RTI Data Distribution Service
Contents
1. and increases the response time of the internal DDS thread RTI Bug 14053 New Transport Plugin API for C and C The new get_transport_plugin operation retrieves a transport plug in registered in a DomainParticipant by its alias This operation is only available in the C and C APIs New APIs to Get All DataWriters and DataReaders The DDS_Publisher class has a new API to retrieve all the DataWriters for a given Pub lisher get_all_datawriters There is a parallel API for Subscribers to get all DataReaders get_all_datareaders New Architectures This release adds support for the following architectures Linux Cell BE RTI Architecture Operating System CPU Compiler Abbreviation INTEGRITY INTEGRITY 10 0 0 Pentium rene vee pentiumInty10 0 0 pcx86 Fedora 12 2 6 32 kernel with gcc 64 bit Cell gcc 4 5 1 cell64Linux2 6gcc4 5 1 4 5 1 What s New RTI Architecture Operating System CPU Compiler Abbreviation Fedora 12 OOS ee gcc 4 4 4 x64Linux2 6gcc4 4 4 kernel Fedora 12 2 6 32 kernel with gcc x64 gcc 4 5 1 x64Linux2 6gcc4 5 1 4 5 1 gcc 4 4 5 i86Linux2 6gcc4 4 5 Sun Java Linux Intel Pentium Platform oun Standard i86Linux2 6gcc4 4 5jdk Red Hat Enterprise Edition JDK 1 6 Linux 6 0 and 6 1 2 6 kernel gcc 4 4 5 x64Linux2 6gcc4 4 5 Sun Java x64 Platform Standard x64Linux2 6gcc4 4 5jdk Edi2. automatically assign a multicast receive address for a DataReader from an address range by using configurable mapping rules The middleware provides a default hash md5 mapping function or you can specify a custom mapping function In addition the TransportMulticastQosPolicy has a new member kind which can be set so that the multicast address is selected automatically or set to a unicast only mode When using the TransportMulticastMappingQosPolicy this new kind must be set to AUTOMATIC Please refer to the User s Manual or HTML documentation for more details This feature is only available when using the C or C API on a platform that supports multicast on a UDPv4 or UDPvV6 transport 1 Custom mapping function currently not supported on VxWorks or VxWorks MILS platforms What s New 6 Ability to Remove Entries from Peers List The DomainParticipant class has a new API remove_peer As the name suggests it can be used to remove a specific value from the peers list 7 Ability to Configure Reliable Reader s Send Window Size The DataReaderProtocolQosPolicy has a new field rtps_reliable_reader receive_window_size which configures the number of out of order samples that a DataReader can keep A larger send window allows more out of order samples to be kept When the window is full any subsequent out of samples received will be dropped Such drops would necessitate NACK repairs that would degrade throug
3. e dispose_w_params L Changes to QoS policies e The PublishModeQosPolicy has a new member priority e The MultiChannelQosPolicy has a new member priority within the DDS_ChannelSettings_t structure Ll New Value for scheduling_policy in FlowControllerProperty_t e The scheduling policy member in FlowControllerProperty_t can be set to a new value DDS_HPF_FLOW_CONTROLLER_SCHED_POLICY High est Priority First When using this value the FlowController determines the next destination queue to service based on the publication priorities of the DataWriter a channel of a Multi channel DataWriter and the individual sample I New Priority Based Content Filter e There is a new built in content filter named DDS_PRIFILTER_ NAME that can filter on data priority What s New 3 Version Numbers Provided in Header Files The version numbers for the release are now defined in macros in the header file ndds ndds_c h define RTI_DDS_VERSION_MAJOR 4 define RTI_DDS_VERSION_MINOR 5 define RTI_DDS_VERSION_RELEASE e define RTI_DDS_VERSION_REVISION 00 These macros make it easy to write code that depends on the RTI Data Distribution Ser vice version For example include lt ndds ndds_c h gt defines the macros ndds_cpp h does too void MyPublisher 1 if RTI_DDS_VERSION_MAJOR 4 amp amp RTI_DDS_VERSION_MINOR gt 5 RTI DDS VERSION _ MAJOR gt 4 This QoS was introduce
