agent API section is organized as follows:
eprosima::uxr::AgentInstance¶
The CLI manager, along with all the built-in Agents available for the supported transports
(UDP, TCP, Serial, CAN) are encapsulated in the eprosima::uxr::AgentInstance class.
AgentInstance& getInstance();
This function gets a reference to the singleton AgentInstance wrapper class,
which allows launching a Micro XRCE-DDS Agent with user-given parameters.
bool create(int argc, char** argv);
This function creates a UDP/TCP/Serial/CAN Micro XRCE-DDS Agent, based on the given arguments. The created Agent will start automatically on success.
Returns true if the arguments were valid and an Agent was successfully created, false otherwise.
- argc
Number of arguments provided by the user via the CLI. This is usually inherited from the
mainloop.- argv
List of arguments to be parsed by the CLI engine.
void run();
This function blocks until the previously created Agent is ended by the stop function, a user’s interrupt or a process error.
void stop();
Stops a previously created Agent, blocking until the stop process is completed.
Note that this will trigger a call on the transport::fini method.
To restart a stopped agent, the create method should be used.
template <typename ... Args>
void add_middleware_callback(const Middleware::Kind& middleware_kind, const middleware::CallbackKind& callback_kind, std::function<void (Args ...)>&& callback_function);
This function sets a user-defined callback function for a specific create/delete middleware entity operation.
- middleware_kind
Enum defining all the supported middlewares (see Middleware Abstraction Layer).
- callback_kind
Enum holding all the possible create/delete operations:
enum class CallbackKind : uint8_t
{
CREATE_PARTICIPANT,
CREATE_DATAWRITER,
CREATE_DATAREADER,
CREATE_REQUESTER,
CREATE_REPLIER,
DELETE_PARTICIPANT,
DELETE_DATAWRITER,
DELETE_DATAREADER,
DELETE_REQUESTER,
DELETE_REPLIER
};
- callback_function
Callback to be defined by the user. It must follow a certain signature, depending on the middleware used.
eprosima::uxr::Agent¶
However, it is also possible for users to create and instantiate their own Agent, for example, to implement a Custom transport.
Also, in some scenarios, it could be useful to have all the necessary ProxyClients and their associated DDS entities created by the Agent even before
Clients are started, so that Clients applications can avoid the process of creating the session and the DDS entities, and can focus on the communication.
This would allow a Micro XRCE-DDS Client application to be as tiny as it can be in terms of memory consumption.
The following API is provided to fulfill these requirements:
bool create_client(uint32_t key, uint8_t session, uint16_t mtu, Middleware::Kind middleware_kind, OpResult& op_result);
This function allows to create a ProxyClient entity, which can act on behalf of an external Client to request the creation/deletion of DDS entities.
It returns true if the creation was successful, false otherwise.
- key
The
ProxyClient’s identifier.- session
The session ID to which the created
ProxyClientis attached to.- mtu
The Maximum Transmission Unit size.
- middleware_kind
The middleware used by the
ProxyClient, to be chosen among the ones presented in the Middleware Abstraction Layer.- op_result
The result status of this operation.
bool delete_client(uint32_t key, OpResult& op_result);
This function deletes a given ProxyClient from the client proxy database, given its ID.
Returns true if the operation was completed successfully, false otherwise (for example, if the provided ID was not registered to any ProxyClient).
- key
The identifier of the
ProxyClientto be removed.- op_result
The result status of the operation.
bool create_participant_by_xml(uint32_t client_key, uint16_t participant_id, int16_t domain_id, const char* xml, uint8_t flag, OpResult& op_result);
This function creates a DDS participant for a given Client, given its self-contained description in an XML file.
The participant will act as an entry point for the rest of the DDS entities to be created.
It returns true if the creation was successful, false otherwise.
- client_key
The identifier of the
ProxyClientto which the resulting participant will be attached to.- participant_id
The identifier of the participant to be created.
- domain_id
The DDS domain ID associated to the participant. The value
255is can be used to configure this value on the Agent at runtime (see Domain ID).- xml
The XML describing the participant properties.
- flag
It determines the creation mode of the new participant (see Creation Mode: Client and Creation Mode: Agent).
- op_result
The result status of this operation.
bool create_participant_by_ref(uint32_t client_key, uint16_t participant_id, int16_t domain_id, const char* ref, uint8_t flag, OpResult& op_result);
This function creates a DDS participant for a given Client, given a reference to its description hosted in a certain XML descriptor file.
This reference file must have been previously loaded to the Agent.
The participant will act as an entry point for the rest of the DDS entities to be created.
Returns true if the creation was successful, false otherwise.
- client_key
The identifier of the
ProxyClientto which the resulting participant will be attached to.- participant_id
The identifier of the participant to be created.
- domain_id
The DDS domain ID associated to the participant. The value
255is can be used to configure this value on the Agent at runtime (see Domain ID).- ref
The reference tag which will retrieve the participant description from the file where the references are defined, previously loaded to the Agent.
- flag
It determines the creation mode of the new participant (see Creation Mode: Client and Creation Mode: Agent).
- op_result
The result status of this operation.
bool delete_participant(uint32_t client_key, uint16_t participant_id, OpResult& op_result);
This function removes a DDS participant from a certain client proxy.
Returns true if the participant was deleted, false otherwise.
- client_key
The identifier of the
ProxyClientfrom which the participant must be deleted.- participant_id
The ID of the participant to be deleted.
- op_result
The result status of the operation.
bool create_<entity>_by_xml(uint32_t client_key, uint16_t <entity>_id, uint16_t <associated_entity>_id, const char* xml, uint8_t flag, OpResult& op_result);
This function creates a certain DDS entity attached to an existing ProxyClient, given its client key.
An XML must be provided, containing the DDS description of the entity to be created.
