OpenDDS通讯rtps_discovery对等发现模式的pub和sub匹配的日志

最新推荐文章于 2024-07-15 12:57:04 发布
最新推荐文章于 2024-07-15 12:57:04 发布
阅读量2.1k 收藏 10
点赞数
分类专栏： OpenDDS 文章标签： OpenDDS RTPS rtps_discovery

OpenDDS的通讯体系中，提供了丰富的日志输出，通过日志输出可以清晰的看到pub和sub方的主题匹配的过程，是加深对OpenDDS过程了解的一个好方法。
下面的日志，以OpenDDS3.8为基础，增加了部分日志和时间戳输出。
rtps_discovery对等发现模式下，通过单播地址进行发布方和订阅方的匹配过程。

（1）sub方

配置文件

[common]
DCPSGlobalTransportConfig=$file
ORBDebugLevel=0
DCPSDebugLevel=10
DCPSTransportDebugLevel=0
ORBLogFile=sub.log

[domain/2]
DiscoveryConfig=fast_rtps

[rtps_discovery/fast_rtps]
ResendPeriod=2
InteropMulticastOverride=239.255.0.11

SpdpSendAddrs=192.168.102.1:7910
##PB=30000
##DX=0
##D1=0
SedpMulticast=0
SedpLocalAddress=192.168.102.1:
TTL=20

[transport/the_rtps_transport]
transport_type=rtps_udp
use_multicast=0
local_address=192.168.179.1:
ttl=20

