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
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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
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专栏目录
OpenDDS内部关键的idl文件（RTPS）
pony12的专栏
12-24 663
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的Rtps_Udp传输协议可靠性QoS收发基本流程
最新发布
pony12的专栏
08-17 177
OpenDDS中，实现了Rtps_Udp传输协议（非纯udp）的可靠性传输。传输的线程包括：1）发送方线程主要线程和定时器 《1》应用线程 《2》网络异步发送线程 《3》Heartbeat定时器 《4》Nak_response定时器 2）接收方主要线程和定时器 《1》网络异步接收线程
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 3557
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 RTPS Relay
anxuecheng0313的专栏
03-30 965
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 1）publisher -DCPSConfigFile rtps.ini 2）subscriber -DCPSConfigFile rtps.ini 用着舒服、简洁
OpenDDS开发人员指南中文版3.23（15）互联网用（Internet-Enabled）RTPS
pony12的专栏
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OpenDDS如何在Internet互联网环境中通信，可以借助RtpsReply中继器程序做为打洞、NAT的中介服务，同时可以采用ICE交互连接方式实现互联网环境中pub和sub的通信，同时要考虑基于Internet传输的安全性。
Fast DDS之Discovery
u010378559的博客
09-20 1083
目录发现阶段发现机制Simple DiscoveryStatic DiscoveryDiscovery ServerManual Discovery 发现阶段 Participant Discovery Phase(PDP)：这个阶段DomainParticipant通过周期性的广播消息获取互相的存在。默认情况下使用广播地址和端口，也有可能使用单播指定一系列地址 Endpoint Discovery Phase (EDP)：这个阶段DataWriters 和 DataReaders互相获取对方。为了实现这
OpenDDS通讯rtps_discovery对等发现模式的pub和sub匹配的日志（举例）
pony12的专栏
06-24 2190
有对DDS技术了解、学习、开发和培训需求的，请加入QQ群：707895641（DDS专业技术辅导）。 *************************************************************************************************** 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...
完整的OpenDDS的发布订阅编写及源码（Windows）
pony12的专栏
12-29 1027
一个完整的OpenDDS的发布订阅编写及源码，包括SimuMsg.idl、SimuMsg.mwc和SimuMsg.mpc，SimuMsgCommon_Export.h、publisher.cpp、subscriber.cpp、SimuMsgDataReaderListenerImpl.h和SimuMsgDataReaderListenerImpl.cpp、SimuMsgDataWriterListenerImpl.h和SimuMsgDataWriterListenerImpl.cpp、dds
OpenDDS开发人员指南中文版3.23（2）入门
pony12的专栏
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OpenDDS应用开发入门，首先讲述了@topic和@key的使用方法，来定义主题的数据类型和示例的键。从tao_idl和opendds_idl工具的使用入手，开始讲解一个publisher和一个Subscriber的编码主流程，最后从DCPSInfoRepo集中发现和RTPS对等发现模式执行pub和sub，实现消息的发布和订阅式传输。最后，讲述了take等一次性读取多条消息和领拷贝的样本获取方式。
RTPS技术规范（DDS）
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RTPS技术规范介绍The Real-Time Publish-Subscribe Wire Protocol DDS Interoperability™ Wire Protocol Specification, V2.0／２.１／２.２内容；
通过日志观察RTPS发现模式时Spdp、Sedp和Transport过程.docx
10-06
OpenDDS的通讯分为几层,分别是发现层(Sdpd和Sedp)、传输层,可以通过日志输出直观的观察运行情况,加快对OpeDDS内部机制的了解
DDS协议--[第六章][Discovery]
qq_41816308的博客
07-22 648
对于要匹配的两个端点，它们的主题和数据类型必须一致。如果要使用不支持多播的计算机（或者由于某些其他原因需要使用单播），或者如果要在没有网络连接的单台计算机上运行（在这种情况下，您的操作系统可能具有禁用您的网络堆栈），有一种简单的方法来控制发现过程 - 您甚至不必重新编译。当使用部分可靠通信的情况下（配置keep_last_N），DataWriter的发送队列会进行数据的覆盖，当队列中的历史数据将要被覆盖，而DataReader还未对此消息进行确认时，DataWriter也会发送GAP消息。
ROS2探索（四）DDS与RTPS
qq_16893195的博客
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http://www.omg.org/spec/DDSI-RTPS/2.2
CycloneDDS（5）发现Discovery
pony12的专栏
12-31 1806
CycloneDDS的发现机制，包括Topic Discovery和Type Discovery
【ROS2】高级:使用 Fast DDS 发现服务器作为发现协议 [社区贡献]
cxyhjl的博客
07-15 1589
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 配置文件详解
anxuecheng0313的专栏
03-25 3163
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[])..
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