There are as many methods available as existing DDS entities, replacing the parameters <entity> and <associated_entity> as follows:
Agent’s API available DDS entities and their associated entities¶
<entity> |
<associated_entity> |
|---|---|
topic |
participant |
publisher |
participant |
subscriber |
participant |
datawriter |
publisher |
datareader |
subscriber |
requester |
participant |
replier |
participant |
This operation returns true if the entity is successfully created and linked to its associated entity (which must previously exist in the given ProxyClient), false otherwise.
- client_key
The identifier of the
ProxyClientto which the resulting entity will be attached to.- <entity>_id
The ID of the DDS entity to be created.
- <associated_entity>_id
The identifier of the DDS entity to which this one will be assocciated.
- xml
The XML describing the entity properties.
- flag
It determines the creation mode of the new entity (see see Creation Mode: Client and Creation Mode: Agent).
- op_result
The result status of this operation.
bool create_<entity>_by_ref(uint32_t client_key, uint16_t <entity>_id, uint16_t <associated_entity>_id, const char* ref, uint8_t flag, OpResult& op_result);
This function creates a certain DDS entity attached to an existing ProxyClient, given its client key.
The description of the entity to be created is hosted in a certain file where all the required references are defined, and must be tagged with the same tag name, provided as the ref parameter to this method.
There are as many methods available as existing DDS entities, replacing the parameters <entity> and <associated_entity> as shown above in the previous method description (see Agent’s API available DDS entities and their associated entities).
This operation returns true if the entity is successfully created and linked to its associated entity (which must previously exist in the given ProxyClient), false otherwise.
- client_key
The identifier of the
ProxyClientto which the resulting entity will be attached to.- <entity>_id
The ID of the DDS entity to be created.
- <associated_entity>_id
The identifier of the DDS entity to which this one will be assocciated.
- ref
The reference tag which will retrieve the DDS entity description from the file hosting the referenced entities definitions.
- flag
It determines the creation mode of the new entity (see see Creation Mode: Client and Creation Mode: Agent).
- op_result
The result status of this operation.
bool delete_<entity>(uint32_t client_key, uint16_t <entity>_id, OpResult& op_result);
This function deletes a certain entity from a ProxyClient. Its associated entities will also be deleted, if applicable.
There exist as many method signatures of this type in the agent’s API as available entities. See the Agent’s API available DDS entities and their associated entities table for further information.
It returns true if the entity is correctly removed, false otherwise.
- client_key
The identifier of the
ProxyClientfrom which the entity must be deleted.- <entity>_id
The ID of the DDS entity to be deleted.
- op_result
The result status of the operation.
bool load_config_file(const std::string& file_path);
This function loads a configuration file that provides the tagged XML definitions of the desired XRCE entities that can be created using the reference creation mode (see see Creation Mode: Client and Creation Mode: Agent).
The used syntax must match the one defined for FastDDS XML profile syntax, where the profile name attributes represent the reference names.
It returns true if the file was correctly loaded, false otherwise.
- file_path
Relative path to the file containing the DDS entities description in XML format, tagged accordingly to be referenced by the API.
Note
This function needs to be called when implementing a Custom transport in the case creation of entities by reference
is used.
This function must be called before eprosima::uxr::Server start method.
void reset();
This function deletes all the ProxyClient instances and their associated DDS entities.
void set_verbose_level(uint8_t verbose_level);
This function sets the verbose level of the logger, from 0 (logger is off) to 6 (critical, error, warning, info, debug, and trace messages are displayed).
Intermediate tracing levels display information up to the position in the aforementioned list; for example, level 4 shows critical, error, warning and info messages.
Note
This function must be called before eprosima::uxr::Server start method.
- verbose_level
The level to be set.
template <typename ... Args>
void add_middleware_callback(const Middleware::Kind& middleware_kind, const middleware::CallbackKind& callback_kind, std::function<void (Args ...)>&& callback_function);
This function exposes the same functionality as the one described in add_middleware_callback, for eprosima::uxr::AgentInstance.
Note
This function must be called before eprosima::uxr::Server start method.
eprosima::uxr::Server¶
This class inherits from eprosima::uxr::Agent and it is the base class used for implementing any of the built-in Agent servers that are available by default in the standalone executable that is generated when the library is compiled and installed (see Installation Manual), and that can be launched and used by means of the built-in Agent CLI.
Also, when creating a Custom Agent, which inherits directly from eprosima::uxr::Server users will need to call the start() method after configuring the Agent, if applicable (namely, by using load_config_file, set_verbose_level or add_middleware_callback methods).
An example on how to do this can be found here.
bool start();
Launches the threads involved in the Agent server communication, namely, receiver and sender thread for getting/dispatching messages; processing thread, to process the messages; and a heartbeat and an error handler thread. After calling this method, the communication between the Agent and the Clients can effectively start.
This method returns true if the server has been correctly started, or false if some error happened during startup.
bool stop();
Stops a previously launched eprosima::uxr::Server and all of its associated threads.
This method returns true if the stopping process was successful, or false otherwise.
eProsima Micro XRCE-DDS Gen¶
eProsima Micro XRCE-DDS Gen is a Java application used to generate source code for the eProsima Micro XRCE-DDS software.
This tool can generate from a given IDL specification file, the C struct associated with the Topic, as well as the serialization and deserialization methods. Also, it can generate a sample demo that works with the proposed topic.
To find out how to install this package, refer to the Installing the Micro XRCE-DDS Gen tool section.
As an example of the potential of this tool, the following shows the source code generated from the ShapeDemo IDL file.
// ShapeType.idl
struct ShapeType {
@key string color;
long x;
long y;
long shapesize;
};
If we will perform the following command:
$ microxrceddsgen ShapeType.idl
it will generate the following header file and its corresponding source:
/*!
* @file ShapeType.h
* This header file contains the declaration of the described types in the IDL file.