sub方日志

(13532|6612) NOTICE: using DCPSDebugLevel value from command option (overrides value if it's in config file).
(13532|6612) NOTICE: using DCPSTransportDebugLevel value from command option (overrides value if it's in config file).
(13532|6612) NOTICE: using ORBLogFile value from command option, overriding config file
Configuration InteropMulticastOverride=239.255.0.11
Configuration SedpMulticast=0
Configuration ResendPeriod=2
Configuration SedpLocalAddress=192.168.102.1:
Configuration SpdpSendAddrs=192.168.102.1:7910
Configuration TTL=20
Configuration transport_type=rtps_udp
Configuration use_multicast=0
Configuration local_address=192.168.179.1:
Configuration ttl=20
Configuration DiscoveryConfig=fast_rtps
2018-02-09 17:18:35.997322 (13532|6612) Service_Participant::set_repo_domain: Domain[ 2] = Repo[ fast_rtps].
(13532|6612) NOTICE: StaticDiscovery::parse_topics no [topic] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_datawriterqos no [datawriterqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_datareaderqos no [datareaderqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_publisherqos no [publisherqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_subscriberqos no [subscriberqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_endpoints no [endpoint] sections.
(13532|6612) NOTICE: Service_Participant::intializeScheduling() - no scheduling policy specified, not setting policy.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) WARNING:open_appropriate_socket_type: socket open not successful:errno: 10048
(13532|6612) Spdp::SpdpTransport::open_unicast_socket() - failed to open_appropriate_socket_type unicast socket on port 7910 ACE_SOCK_Dgram::open: address already in use.  Trying next participantId...
2018-02-09 17:18:36.036022 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 488, local[0.0.0.0:7912], port=7912
2018-02-09 17:18:36.036022 (13532|6612) Spdp::SpdpTransport::open_unicast_socket() - opened unicast socket on port 7912
(13532|6612) Spdp::SpdpTransport::SpdpTransport joining group  239.255.0.11:7900
2018-02-09 17:18:36.082822 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 692, local[192.168.102.1:0], port=50699
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) DDS::ParticipantBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c6f0 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c738 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSParticipant) enabled
(13532|6612) DDS::TopicBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c780 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c7c8 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSTopic) enabled
(13532|6612) DDS::PublicationBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c810 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c858 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSPublication) enabled
(13532|6612) DDS::SubscriptionBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c8a0 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c8e8 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSSubscription) enabled
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Ocean::OceanMsgDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c930 with 20 chunks
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c9c0 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 1184, local[192.168.179.1:0], port=50700
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|8344) Spdp::data_received() - add a new participant local <01030050.37c00008.34dc0000.000001c1(b8f0199)> discovered remote <01030050.37c00008.35c40000.000001c1(9314d3ae)> createTime=1518167916, leaseDuration=20s.
(13532|8344) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|8344) ConditionImpl::signal_all()
(13532|8344) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13532|8344) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|8344) ConditionImpl::signal_all()
(13532|8344) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13532|8344) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000003c7(d0dac62e) <--> with remote publication  01030050.37c00008.35c40000.000003c2(382be096).
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000004c7(9f9b50e9) <--> with remote publication  01030050.37c00008.35c40000.000004c2(776a7651).
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000200c7(f8734183) <--> with remote publication  01030050.37c00008.35c40000.000200c2(1082673b).
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|13428) Sedp::Task::svc got message from queue type 0
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000003c2(a0b032a1) <--> with remote subscription 01030050.37c00008.35c40000.000003c7(48411419).
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000004c2(eff1a466) <--> with remote subscription 01030050.37c00008.35c40000.000004c7(70082de).
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000200c2(8819b50c) <--> with remote subscription 01030050.37c00008.35c40000.000200c7(60e893b4).
(13532|13428) Sedp::Task::svc done with message
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B5B4 1 heap allocs with 1 outstanding
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B5F0 1 heap allocs with 1 outstanding
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B644 1 heap allocs with 1 outstanding
2018-02-09 17:18:36.114022 (13532|6612) Sedp::write_subscription_data - subscriptions_writer_.write_sample.result=0
(13532|6612) EndpointManager::add_subscription - calling match_endpoints
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCHJData) enabled
(13532|6612) ConditionImpl::signal_all()
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|13444) DataLink::data_received_i: from publication 01030050.37c00008.35c40000.000003c2(382be096) received sample: SAMPLE_DATA (0x00), Length: 124, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x01, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.35c40000.000003c2(382be096) to readerId 01030050.37c00008.34dc0000.000003c7(d0dac62e) (SET_EXCLUDED).
2018-02-09 17:18:36.618222 (13532|13428) Sedp::Task::svc got message from queue type 1
(13532|13428) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13532|13428) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13532|13428) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
2018-02-09 17:18:36.618222 (13532|13428) Sedp::data_received(dwd) - calling match_endpoints new
2018-02-09 17:18:36.618222 (13532|13428) EndpointManager::match - adding reader association
(13532|13428) DataReaderImpl::add_new_association - bit 0 local 01030050.37c00008.34dc0000.00000004(f99a06e7) remote 01030050.37c00008.35c40000.00000003(ff654173)
(13532|13428) WriterInfo::WriterInfo: writer 01030050.37c00008.35c40000.00000003(ff654173) added to reader 01030050.37c00008.34dc0000.00000004(f99a06e7).
(13532|13428) DataReaderImpl::add_association: inserted writer 01030050.37c00008.35c40000.00000003(ff654173).return 1 
(13532|13428) DataReaderImpl::add_association: reader 01030050.37c00008.34dc0000.00000004(f99a06e7) is associated with writer 01030050.37c00008.35c40000.00000003(ff654173).
(13532|13428) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.00000004(f99a06e7) <--> with remote publication  01030050.37c00008.35c40000.00000003(ff654173).
(13532|13428) DataReaderImpl::transport_assoc_done: id_to_handle_map_[ 01030050.37c00008.35c40000.00000003(ff654173)] = 0x4.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x4000.
(13532|13428) ConditionImpl::signal_all() - number of sets: 1, locally: 1.
(13532|13428) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
2018-02-09 17:18:36.633822 (13532|13428) Sedp::write_subscription_data - subscriptions_writer_.write_sample.result=0
(13532|13428) Sedp::Task::svc done with message
2018-02-09 17:18:38.011622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:38.011622 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.011622 (13532|8344) Spdp::data received() - update an existing remote participant <01030050.37c00008.35c40000.000001c1(9314d3ae)> last_seen_.sec=1518167918
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:40.115622 (13532|8344) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7910->0.0.0.0:7912) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21