4. Protocol_t e New field virtual_heartbeat_period e New field samples_per_virtual_heartbeat DataReaderResourceLimitsQosPolicy e New field max_remote_virtual_writers e New field max_remote_virtual_writers_per_sample DataWriterResourceLimitsQosPolicy e New field initial_virtual_writers e New field max_virtual_writers DomainParticipantResourceLimitsQosPolicy e New field max_endpoint_groups e New field max_endpoint_group_cumulative_characters L SampleInfo Structure New field original_publication_virtual_guid New field original_publication_virtual_sequence_number LJ Status New reasons in SampleRejectedStatusKind REJECTED_BY_VIRTUAL_WRITERS_LIMIT REJECTED_BY_REMOTE_WRITERS_PER_SAMPLE_LIMIT 2 Prioritized Samples Prioritized Samples This release introduces Prioritized Samples a feature that allows you to prioritize traffic that is in competition for transmission resources The granularity of this prioritization may be by DataWriter by instance or by individual sample This feature also allows you to configure a FlowController for multiple DataWriters or a Multi channel DataWriter so that samples from prioritized writer queues will have pre cedence when transmission resources become available Please refer to the User s Manual or HTML documentation for details on the following related changes Ll New lt type gt DataWriter operations e write_w_params e unregister_instance_w_params
5. RTI Data Distribution Service Core Libraries and Utilities Whats New in Version 4 5e RTO The Global Leader in DDS 2011 Real Time Innovations Inc l All rights reserved Printed in U S A First printing re 2 7 October 2011 Trademarks Real Time Innovations and RTI are registered trademarks of Real Time Innovations Inc All other trademarks used in this document are the property of their respective owners Copy and Use Restrictions No part of this publication may be reproduced stored in a retrieval system or transmitted in any form including electronic mechanical photocopy and facsimile without the prior written permission of Real Time Innovations Inc The software described in this document is furnished under and subject to the RTI software license agreement The software may be used or copied only under the terms of the license agreement Technical Support Real Time Innovations Inc 385 Moffett Park Drive Sunnyvale CA 94089 Phone 408 990 7444 Email support rti com Website https support rti com Contents eo AN DTD oO FPF WO N e N N N N NOR a e a eae RB RB RR e A QU N e O OO NGOA FPF Q N Be O Group Ordered Access an toee aee oaaae EREA EEE NE E Neee E S A e AEE 1 Priotitized Samples annm a e S A E E E AE RE E A heees 3 Version Numbers Provided in Header Files cece ecnseeesceeesesseesesesseeeseneesessenesesaeee 4 UDPv6 Transport Support on Select Platforms ccccccccsesesceesssese
6. T2 2 2 3 2 MILS 2 2 2 VxWorks PPC604 gcc 3 3 2 ppc604Vx gcc3 3 5 5 1 Guest OS 13 What s New
7. Take Instance with ReadCondition cccccceccccceeseceessseseseseessseecssssseeseeass 10 Additional Formatting Technique for Participant IDS 00 0 cceecseeseseseeseseesseeseseeeesesesees 10 Documentation for Reserved KeyWord5 ccccccecssese cesses sssssseesssssssseesesesssssssesesssessseseeees 10 New TCP Transport Property to Limit Blocking Time cesses seeseseesesenseseenees 10 New Transport Plugin API for C and C w ccccccceccesesescsssneneeseseeseescsnesnessseeeseseseecesesssnanenenes 11 New APIs to Get All DataWriters and DataReaders 0 ce isssessesesssseeeeseeeeseeecsesecasecsseesaeseeaes 11 New Architectures sccios wash aredtetaoa Sh eolnatits NE AAE A beeen desis 11 What s New This document highlights new or changed features in RTI Data Distribution Service 4 5e For details on fixed bugs please see the Release Notes For more information visit the RTI Knowledge Base accessible from http www tti com support to see sample code general information on RTI Data Distribution Service performance information troubleshooting tips and technical details By its very nature the knowledge base is continuously evolving and improving We hope that you will find it helpful If there are questions that you would like to see addressed or com ments you would like to share please send e mail to support rti com We can only guarantee a response to customers with a current maintenance contract or subscription You can p