*
* This file was generated by the tool gen.
*/
#ifndef _ShapeType_H_
#define _ShapeType_H_
#include <stdint.h>
#include <stdbool.h>
/*!
* @brief This struct represents the structure ShapeType defined by the user in the IDL file.
* @ingroup SHAPETYPE
*/
typedef struct ShapeType
{
char color[255];
int32_t x;
int32_t y;
int32_t shapesize;
} ShapeType;
struct ucdrBuffer;
bool ShapeType_serialize_topic(struct ucdrBuffer* writer, const ShapeType* topic);
bool ShapeType_deserialize_topic(struct ucdrBuffer* reader, ShapeType* topic);
uint32_t ShapeType_size_of_topic(const ShapeType* topic, uint32_t size);
#endif // _ShapeType_H_
eProsima Micro XRCE-DDS Gen is also able to generate both publisher and subscriber source code examples, related with the topic specified in the IDL file, by adding the flag -example:
$ microxrceddsgen -example <file.idl>
The Client library must be compiled with the WRITE_ACCESS_PROFILE option for the publisher, to use these examples
and the READ_ACCESS_PROFILE option for the subscriber.
Note
At present, eProsima Micro XRCE-DDS Gen only supports Structs composed of integer, string, array and sequence types, even though it is planned to enhance the capabilities of the eProsima Micro XRCE-DDS Gen tool in a near future.
Memory optimization¶
This section explains how memory is managed by the eProsima Micro XRCE-DDS library and how it can be configured and customized by the user. For more information regarding the internal handling of the memory in eProsima Micro XRCE-DDS, refer to the detailed analysis and memory profiling here.
Executable code size¶
To tune the executable code size, the library can be compiled enabling or disabling several profiles. To add or remove profiles from the library, enable or disable them as CMake arguments. More information can be found at: eProsima Micro XRCE-DDS Client.
Important
When compiling with gcc, it is highly recommended to compile it with the linker flag: -Wl,--gc-sections.
It will remove the code that the app doesn’t use from the final executable.
Runtime size¶
The Client is dynamic and static memory free: the whole memory footprint only depends on how the stack grows during the execution. Several values can be modified to control the stack growth:
Stream buffers¶
- Streams number
It’s possible to define a maximum of 127 best-effort streams and of 128 reliable streams. However, for most purposes, only one stream - either best effort or reliable - is needed.
- History of a reliable stream
The history is used for recovering lost messages and for speeding up the communication. For output streams, a bigger history will allow writing and sending more messages without having to wait for confirmation. However, if the history of an output stream is full (no messages confirmed by the Agent yet), no more messages can be stored in the stream. For input streams, the history is used for recovering lost messages faster while reducing the bandwidth. If the connection is highly reliable and saving memory is a priority, a reduced history can be used.
- Stream size
In case of reliable communication, this size is equal to
MAX_MESSAGE_SIZE * HISTORY. In case of a best-effort stream, the size simply equalsMAX_MESSAGE_SIZE, as no history is made available in this case. TheMAX_MESSAGE_SIZErepresents the maximum message size that can be sent without fragmenting the message, and it must be less or equal than the MTU chosen for the selected transport.- MTU
A different MTU can be chosen for each transport available. The MTU value can be defined as a CMake argument, and fixes the
MAX_MESSAGE_SIZEthat can be sent or received. The transport uses the MTU value to create an internal buffer.
Transport¶
This section shows how the transport layer is implemented in both eProsima Micro XRCE-DDS Agent and eProsima Micro XRCE-DDS Client. Furthermore, this section describes how to add a Custom transport in eProsima Micro XRCE-DDS. It is organized as follows:
Introduction¶
In contrast to other IoT middlewares such as MQTT and CoaP, which work over a particular transport protocol, the DDS-XRCE protocol is designed to support multiple transport protocols natively. This feature of DDS-XRCE is enhanced by eProsima Micro XRCE-DDS in two ways. On the one hand, the logic of both the Agent and the Client is completely separated from the transport protocol underneath through a set of interfaces, which will be explained in the following sections.
On the other hand, taking advantage of the transport interface flexibility, the Client comes with a framing protocol implemented that enables using the DDS-XRCE wire protocol over stream-oriented transports. This feature allows using eProsima Micro XRCE-DDS over two kinds of transports layers:
Packet-oriented transports: communication protocols that allow sending whole packets.
Stream-oriented transports: communication protocols that follow a stream logic.
Agent Transport Architecture¶
The Agent transport architecture is composed by 3 different layers:
Server Layer: is an interface from which each transport-specific server inherits. This interface implements four different threads:
Sender thread: in charge of sending the messages to the Clients.
Receiver thread: in charge of receiving the messages from the Clients.
Processing thread: in charge of processing the messages received from the Clients.
Heartbeat thread in charge of handling reliability with the Clients.
Transport Layer: is a transport-specific class which manages the sessions established between the Agent and the Clients. This class inherits from the Server interface.
Platform Layer: is a platform-specific class which implements the sending and receiving functions for a given transport in a given platform. It should be noted that it is the only class that has platform dependencies.
UDP Server Example¶
As an example, this subsection describes how the UDP server is implemented in eProsima Micro XRCE-DDS Agent. The figure below shows the Agent transport architecture for the UDP servers.
At the top of this architecture, there is a Server interface (Server Layer).
This Server interface has the following pure virtual functions:
/* Transport Layer */
virtual void on_create_client(EndPoint* source, const dds::xrce::ClientKey& client_key) = 0;
virtual void on_delete_client(EndPoint* source) = 0;
virtual const dds::xrce::ClientKey get_client_key(EndPoint* source) = 0;
virtual std::unique_ptr<EndPoint> get_source(const dds::xrce::ClientKey& client_key) = 0;
/* Platform Layer */
virtual bool init() = 0;
virtual bool close() = 0;
virtual bool recv_message(InputPacket& input_packet, int timeout) = 0;
virtual bool send_message(OutputPacket output_packet) = 0;
virtual int get_error() = 0;
The first four virtual functions are transport specific (Transport Layer).