（2）pub方
配置文件

[common]
DCPSGlobalTransportConfig=$file
ORBDebugLevel=0
DCPSDebugLevel=10
DCPSTransportDebugLevel=0
ORBLogFile=pub.log

[domain/2]
DiscoveryConfig=fast_rtps

[rtps_discovery/fast_rtps]
ResendPeriod=2
InteropMulticastOverride=239.255.0.12

#SpdpSendAddrs=10.1.4.32:7910
SpdpSendAddrs=192.168.102.1:7912
##PB=30000
##DX=0
##D1=0
SedpMulticast=0
SedpLocalAddress=192.168.102.1:
TTL=20

[transport/the_rtps_transport]
transport_type=rtps_udp
use_multicast=0
local_address=192.168.179.1:
ttl=20

日志文件

(13764|15312) NOTICE: using DCPSDebugLevel value from command option (overrides value if it's in config file).
(13764|15312) NOTICE: using DCPSTransportDebugLevel value from command option (overrides value if it's in config file).
(13764|15312) NOTICE: using ORBLogFile value from command option, overriding config file
Configuration InteropMulticastOverride=239.255.0.12
Configuration SedpMulticast=0
Configuration ResendPeriod=2
Configuration SedpLocalAddress=192.168.102.1:
Configuration SpdpSendAddrs=192.168.102.1:7912
Configuration TTL=20
Configuration transport_type=rtps_udp
Configuration use_multicast=0
Configuration local_address=192.168.179.1:
Configuration ttl=20
Configuration DiscoveryConfig=fast_rtps
2018-02-09 17:18:33.928322 (13764|15312) Service_Participant::set_repo_domain: Domain[ 2] = Repo[ fast_rtps].
(13764|15312) NOTICE: StaticDiscovery::parse_topics no [topic] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_datawriterqos no [datawriterqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_datareaderqos no [datareaderqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_publisherqos no [publisherqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_subscriberqos no [subscriberqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_endpoints no [endpoint] sections.
(13764|15312) NOTICE: Service_Participant::intializeScheduling() - no scheduling policy specified, not setting policy.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:33.943922 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 488, local[0.0.0.0:7910], port=7910
2018-02-09 17:18:33.943922 (13764|15312) Spdp::SpdpTransport::open_unicast_socket() - opened unicast socket on port 7910
(13764|15312) Spdp::SpdpTransport::SpdpTransport joining group  239.255.0.12:7900
2018-02-09 17:18:33.990722 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 692, local[192.168.102.1:0], port=50697
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) DDS::ParticipantBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c6f0 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c738 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSParticipant) enabled
(13764|15312) DDS::TopicBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c780 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c7c8 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSTopic) enabled
(13764|15312) DDS::PublicationBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c810 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c858 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSPublication) enabled
(13764|15312) DDS::SubscriptionBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c8a0 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c8e8 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSSubscription) enabled