8. d in 4 5 When building against 4 4 or below compilation will still work but this code will be ignored dataWriterQos writer_resource_limits instance_replacement DDS_UNREGISTERED_INSTANCE_ REPLACEMENT endif Common code for all versions dataWriterQos reliability kind DDS_RELIABLE_ RELIABILITY DDS_Publisher_create_datawriter publisher amp dataWriterQos Ly RTI RFE 248 4 UDPv6 Transport Support on Select Platforms UDPv 6 Transport Support on Select Platforms The UDPv 6 transport is now supported on the VxWorks 6 7 6 9 platforms and all Linux and Fedora platforms except those listed below UDPv6 transport is not supported on L Freescale P2020RDB kernel v2 6 32 ppc85xxLinux2 6gcc4 3 2 L Red Hat 8 i86Linux2 4gcc3 2 2 L Red Hat 9 i86Linux2 4gcc3 2 LJ SELinux kernel v2 6 32 ppc4xxFPLinux2 6gcc4 5 1 LI Wind River Linux 3 ppc85xxWRLinux2 6gcc4 3 2 Platforms that do not support UDPv 6 will ignore the configuration Simplified Mapping of Topic Names to Multicast Addresses This release adds support for the new TransportMulticastMappingQosPolicy which simplifies configuration and assignment of DataReaders multicast addresses It specifies the automatic mapping between a list of topic expressions and multicast addresses that can be used by a DataReader to receive data for a specific topic When using this QosPolicy the middleware will
9. g in XML This release adds the ability to configure logging via XML using a new LoggingQosPol icy which is part of DomainParticipantFactoryQos This allows you to specify the log ging verbosity category print format and output file See the User s Manual Sections 8 4 1 and 18 2 2 for more details Support for Non UP Interfaces for UDPv4 Transport This release adds the ability to consider interfaces which were down at the time of par ticipant creation so that whenever those interfaces become available the application will be able to use them In this release this feature is only supported on Windows platforms with statically con figured IP addresses To support this new feature there are two new UDPv4 transport properties ignore_nonup_interfaces and interface_poll_period You can use ignore_nonup_interfaces to allow disallow the use of interfaces that are not reported as UP by the operating system in the UDPv4 transport Please see the RTI Data Distribution Service User s Manual for more information on these new properties Table 13 2 TransportPriority QOS Support for UDPv Added to Linux 2 6 Platforms The TransportPriorityQosPolicy for the UDPv6 transport is now supported on Linux 2 6 platforms in addition to Solaris 2 10 platforms RTI Bug 13872 What s New 17 18 19 20 21 New UDPv4 Transport Property The new UDPv4 Transport property reuse_multicast_receive_resource con
10. hput So in network environ ments where out of order samples are more probable or where NACK repairs are costly this window likely should be increased By default the window is set to 256 which is the maximum number of samples a single NACK submessage can request 8 New RTPS Pure NACK Submessage This release implements a new pure NACK RTPS submessage which enables DataRead ers to request more than 256 samples per repair session 9 Ability to Configure DataReader s Round trip Time The DataReaderProtocolQosPolicy has a new field rtps_reliable_reader round_trip_time which specifies the estimated round trip time for messages between a reliable DataReader and its matching reliable DataWriters This value is used to ensure that no redundant NACKs will be sent within a single round trip time 10 Multicast Heartbeat Improvements 10 11 12 Multicast Heartbeat Improvements Periodic heartbeats can now be sent using the DataReader s multicast destination when available If multicast is not available periodic heartbeats are sent over unicast This also applies to late joiner periodic heartbeats Related New Fields in DDS_RtpsReliableWriterProtocol_t L enable_multicast_periodic_heartbeat This boolean value controls whether or not periodic heartbeat messages are sent over multicast When enabled if a DataReader has a multicast destination the DataWriter will send its periodic HEARTBEAT messages to that desti