These functions are overridden by the UDPServerBase class, which is in charge of managing the sessions between Clients and the Agent.
On the other hand, the last five virtual functions are platform specific (Platform Layer).
These functions are override by the UDPServerLinux and UDPServerWindows for Linux and Windows systems, respectively.
Client Transport Architecture¶
The Client transport architecture is analogous to the Agent architecture. There are also three different layers, but instead of the Server Layer, there is a Session Layer.
Session Layer: implements the XRCE protocol logic, and it only knows about sending and receiving messages.
Transport Layer: implements the sending and receiving message functions for each transport protocol, calling to the Platform Layer functions. This layer only knows about sending and receiving messages through a given transport protocol.
Platform Layer: implements the sending and receiving data functions for each platform. This layer only knows about sending and receiving raw data through a given transport in a given platform.
UDP Transport Example¶
As an example, this subsection describes how the UDP transport is implemented in eProsima Micro XRCE-DDS Client. The figure below shows the Client transport architecture for UDP transport.
Similar to the Agent architecture, there is also an interface, uxrCommunication, whose function pointers are used from the Session Layer.
That is, each time a run_session is called, the Session Layer calls to send_msg_func and recv_msg_func without worrying about the transport protocol or the platform in use.
This struct has the following function pointers:
bool send_msg_func(void* instance, const uint8_t* buf, size_t len);
bool recv_msg_func(void* instance, uint8_t** buf, size_t* len, int timeout);
uint8_t comm_error_func(void);
These functions are implemented by the uxrUDPTransport, which is in charge of two main tasks:
Provide an implementation for the communication interface functions. For example, in the case of the UDP protocol, these functions are the following:
bool send_udp_msg(void* instance, const uint8_t* buf, size_t len);
bool recv_udp_msg(void* instance, uint8_t** buf, size_t* len, int timeout);
uint8_t get_udp_error(void);
Offer to the user the initialization and close functions related to the transport protocol. For example, in the case of the UDP protocol, these functions are the following:
bool uxr_init_udp_transport(uxrUDPTransport* transport, const char* ip, uint8_t port);
bool uxr_close_udp_transport(uxrUDPTransport* transport);
For each platform, there is an implementation of these functions defined in the Transport Layer interface.
For example, in the case of Linux under UDP transport protocol, the uxrUDPPlatform implements the following functions:
bool uxr_init_udp_platform(uxrUDPPlatform* platform, const char* ip, uint16_t port);
bool uxr_close_udp_platform(uxrUDPPlatform* platform);
size_t uxr_write_udp_data_platform(uxrUDPPlatform* platform, const uint8_t* buf, size_t len, uint8_t* errcode);
size_t uxr_read_udp_data_platform(uxrUDPPlatform* platform, uint8_t* buf, size_t len, int timeout, uint8_t* errcode);
Stream Framing Protocol¶
eProsima Micro XRCE-DDS has a Stream Framing Protocol with the following features:
HDLC Framing: each frame begins with a
begin_frameoctet(0x7E), and the rest of the frame undergoes byte stuffing, using thespaceoctet(0x7D)followed by the original octet exclusive-or with0x20. For example, if the frame contains the octet 0x7E, it is encoded as 0x7D, 0x5E; and the same for the octet 0x7D which is encoded as 0x7D, 0x5D.CRC Calculation: frames end with the CRC-16 for detecting frame corruption. The CRC-16 is computed using the polynomial
x^16 + x^12 + x^5 + 1after the frame stuffing for each octet of the frame and including thebegin_frame, as it is described in the RFC 1662 (see sec. C.2).Routing header: the Stream Framing Protocol provides
sourceandremoteaddresses in the framing, which can be used to implement a routing protocol.
All the previous features are addressed using the following frame format:
0 8 16 24 40 X X+16
+--------+--------+--------+--------+--------+--------//--------+--------+--------+
| FLAG | SADD | RADD | LEN | PAYLOAD | CRC |
+--------+--------+--------+--------+--------+--------//--------+--------+--------+
FLAG: is abegin_frameoctet for frame initialization.SADD: is the address of the device which sent the message, that is, thesourceaddress.RADD: is the address of the device which should receive the message, that is, theremoteaddress.LEN: is the length of the payload without framing. It is encoded as a 2-bytes array in little-endian.PAYLOAD: is the payload of the message.CRC: is the CRC of the message after the stuffing.
Data Sending¶
The figure below shows the workflow of the data sending. This workflow could be divided into the following steps:
A publisher application calls the Client library to send a given topic.
The Client library serializes the topic inside an XRCE message using Micro CDR. As a result, the XRCE message with the topic is stored in an Output Stream Buffer.
The Client library calls the Stream Framing Protocol to send the serialized message.
The Stream Transport frames the message, that is, it adds the header, the payload, and CRC of the frame, taking into account the stuffing. This step takes place in an auxiliary buffer called Framing Buffer.
Each time the Framing Buffer is full, the data is flushed into the Device Buffer, calling the writing system function.
This approach has some advantages which should be pointed out:
The HDLC framing and the CRC control provide integrity and security to the Stream Framing.
The framing technique allows to reduce memory usage. The reason is that the Framing Buffer size (42 bytes) bounds the Device Buffer size.
The framing technique also allows sending large data over stream-oriented transports. The reason is that the message size is not bounded by the Device Buffer size, since the message is fragmented and has undergone byte stuffing during the framing stage.
Data Receiving¶
The workflow of the data receiving is analogous to the data sending workflow:
A subscriber application calls the Client library to receive a given topic.
The Client library calls the Stream Framing Protocol to receive the stream message.