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific is unbounded data - allocate from heap
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific-mb Cached_Allocator_With_Overflow 5aee60 with 10 chunks
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific-db Cached_Allocator_With_Overflow 5af058 with 1 chunks
(13764|15312) WriteDataContainer sample_list_element_allocator 5af21c with 1 chunks
(13764|15312) WriteDataContainer transport_send_element_allocator 5af258 with 1 chunks
(13764|15312) DataWriterImpl::enable-mb Cached_Allocator_With_Overflow 5af598 with 1 chunks
(13764|15312) DataWriterImpl::enable-db Cached_Allocator_With_Overflow 5af790 with 1 chunks
(13764|15312) DataWriterImpl::enable-header Cached_Allocator_With_Overflow 54c930 with 1 chunks
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:34.006322 (13764|14332) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7912->0.0.0.0:7910) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:34.006322 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 1180, local[192.168.179.1:0], port=50698
(13764|15312) Sedp::write_publication_data - not currently associated, dropping msg.
(13764|15312) EndpointManager::add_publication - calling match_endpoints
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.020422 (13764|14332) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7912->0.0.0.0:7910) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::data_received() - add a new participant local <01030050.37c00008.35c40000.000001c1(9314d3ae)> discovered remote <01030050.37c00008.34dc0000.000001c1(b8f0199)> createTime=1518167916, leaseDuration=20s.
(13764|14332) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|14332) ConditionImpl::signal_all()
(13764|14332) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13764|14332) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|14332) ConditionImpl::signal_all()
(13764|14332) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13764|14332) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000003c7(48411419) <--> with remote publication  01030050.37c00008.34dc0000.000003c2(a0b032a1).
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000004c7(70082de) <--> with remote publication  01030050.37c00008.34dc0000.000004c2(eff1a466).
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000200c7(60e893b4) <--> with remote publication  01030050.37c00008.34dc0000.000200c2(8819b50c).
2018-02-09 17:18:36.114022 (13764|9740) Sedp::Task::svc got message from queue type 0
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000003c2(382be096) <--> with remote subscription 01030050.37c00008.34dc0000.000003c7(d0dac62e).
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000004c2(776a7651) <--> with remote subscription 01030050.37c00008.34dc0000.000004c7(9f9b50e9).
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::data received() - update an existing remote participant <01030050.37c00008.34dc0000.000001c1(b8f0199)> last_seen_.sec=1518167916
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000200c2(1082673b) <--> with remote subscription 01030050.37c00008.34dc0000.000200c7(f8734183).
2018-02-09 17:18:36.114022 (13764|9740) Sedp::write_publication_data - publications_writer_.write_sample. result=0
(13764|9740) Sedp::Task::svc done with message