11. istered_instance_delay is disabled the delay is INFI NITE If the delay is set to zero the DataWriter will clean up as soon as all the samples are acknowledged after the call to unregister A non zero value can be useful in two ways 1 To keep the historical samples for late joiners for a period of time 2 In the context of discovery if the applications temporarily lose the connection before the unregistration which represents the remote entity destruction to provide the samples that indicate the dispose and unregister actions once the connection is reestablished This option is also available for discovery data through these new fields in the Discov eryConfigQosPolicy I publication_writer_data_lifecycle autopurge_unregistered_instances_delay LI subscription_writer_data_lifecycle autopurge_unregistered_instances_delay Note This feature is not currently supported in the ODBC writer history plug in it works in the default in memory writer history only RTI RFE 358 and 439 Ability to Configure Custom FlowControllers in XML FlowControllers can now be created and configured using the DomainParticipant s Prop erty QoS policy The properties can be specified in an XML profile or programmatically This also enables other RTI products such as RTI Routing Service and RTI Persistence Ser vice to use custom FlowControllers 14 Ability to Configure Logging in XML 14 15 16 Ability to Configure Loggin
12. nation Otherwise if not enabled or the DataReader does not have a multicast destina tion the DataWriter will send its periodic HEARTBEATS over unicast L multicast_resend_threshold Sets the minimum number of requesting DataReaders needed to trigger a multi cast resend Ability to Configure Discovery Plugins in XML This release adds the ability to load and configure Discovery plugins such as RTT Lim ited Bandwidth Plugins using DDS XML QoS profile files similar to how transport plugins are loaded In the previous releases these types of plugins had to be created and attached programatically See the RTI Limited Bandwidth Plugins User s Manual to learn how to configure a DomainParticipant s QoS to load these discovery plugins Cleanup of Discovery and Historical Data A new feature offers a way to clean up local memory and bandwidth usage from retransmissions to late joining DataReaders when an instance is no longer needed This feature is enabled through a new field in the WriterDataLifecycleQosPolicy L autopurge_unregistered_instance_delay What s New 13 When this feature is enabled the middleware will clean up all the resources associated with an unregistered instance most notably the sample history of non volatile DataW riters when all the instance s samples have been acknowledged by all its live DataRead ers including the sample that indicates the unregistration By default autopurge_unreg
13. sescsceeeescseseseecscesseseeeeeseee 5 Simplified Mapping of Topic Names to Multicast Addresses cccccececc eset neseeeseeeeceeeeeeees 5 Ability to Remove Entries from Peers List ccccssssssesssssesescscneseseescsesesesescssssssssecseessnsneseeesenen 6 Ability to Configure Reliable Reader s Send Window Size c ccsesessesescscecesesesssteesesceeeeseseeenes 6 New RIPS Pure NACK Submessage ceneno sien tine niiin i A E E 6 Ability to Configure DataReader s Round trip TimMe ss sesssrisssssertisstssrtsssserttsneentessestesssentes 6 Multicast Heartbeat IMprovement cccccccsssesecscseseeccscssseseececscssseececsssssnesececeseneseseseseeesesesesees 7 Ability to Configure Discovery Plugins in XML cccccccsesseesesteneseeceesesesesnseseseecenesesssnanenenens 7 Cleanup of Discovery and Historical Data cccccsesseseseststesescecesescsesnesneseseeceeseeesceeneseseenenenes 7 Ability to Configure Custom FlowControllers in XML u cccecscsessesecsessseseseseeneeseseseneeseeeee 8 Ability to Configure Logging in XML uu cece ceeseececeseesesnececsssssnesscecessneseseseseeeseseseeees 9 Support for Non UP Interfaces for UDPV4 Transpott cscccscccesesessetescenesescseenenesesceeeseseseenaenes 9 TransportPriority QoS Support for UDPv6 Added to Linux 2 6 Platforms c cee 9 New UDPv4 Transport Property c cccccccceseceseesesescsssesesescecessesescececesessescesesseseeceanssesenesenasenesees 10 New APIs to Read