The Stream Framing Protocol reads data from the Device Buffer and unframes the raw data received from the Device Buffer in the Unframing Buffer.
Once the Unframing Buffer is full, the Stream Framing Protocol appends the fragment into the Input Stream Buffer. This operation is repeated until a complete message is received.
The Client library deserializes the topic from the Input Stream Buffer to the user topic struct.
It should point out that this approach has the same advantages that the sending one.
Shapes Topic Example¶
This subsection shows how a Shapes Topic, defined by the IDL below, is packed into the Serial Transport.
typedef struct ShapeType
{
char color[128];
int32_t x;
int32_t y;
int32_t shapesize;
} ShapeType;
ShapeType topic = {"red", 11, 11, 89};
In Serial Transport, the topic’s packaging could be divided into two steps:
The Session Layer adds the XRCE header and subheader. It adds an overhead of 12 bytes to the topic.
The Serial Transport adds the serial header, CRC and stuffing the payload. In the best case, it adds an overhead of 7 bytes to the topic.
The figure above shows the overhead added by Serial Transport. In the best case, it is only 19 bytes, but it should be noted that, in this example, the message stuffing has been neglected.
Custom Transport¶
eProsima Micro XRCE-DDS provides a user API that allows interfacing with the lowest level transport layer at runtime, which enables users to implement their own transports in both the Client and Agent libraries. Thanks to this, the Micro XRCE-DDS wire protocol can be transmitted over virtually any protocol, network or communication mechanism. In order to do so, two general communication modes are provided:
Stream-oriented mode: the communication mechanism implemented does not have the concept of packet. HDLC framing (Stream Framing Protocol) will be used.
Packet-oriented mode: the communication mechanism implemented is able to send a whole packet that includes an XRCE message.
These two modes can be selected by activating and deactivating the framing parameter in both the Client and the Agent functions.
The relevant API can be found in the Transport section of the Client API.
Micro XRCE-DDS Client¶
In order to enable the eProsima Micro XRCE-DDS Client profile for custom transports, the CMake argument
UCLIENT_PROFILE_CUSTOM_TRANSPORT=<bool> must be set to true. By doing so, the user will enable the functionality for setting
the transport-related callbacks explained in the Transport section of the Client API.
An example on how to set these external transport callbacks in the Client API is:
uxrCustomTransport transport;
uxr_set_custom_transport_callbacks(
&transport,
true, // Framing enabled here. Using Stream-oriented mode.
my_custom_transport_open,
my_custom_transport_close,
my_custom_transport_write,
my_custom_transport_read);
struct custom_args {
...
}
struct custom_args args;
if(!uxr_init_custom_transport(&transport, (void *) &args))
{
printf("Error at create transport.\n");
return 1;
}
It is important to notice that in uxr_init_custom_transport a pointer to custom arguments is set. This reference will be copied to
the uxrCustomTransport and will be available to every callbacks call.
In general, four functions need to be implemented. The behavior of these functions is sightly different, depending on the selected mode:
- Open function
bool my_custom_transport_open(uxrCustomTransport* transport) { ... }
This function should open and init the custom transport. It returns a boolean indicating if the opening was successful.
transport->argshave the arguments passed throughuxr_init_custom_transport.- Close function
bool my_custom_transport_close(uxrCustomTransport* transport) { ... }
This function should close the custom transport. It returns a boolean indicating if closing was successful.
transport->argshave the arguments passed throughuxr_init_custom_transport.- Write function
size_t my_custom_transport_write( uxrCustomTransport* transport, const uint8_t* buffer, size_t length, uint8_t* errcode) { ... }
This function should write data to the custom transport. It returns the number of Bytes written.
transport->argshave the arguments passed throughuxr_init_custom_transport.Stream-oriented mode: The function can send up to
lengthBytes frombuffer.Packet-oriented mode: The function should send
lengthBytes frombuffer. If less thanlengthBytes are writtenerrcodecan be set.
- Read function
size_t my_custom_transport_read( uxrCustomTransport* transport, uint8_t* buffer, size_t length, int timeout, uint8_t* errcode) { ... }
This function should read data to the custom transport. It returns the number of Bytes read
transport->argshave the arguments passed throughuxr_init_custom_transport.Stream-oriented mode: The function should retrieve up to
lengthBytes from transport and write them intobufferintimeoutmilliseconds.Packet-oriented mode: The function should retrieve
lengthBytes from transport and write them intobufferintimeoutmilliseconds. If less thanlengthBytes are readerrcodecan be set.
Micro XRCE-DDS Agent¶
The eProsima Micro XRCE-DDS Agent profile for custom transports is enabled by default.
An example on how to set the external transport callbacks in the Micro XRCE-DDS Agent API is:
eprosima::uxr::Middleware::Kind mw_kind(eprosima::uxr::Middleware::Kind::FASTDDS);
eprosima::uxr::CustomEndPoint custom_endpoint;
// Add transport endpoing parameters
custom_endpoint.add_member<uint32_t>("param1");
custom_endpoint.add_member<uint16_t>("param2");
custom_endpoint.add_member<std::string>("param3");
eprosima::uxr::CustomAgent custom_agent(
"my_custom_transport",
&custom_endpoint,
mw_kind,
true, // Framing enabled here. Using Stream-oriented mode.
my_custom_transport_open,
my_custom_transport_close,
my_custom_transport_write
my_custom_transport_read);
custom_agent.start();
CustomEndPoint¶
The custom_endpoint is an object of type eprosima::uxr::CustomEndPoint and it is in charge of handling the endpoint parameters. The Agent, unlike the Client, can receive
messages from multiple Clients so it must be able to differentiate between them.
Therefore, the eprosima::uxr::CustomEndPoint should be provided with information about the origin of the message
in the read callback, and with information about the destination of the message in the write callback.