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 132, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x03, Timestamp: 1518167916.633822000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 01030050.37c00008.35c40000.000004c7(70082de) (SET_EXCLUDED).
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 132, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x03, Timestamp: 1518167916.633822000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 01030050.37c00008.35c40000.000004c7(70082de) (SET_EXCLUDED).
2018-02-09 17:18:36.821022 (13764|9740) Sedp::Task::svc got message from queue type 2
(13764|9740) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
2018-02-09 17:18:36.821022 (13764|9740) Sedp::data_received(drd) - calling match_endpoints new
2018-02-09 17:18:36.821022 (13764|9740) EndpointManager::match - adding writer association
2018-02-09 17:18:36.821022 (13764|9740) DataWriterImpl::add_new_association - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::add_association(): adding subscription to publication 01030050.37c00008.35c40000.00000003(ff654173) with priority 0.
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.00000003(ff654173) <--> with remote subscription 01030050.37c00008.34dc0000.00000004(f99a06e7).
(13764|9740) DataWriterImpl::transport_assoc_done:  writer 01030050.37c00008.35c40000.00000003(ff654173) succeeded in associating with reader 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::transport_assoc_done: marked remote reader 01030050.37c00008.34dc0000.00000004(f99a06e7) as pending.
(13764|9740) Sedp::Task::svc done with message
2018-02-09 17:18:36.821022 (13764|9740) Sedp::Task::svc got message from queue type 2
(13764|9740) DataWriterImpl::association_complete - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::association_complete_i - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::association_complete_i: id_to_handle_map_01030050.37c00008.34dc0000.00000004(f99a06e7) = 0x4.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x2000.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|9740) Sedp::Task::svc done with message
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.120822 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:38.120822 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.120822 (13764|14332) Spdp::data received() - update an existing remote participant <01030050.37c00008.34dc0000.000001c1(b8f0199)> last_seen_.sec=1518167918
believe_s
关注
  • 0
    点赞
  • 踩
  • 10
    收藏
    觉得还不错? 一键收藏
  • 0
    评论
专栏目录
OpenDDS内部关键的idl文件（RTPS）
pony12的专栏
12-24 660
RtpsCore.idl，定义了RTPS对等发现模块所需要的各种内部通讯报文（即RTPS库所需要的结构体），有助于了解和深入掌握RTPS对等发现层的含义。 #include "dds/DdsDcpsInfoUtils.idl" module OpenDDS { module RTPS { typedef octet OctetArray2[2]; typedef octet OctetArray4[4]; /* A list of filters tha...
OpenDDS 测试案例
09-05
本程序实现发布端/订阅端之间通信,双界面实现效果,能给加深刻的了解发布和订阅实现过程;
【ROS2】高级:使用 Fast DDS 发现服务器作为发现协议 [社区贡献]
最新发布
cxyhjl的博客
07-15 1480
目标：本教程将展示如何使用 Fast DDS Discovery Server 发现协议启动 ROS 2 节点。教程级别：高级时间：20 分钟目录背景快速 DDS 发现服务器 v2先决条件运行此教程设置发现服务器启动监听节点启动对话节点展示发现服务器执行可视化工具rqt_graph高级用例服务器冗余备份服务器发现分区ROS 2 内省守护进程的相关工具没有虚拟光...
OpenDDS主题匹配时间过长的问题调研
pony12的专栏
09-17 517
OpenDDS主题匹配的发现模式，分2种 1）Repo集中发现模式； 2）RTPS对等发现模式； 特别是在RTPS对等发现模式时，pub端和sub端主题的匹配时间，有时候能达到5~8秒，相比业务传输数据的迫切程度来说，这个时间确实太长了，后面将逐步分析匹配时间过长的原因和处置策略。 ...
Windows Genuine Advantage