14. tion JDK 1 6 Freescale Freescale P2020RDB 2 6 32 PPC 85xx gcc 4 3 74 based ppc85xxLinux2 6gcc4 3 2 Li kernel on gcc 4 3 2 inux RPOWweREC SEL 2682 ape ae bend G4 ppc4xxFPLinux2 6gcc4 5 1 kernel Wind River Linux 3 PPC 85xx gcc 4 3 2 ppc85xxWRLinux2 6gcc4 3 2 qcc 4 3 3 with a Neutrino pentium GNU C i86QNX6 4 1gcc_gpp ie libraries QNX qcc 4 4 2 with QNX Neutrino 6 5 Pentium GNU C i86QNX6 5qcec_gpp4 4 2 libraries 24 New Architectures A RTI Architecture Operating System CPU Compiler Abbreviation For Kernel Modules i pentiumVx6 8gcc4 1 2 Pentium gce 4 1 2 i For Real Time Processes pentiumVx6 8gcc4 1 2_rtp VxWorks 6 8 Any Wind For Kernel Modules River PPC32 ppc604Vx6 8gcc4 1 2 CPU with gcc 4 1 2 For Real Time Processes floating point on anon SMP system hardware ppc604Vx6 8gcc4 1 2_rtp For Kernel Modules entiumVx6 9 cc4 3 3 VxWorks Pentium32 bit gcc 4 3 3 P For Real Time Processes pentiumVx6 9 cc4 3 3_rtp For Kernel Modules Ey En a5 pentium64Vx6 9 cc4 3 3 VxWorks 6 9 Peony Ce Si Al BES For Real Time Processes pentium64Vx6 9gcc4 3 3_rtp Any Wind For Kernel Modules Biers PEG32 ppc604Vx6 9gcc4 3 3 CPU with gcc 4 3 3 floating point For Real Time Processes hardwat ppc604Vx6 9gcc4 3 3_rtp sbc8641d cc 3 32 sbc8641Vx653 2 3gcc3 3 2 VxWorks VxWorks 653 2 3 a z 653 SIMPC gcc 3 32 simpcVx653 2 3gcc3 3 2 VxWorks MILS VxWorks 2 1 1 with vThreads 3
15. trols whether or not to reuse receive resources Setting this to 0 FALSE prevents multicast crosstalk by uniquely configuring a port and creating a receive thread for each multicast group address This property affects Linux systems only New APIs to Read Take Instance with ReadCondition Two new APIs are available to read or take instances read_instance_w_condition and take_instance_w_condition They are similar to read_instance and take_instance but all returned samples belong to the single specified instance and satisfy a specified ReadCondition For details see the online documentation or Section 7 4 3 7 in the User s Manual See the updated Platform Notes document for more information Additional Formatting Technique for Participant IDs When formatting a peer descriptor you can now use brackets around the participant ID to indicate that you only want to use a specific integer such as 6 or range of integers such as 4 7 Documentation for Reserved KeyWords The User s Manual Section 3 3 now includes a list of reserved IDL keywords New TCP Transport Property to Limit Blocking Time A new TCP transport property send_max_wait_sec controls the maximum time in seconds the low level sendto function is allowed to block the caller thread when the 22 New Transport Plugin API for C and C 22 23 24 TCP send buffer becomes full Limiting this delay eliminates the possibility of deadlock
16. urchase a maintenance contract or subscription by contacting your local RTI representative see http www rti com company contact html sending an e mail request to sales rti com or calling 1 408 990 7400 1 Group Ordered Access This release introduces support for group ordered access With this feature RTI Data Distribution Service supports the delivery of data samples in the same order in which they were published by different DataWriters belonging to the same Publisher To request this behavior the PresentationQosPolicy on both the Publisher and Subscriber must be set such that access_scope GROUP_PRESENTATION_QOS and ordered_access true Please refer to the User s Manual or HTML documentation for details on the following related changes LJ APIs e The Subscriber s begin_access and end_access operations are now sup ported What s New e The Subscriber s get_datareaders operation now returns a list of DataReaders that indicates the order in which the application must read or take samples to get the samples in order LJ DataReaderQoS e New field availability e New field subscription_name LJ DataWriterQoS e New field publication_name LJ QoS Policies AvailabilityQosPolicy New policy applies to DataReaders EntityNameQosPolicy e New field role_name PresentationQosPolicy e New PresentationAccessScopeKind HIGHEST_OFFERED_PRESENTATION_QOS DataWriterProtocolQosPolicy s RtpsReliableWriter
Download Pdf Manuals
Related Search