In general, the members of a eprosima::uxr::CustomEndPoint object can be unsigned integers and strings.
CustomEndPoint defines three methods:
- Add member
bool eprosima::uxr::CustomEndPoint::add_member<*KIND*>(const std::string& member_name);
Allows to dynamically add a new member to the endpoint definition.
Returns
trueif the member was correctly added,falseif something went wrong (for example, if the member already exists).- KIND
To be chosen from:
uint8_t,uint16_t,uint32_t,uint64_t,uint128_torstd::string.- member_name
The tag used to identify the endpoint member.
- Set member value
void eprosima::uxr::CustomEndPoint::set_member_value(const std::string& member_name, const *KIND* & value);
Sets the specific value (numeric or string) for a certain member, which must previously exist in the
CustomEndPoint.- member_name
The member whose value is going to be modified.
- value
The value to be set, of KIND:
uint8_t,uint16_t,uint32_t,uint64_t,uint128_torstd::string.
- Get member
const *KIND* & eprosima::uxr::CustomEndPoint::get_member(const std::string& member_name);
Gets the current value of the member registered with the given parameter. The retrieved value might be an
uint8_t,uint16_t,uint32_t,uint64_t,uint128_torstd::string.- member_name
The CustomEndPoint member name whose current value is requested.
CustomAgent user-defined methods¶
As in the Client API, four functions should be implemented. The behaviour of these functions is sightly different depending on the selected mode:
- Open function
eprosima::uxr::CustomAgent::InitFunction my_custom_transport_open = [&]() -> bool { ... }
This function should open and init the custom transport. It returns a boolean indicating if the opening was successful.
- Close function
eprosima::uxr::CustomAgent::FiniFunction my_custom_transport_close = [&]() -> bool { ... }
This function should close the custom transport. It returns a boolean indicating if the closing was successful.
- Write function
eprosima::uxr::CustomAgent::SendMsgFunction my_custom_transport_write = [&]( const eprosima::uxr::CustomEndPoint* destination_endpoint, uint8_t* buffer, size_t length, eprosima::uxr::TransportRc& transport_rc) -> ssize_t { ... }
This function should write data to the custom transport. It must use the
destination_endpointmembers to set the data destination. It returns the number of Bytes written. It should settransport_rcindicating the result of the operation.Stream-oriented mode: The function can send up to
lengthBytes frombuffer.Packet-oriented mode: The function should send
lengthBytes frombuffer. If less thanlengthBytes are written,transport_rccan be set.
- Read function
eprosima::uxr::CustomAgent::RecvMsgFunction my_custom_transport_read = [&]( eprosima::uxr::CustomEndPoint* source_endpoint, uint8_t* buffer, size_t length, int timeout, eprosima::uxr::TransportRc& transport_rc) -> ssize_t { ... }
This function should read data to the custom transport. It must fill
source_endpointmembers with data source. It returns the number of Bytes read. It should settransport_rcindicating the result of the operation.Stream-oriented mode: The function should retrieve up to
lengthBytes from transport and write them intobufferintimeoutmilliseconds.Packet-oriented mode: The function should retrieve
lengthBytes from transport and write them intobufferintimeoutmilliseconds. If less thanlengthBytes are read transport_rc can be set.
P2P Communication¶
This section illustrates the peer-to-peer communication mode offered by eProsima Micro XRCE-DDS. It is organized as follows:
Introduction¶
The peer-to-peer (P2P) mode allows direct communication between applications without DDS, where by application is to be understood the combination of an Agent and one or more Clients.
In this communication mode, the Agent uses the CedMiddleware. The Agent is in charge of discovering other External Agents and create an Internal Client for each one of them. Each Internal Client connects to an External Agent and subscribes to the set of Topics managed by its own Agent. Thus, a cloud of interconnected Agents is created.
Some consideration shall be taken into account in order to use the P2P communication:
Only the
create_<entity>_by_ref()functions shall be used.The Topic’s reference represents the name of the Topic.
The DataWriter’s and DataReader’s references need to match the Topic’s reference.
Publishers and Subscribers have no role.
Agents use the CedMiddleware and the Discovery mechanism.
Publish/Subscribe P2P Example¶
This kind of behaviour can be probed by putting in communication a Publisher P2P application with a Subscriber P2P application.
Agent with CedMiddleware¶
First of all, install the Agent as explained in the Installing the Agent standalone section. On Linux, this would be:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
$ cd Micro-XRCE-DDS-Agent
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install
After having installed the Agent system-wide, launch it with the ced option activated:
$ ./MicroXRCEAgent udp4 -p <port> -m ced -d
Client P2P publisher app¶
Let’s now install the Client locally, and with the -DUCLIENT_BUILD_EXAMPLES=ON flag enabled, so as
to activate the compilation of the examples. On Linux, this implies running the following:
$ git clone https://github.com/eProsima/Micro-XRCE-DDS-Client.git
$ cd Micro-XRCE-DDS-Client
$ mkdir build && cd build
$ cmake .. -DUCLIENT_BUILD_EXAMPLES=ON
$ make
At this point, it’s possible to launch the PublishHelloWorldClientP2P executable
located in the folder Micro-XRCE-DDS-Client/build/examples/PublishHelloWorldP2P, which’ll make
the Client publish in the DDS World the HelloWorld topic
(take a look at the IDL defining this topic in the file
Micro-XRCE-DDS-Client/examples/PublishHelloWorldP2P/HelloWorld.idl).
$ examples/PublishHelloWorld2P2/PublishHelloWorldClientP2P 127.0.0.1 2019
The source code of the PublishHelloWorldClientP2P can be found in
Micro-XRCE-DDS-Client/examples/PublishHelloWorldP2P/main.c.
Client P2P subscriber app¶
After having executed the publisher app, we can launch the SubscribeHelloWorldClientP2P excutable,
which is located in the folder Micro-XRCE-DDS-Client/build/examples/SubscribeHelloWorldP2P, which’ll make
this Client subscribe to the same HelloWorld topic from the DDS World.