IT
04-28 1419
Xp最新通过微软正版验证方法昨天我的XP系统序列号被微软封了，找了个方法最新通过微软正版验证与大家共享。 我在这里详细的跟大家讲。 先去微软验证地址验证下:http://www.microsoft.com/genuine/downloads/WhyValidate.aspx ========================= 步骤一:首先打开"开始菜单"=>"运行"=>输入" %alluser
【OpenDDS开发指南V3.20】第六章：内置主题
u012739527的博客
11-21 527
内置主题
OpenDDS对等发现配置文件rtps.ini
08-28
许多刚开始接触OpenDDS的朋友，喜欢或不知道如何运行pub和sub程序，只好运行run_test.pl脚本进行验证，我觉得一点也无助于今后的深入了解和开发训练，通过对等发现的配置rtps.ini，可轻松运行pub和sub，进行通讯 ...
通过日志观察RTPS发现模式时Spdp、Sedp和Transport过程.docx
10-06
日志中提到的`TransportImpl::configure()`部分，详细列出了SEDP的相关配置，如传输类型(rtps_udp)，本地IP和端口(192.168.2.9:65238)，以及是否使用组播等。SEDP还会加入本地组播地址239.255.0.2:7401，以便接收...
OpenDDS-3.5.1.zip_OPENDDS_opendds工具_中间件
09-23
2. **动态发现**：OpenDDS 支持节点间的动态发现和连接，使得网络中的参与者可以动态加入或离开，而不会影响其他参与者。 3. **跨平台兼容**：OpenDDS 支持多种操作系统，包括 Windows、Linux、macOS 和各种嵌入式...
OMG的DDS英文文档，里面包含了DDS，以及DDS-RTPS，openDDS user guide，以及IDL
11-14
OpenDDS Developer's Guide.pdf 文件将帮助开发者理解如何使用 OpenDDS 创建和运行DDS应用程序，包括设置 QoS 策略、创建发布者和订阅者、处理数据以及调试和优化等。 在学习DDS时，你需要理解以下几个关键概念： ...
DDS-RTPS 实时发布订阅协议 DDS互操作协议规范(Version 2.1)
01-30
实时发布订阅（RTPS）协议源于工业自动化，并得到了作为实时工业以太网套件IEC-PAS-62030的一部分的IEC。...本规范定义了消息格式、解释和使用场景，这些场景是使用RTPS协议的应用程序交换的所有消息的基础。
记OpenDDS订阅内置主题的一些坑
Yhc不是咸鱼
05-04 1873
由于某个需求，现在需要订阅OpenDDS的内置主题，首先我们通过官方文档来看下OpenDDS有哪些内置主题： 一共四个，分别对应参与者、主题、生产者、订阅者，这次我们要订阅的是Topic的信息，但是这里没有说明该怎么订阅，也没说明这四个主题的消息格式是怎样的，不要急，往下翻一下第六章就能看到： 我们可以看到，DCPSTopic这个主题的消息类型为TopicBuiltinTopicDat...
数据分发服务 (DDS) 内置主题
07-29 1394
DCPSTopic主题用于描述域参与者的每个实例。DCPSTopictopic.。要获取有关系统中writers的信息，您应该订阅DCPSPublication主题。订阅者和数据读取者也来自一个名为DCPSSubscription的联合内置主题。
OpenDDS的tools/monitor
pony12的专栏
11-26 394
OpenDDS的tools/monitor，是一个基于QT4的GUI程序，用于展现OpenDDS内部实体对象的监控内容，监控内容的来源有2个 1）OpenDDS_monitor机制发布的10种report数据 ServiceParticipantReport DomainParticipantReport TopicReport PublisherReport DataWriterReport DataWriterPeriodicReport Subscrib...
通过内置主题BuiltinTopic监控OpenDDS
pony12的专栏
11-03 633
OpenDDS的内置主题BuiltinTopic，是DDS内部用于RTPS对等发现和DCPSInfoRepo集中发现的应用级DW和DR相互匹配的辅助通讯主题。 通过readDCPSParticipant、readDCPSTopic、readDCPSSubscription和readDCPSPublication接口，就能接收到OpenDDS的内置主题BuiltinTopic的相关信息和Qos属性等。 内置主题有4个，名称和类型分别是 const char...
OpenDDS通讯中rtps_discovery对等发现的基本配置和说明
believe_s的博客
08-08 3539
OpenDDS的对等发现模式中，可以采用组播或单播方式进行发现和基于主题的DataReader和DataWriter的匹配，下面是一个简单的配置样例： [common] DCPSGlobalTransportConfig=$file ORBDebugLevel=0 DCPSDebugLevel=3 DCPSTransportDebugLevel=0 ORBLogFile=publisher....
OpenDDS 配置文件详解
anxuecheng0313的专栏
03-25 3130
配置文件格式：除了common外，[section type/instance]，如[repository/repo_1] 命令行使用配置文件：./publisher -DCPSConfigFile pub.ini 代码级别设置默认配置文件： Service_Participant模块允许DDS客户端应用层代码级别去配置OpenDDS #include <dds/DCPS/Service_Participant.h> int main (int argc, char* argv[])..
OpenDDS RTPS Relay
anxuecheng0313的专栏
03-30 961
RtpsRelay设计为允许参与者在被执行网络地址转换（NAT）的防火墙和/或不支持多播的网络（如公用Internet）分隔开时交换RTPS数据报。 RtpsRelay支持IPv4和IPv6。使用RtpsRelay实例的参与者是该实例的客户端。每个RtpsRelay实例包含两个参与者：Application Participant和Relay Participant。 应用程序参与者在应用程序的域中运行。 RtpsRelay读取内置主题以发现参与者，DataReader和DataWriters。然后，它
OpenDDS运行示例（Messenger）程序
qq740874037的博客
07-22 2075
根据OpenDDS提供的 Messenger示例程序，介绍三种执行发布订阅程序的方式。
评论
添加红包

请填写红包祝福语或标题

个

红包个数最小为10个

元

红包金额最低5元

当前余额3.43元 前往充值 >
需支付：10.00元
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付元
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明：

1.余额是钱包充值的虚拟货币，按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载，可以购买VIP、付费专栏及课程。

余额充值