$ examples/SubscriberHelloWorldP2P/SubscribeHelloWorldClientP2P 127.0.0.1 2019
The source code of the SubscribeHelloWorldClientP2P can be found in
Micro-XRCE-DDS-Client/examples/SubscribeHelloWorldP2P/main.c.
At this point, the subscriber will receive the topics that are being sent by the publisher.
Time synchronization¶
eProsima Micro XRCE-DDS offers a synchronization mechanism based on the NTP protocol.
It allows synchronizing Client with Agents, something very useful when working in embedded environments that do not provide any time synchronization mechanism.
The use of this feature is quite simple.
The Client library provides the function uxr_sync_session which is all that is needed.
This function involves an exchange of messages between Client and Agent that allows the Client compute its time offset using the NTP protocol.
Apart from it, the Client library also provides a callback that allows users to implement their time synchronization protocol.
Find the code for a Client application making use of this time synchronization mechanism in the TimeSync example app.
Another useful example shows how to use the time-synchronization callback. In particular, this example implements the NTP protocol with average computation to increase the time-offset’s accuracy. Find the code for this example in the TimeSync with callback example app.
eProsima Docker Image¶
eProsima provides the eProsima XRCE-DDS Suite Docker image for those who want a quick demonstration of XRCE-DDS running on an Ubuntu platform.
This Docker image was built for Ubuntu 20.04 (Focal Fossa).
To run this container you need Docker installed; from a terminal run:
$ sudo apt install docker.io
XRCE-DDS Suite¶
This Docker image contains the complete XRCE-DDS suite, which includes:
eProsima XRCE-DDS libraries and examples: XRCE-DDS libraries bundled with several examples that showcase a variety of capabilities of eProsima’s Fast DDS implementation.
eProsima XRCE-DDS Agent: eProsima XRCE-DDS Agent is a ready to use implementation of DDS-XRCE Agent and it is available for using along with provided examples.
To load this image into your Docker repository, run:
$ docker load -i xrcedds-suite:<XRCE-DDS-Version>.tar
You can run this Docker container as follows:
$ docker run -it xrcedds-suite:<XRCE-DDS-Version>
From the resulting Bash Shell you can run each feature.
Client Hello World Example¶
Included in this Docker container is a set of binary examples that showcase some of the functionalities of the XRCE-DDS libraries.
This is a minimal example that will perform a Publisher/Subscriber match and start sending samples. This example is not constrained to the current instance. It’s possible to run several instances of this container to check the communication between them by running the following from each container:
$ docker run -it xrcedds-suite:<XRCE-DDS-Version> helloworld_pub
or
$ docker run -it xrcedds-suite:<XRCE-DDS-Version> helloworld_sub
Version 2.4.3¶
Agent 2.4.3 | Client 2.4.3 | Micro-CDR 2.0.1 | Gen 2.0.2
- Agent 2.4.3:
- This release includes the following minor changes:
Bump Fast DDS to v2.14.x.
Bump Fast CDR to v2.2.x.
- Micro-CDR 2.0.1:
This release is not modified
- Gen 2.0.2:
This release is not modified
Version 2.4.2¶
Agent 2.4.2 | Client 2.4.2 | Micro-CDR 2.0.1 | Gen 2.0.2
- Agent 2.4.2:
- This release includes the following bugfixes:
Fix deserialization endianness (#336).
- Client 2.4.2:
- This release includes the following bugfixes:
Rename UXR_CONFIG_CAN_TRANSPORT_MTU (#372)
- Micro-CDR 2.0.1:
This release is not modified
Version 2.4.1¶
Agent 2.4.1 | Client 2.4.1 | Micro-CDR 2.0.1 | Gen 2.0.1
- Micro-CDR 2.0.1:
This release is not modified
Version 2.4.0¶
Agent 2.4.0 | Client 2.4.0 | Micro-CDR 2.0.1 | Gen 2.0.0
- Agent 2.4.0:
- This release includes the following minor changes:
Bump internal Micro XRCE-DDS Client to v2.4.0
Bump Fast DDS to v2.10.0
Bump Fast CDR to v1.0.27
- Client 2.4.0:
- This release includes the following minor changes:
Add CMAKE configuration for C standard version (#340)
- Micro-CDR 2.0.1:
This release is not modified
- Gen 2.0.0:
Adapted generation to Micro XRCE-DDS Client v2.4.0 API.
- This release includes the following minor changes:
Version 2.3.0¶
Agent 2.3.0 | Client 2.3.0 | Micro-CDR 2.0.1
- Client 2.3.0:
- This release includes the following bugfixes:
Increase cmake minimum required (#335)
- This release includes the following minor changes:
Bump Micro CDR to v2.0.1
Version 2.2.1¶
Agent 2.2.1 | Client 2.2.1 | Micro-CDR 2.0.0
- Client 2.2.1:
- This release includes the following bugfixes:
Check setsockopt return (#325)
- Micro-CDR 2.0.0:
This release is not modified
Version 2.2.0¶
Agent 2.2.0 | Client 2.2.0 | Micro-CDR 2.0.0
- Client 2.2.0:
- This release includes the following minor changes:
Implement hard liveliness check (#316)
- Micro-CDR 2.0.0:
This release is not modified
Version 2.1.1¶
Agent 2.1.1 | Client 2.1.1 | Micro-CDR 2.0.0
- Agent 2.1.1:
- This release includes the following minor changes:
- Client 2.1.1:
- This release includes the following bugfixes:
Fix fragment capacity overflow (#296)
Fix fragmentation header alignment (#300)
Fix run session timeouts (#299)
Fix code scanning alert (#302)
Fix exit run session condition (#305)
Fix multithread interlock (#303)
Reset stream on created session (#304)
Fix subscriber example (#309)
Fix Req Res example (#314)
- Micro-CDR 2.0.0:
This release is not modified
Version 2.1.0¶
Agent 2.1.0 | Client 2.1.0 | Micro-CDR 2.0.0
- Agent 2.1.0:
- This release includes the following bugfixes:
Style corrections (#238)
Fix packaging test (#241)
Fix serial error detection (#251)
Server: Add wait for error_handle (#252)
Fix use FastDDS profiles (#260)
Fix session key log (#265)
Fix custom transport bug (#259)
Add missing define if logger is disabled (#267)
Fix warning when CED disabled (#272)
FramingIO optimizations (#278)
Fix stream type on entities creation/destruction (#284)
- Client 2.1.0:
- This release includes the following bugfixes:
- This release includes the following minor changes:
- This release includes the following major changes:
- Micro-CDR 2.0.0:
- This release includes the following bugfixes:
Fixed buffer handling in fragmentation for compatibility with FastDDS (#69).
Version 2.0.0¶
Agent 2.0.0 | Client 2.0.0 | Micro-CDR 1.2.1
This version includes the following changes in both Agent and Client:
- Agent 2.0.0:
- Add
Middleware callbacks API
Client to Agent ping feature without a session
Custom transports API
- Fix / Modify
Simplified CLI and removed dependency with CLI11 library.
Optional disable of executable build.
CLI help console output.
Removed platform handling in user API.
- Client 2.0.0:
- Add
POSIX transport with based on timeout instad of polling.
Client to Agent ping feature without a session
Continuos fragment mode
FreeRTOS+TCP transport support
Zephyr RTOS time functions support
Custom transports API
DDS-XRCE best effort examples
uxr_run_session_until_datafunctionalityuxr_create_session_retriesfunctionalityuxr_buffer_topicfunctionality
- Fix / Modify
Update session creating timing to linear approach
Modified
uxr_prepare_output_streamAPI return codeRemoved
client.configfile in favor of CMake arguments.Removed platform handling in user API.
Bugfix #156 request/reply lenght management.
Bugfix #167 reliable fragment slots management.
Bugfix #175 reliable fragment size management.
Bugfix #176 discovery message deserialization.
- Micro-CDR 1.2.1:
- Fix / Modify
Bugfix #53 fix in ucdr_reset_buffer function
Bugfix #54 fix alignment zero-length sequence bug
Bugfix #55 fix asymmetric fragmentation buffers
Version 1.3.0¶
Agent 1.4.0 | Client 1.2.3
This version includes the following changes in both Agent and Client:
- Agent 1.4.0:
- Add
FastDDS middleware (compatible with ROS 2 Foxy).
- Fix
TermiosAgent’s baudrate setting.
- Client 1.2.3:
- Modify
Examples installation.
- Fix
Minor Windows visibility function fixes.
Previous Versions¶
Version 1.2.0¶
Agent 1.3.0 | Client 1.2.1
This version includes the following changes in both Agent and Client:
- Agent 1.3.0
- Add
IPv6 support.
Requester/Replier support.
Packaging compatibility with colcon.
Isolated installation option.
Raspberry Pi support.
- Change
Serial transport.
- Client 1.2.1
- Add
IPv6 support.
Requester/Replier support.
Packaging compatibility with colcon.
Isolated installation option.
Version 1.1.0¶
Agent 1.1.0 | Client 1.1.1
This version includes the following changes in both Agent and Client:
- Agent 1.1.0:
- Add
Message fragmentation.
P2P communication.
API.
Time synchronization.
Windows discovery support.
New unitary tests.
API documentation.
Logger.
Command Line Interface.
Centralized middleware.
Remove Asio dependency.
- Change
CMake approach.
Server’s thread pattern.
Fast RTPS version upgraded to 1.8.0.
- Fix
Serial transport.
- Client 1.1.1:
- Add
Message fragmentation.
Time synchronization.
Windows discovery support.
New unitary tests.
API documentation.
Raspberry Pi support.
- Change
Memory usage improvement.
CMake approach.
Discovery API.
Examples usage.
- Fix
Acknack reading.
User data bad alignment.
Version 1.0.3¶
Agent 1.0.3 | Client 1.0.2
This version includes the following changes in both Agent and Client:
- Agent 1.0.3:
Fast RTPS version upgraded to 1.7.2.
Baud rate support improvements.
Bugfixes.
- Client 1.0.2:
Uses new Fast RTPS 1.7.2 XML format.
Add Raspberry Pi toolchain.
Fix bugs.
Version 1.0.2¶
Agent 1.0.2 | Client 1.0.1
This version includes the following changes in the Agent:
- Agent 1.0.2:
Fast RTPS version upgraded to 1.7.0.
Added dockerfile.
Documentation fixes.
Version 1.0.1¶
Agent 1.0.1 | Client 1.0.1
This release includes the following changes in both Agent and Client:
- Agent 1.0.1:
Fixed Windows installation.
Fast CDR version upgraded.
Simplified CMake code.
Bug fixes.
- Client 1.0.1:
Fixed Windows configuration.
MicroCDR version upgraded.
Cleaned unused code.
Fixed documentation.
Bug fixes.
Version 1.0.0¶
This release includes the following features:
Extended C topic code generation tool (strings, sequences, and n-dimensional arrays).
Discovery profile.
Native write access profile (without using eProsima Micro XRCE-DDS Gen)
Creation and configuration by XML.
Creation by reference.
Added REUSE flag at entities creation.
Added prefix to functions.
Transport stack modification.
More tests.
Reorganized project.
Bug fixes.
API changes.
Version 1.0.0Beta2¶
This release includes the following features:
Reliability.
Stream concept (best-effort, reliable).
Multiples streams of the same type.
Configurable data delivery control.
C Topic example code generation tool.