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RTI Data Distribution Service
The Real-Time Publish-Subscribe Middleware
User’s Manual
Version 4.5c
© 2004-2010 Real-Time Innovations, Inc.
All rights reserved.
Printed in U.S.A. First printing.
June 2010.
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.
Third-Party Copyright Notices
Note: In this section, "the Software" refers to third-party software, portions of which are used in RTI Data
Distribution Service; "the Software" does not refer to RTI Data Distribution Service.
• This product implements the DCPS layer of the Data Distribution Service (DDS) specification version 1.2
and the DDS Interoperability Wire Protocol specification version 2.1, both of which are owned by the
Object Management, Inc.
Copyright 1997-2007 Object Management Group, Inc. The publication of these
specifications can be found at the Catalog of OMG Data Distribution Service (DDS) Specifications. This
documentation uses material from the OMG specification for the Data Distribution Service, section 7.
Reprinted with permission. Object Management, Inc. © OMG. 2005.
• Portions of this product were developed using ANTLR (www.ANTLR.org). This product includes
software developed by the University of California, Berkeley and its contributors.
• Portions of this product were developed using AspectJ, which is distributed per the CPL license. AspectJ
source code may be obtained from Eclipse. This product includes software developed by the University
of California, Berkeley and its contributors.
• Portions of this product were developed using MD5 from Aladdin Enterprises.
• Portions of this product include software derived from Fnmatch, (c) 1989, 1993, 1994 The Regents of the
University of California. All rights reserved. The Regents and contributors provide this software "as is"
without warranty.
• Portions of this product were developed using EXPAT from Thai Open Source Software Center Ltd and
Clark Cooper Copyright (c) 1998, 1999, 2000 Thai Open Source Software Center Ltd and Clark Cooper
Copyright (c) 2001, 2002 Expat maintainers. Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation files (the "Software"), to deal in the
Software without restriction, including without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions: The above copyright notice and this permission
notice shall be included in all copies or substantial portions of the Software.
Technical Support
Real-Time Innovations, Inc.
385 Moffett Park Drive
Sunnyvale, CA 94089
Phone: (408) 990-7444
Email: support@rti.com
Website: https://www.rti.com/support
Available Documentation
To get you up and running as quickly as possible, we have divided the RTI® Data Distri-
bution Service documentation into several parts.
❏ Getting Started Guide (RTI_DDS_GettingStarted.pdf)—This document describes
how to install RTI Data Distribution Service. It also lays out the core value and
concepts behind the product and takes you step-by-step through the creation of a
simple example application. Developers should read this document first.
❏ If you are using RTI Data Distribution Service on an embedded platform or
with a database, you will find additional documents that specifically address
these configurations:
• Addendum for Embedded Systems
(RTI_DDS_GettingStarted_EmbeddedSystemsAddendum.pdf)
• Addendum for Database Setup
(RTI_DDS_GettingStarted_DatabaseAddendum.pdf).
❏ What’s New (RTI_DDS_WhatsNew.pdf)—This document describes changes and
enhancements in the current version of RTI Data Distribution Service. Those
upgrading from a previous version should read this document first.
❏ Release Notes and Platform Notes (RTI_DDS_ReleaseNotes.pdf and
RTI_DDS_PlatformNotes.pdf)—These documents provide system requirements,
compatibility, and other platform-specific information about the product, includ-
ing specific information required to build your applications using RTI, such as
compiler flags and libraries.
❏ User’s Manual (RTI_DDS_UsersManual.pdf)—This document describes the fea-
tures of the product and how to use them. It is organized around the structure of
the DDS APIs and certain common high-level tasks.
❏ API Documentation (ReadMe.html, RTI_DDS_ApiReference<Language>.pdf)—
This extensively cross-referenced documentation, available both in HTML and
printable PDF formats, is your in-depth reference to every operation and config-
uration parameter in the middleware. Even experienced RTI Data Distribution
Service developers will often consult this information.
The Programming How To's (available from the main page) provide example
code. These are hyperlinked code snippets to the full API documentation, and
provide a good place to begin learning the APIs. Start by reviewing the Publi-
cation Example and Subscription Example, which provide step-by step exam-
ples of how to send and receive data with RTI Data Distribution Service.
Many readers will also want to look at additional documentation available online. In
particular, RTI recommends the following:
❏ RTI Public Knowledge Base—Accessible from http://www.rti.com/support.
The Knowledge Base provides sample code, general information on RTI Data
Distribution Service, performance information, troubleshooting tips, and other
technical details.
❏ RTI Customer Portal—Accessible from http://www.rti.com/support. The por-
tal provides a superset of the solutions available in the RTI Knowledge Base.
Select the Find Solution link to see sample code, general information on RTI
Data Distribution Service, performance information, troubleshooting tips, and
other technical details. You must have a user name and password to access the
portal; these are included in the letter confirming your purchase. If you do not
have this letter, please contact license@rti.com.
❏ RTI Example Performance Test—This example application includes code and
configuration files for testing and optimizing the performance of a simple RTI
Data Distribution Service application on your system. The program will test both
throughput and latency under a wide variety of middleware configurations. It
also includes documentation on tuning the middleware and the underlying
operating system.
You can download the test from the RTI Knowledge Base, accessible from http:/
/www.rti.com/support. In the Performance category, look for Example Perfor-
mance Test for RTI Data Distribution Service.
You can also review the data from several performance benchmarks here: http:/
/www.rti.com/products/dds/benchmarks-cpp-linux.html.
❏ Whitepapers and other articles—These documents are available from http://
www.rti.com/resources/.
v
Contents
Available Documentation .........................................................iii
Welcome to RTI Data Distribution Service.................................... xxi
Conventions .................................................................................................................................xxi
Extensions to the DDS Standard..................................................................................xxi
Environment Variables.................................................................................................xxii
Names of Supported Platforms ..................................................................................xxii
Additional Resources.................................................................................................................xxii
Part 1: Introduction
1Overview............................................................................................1-1
1.1 What is RTI Data Distribution Service? ................................................................................1-1
1.2 What is Middleware?...............................................................................................................1-2
1.3 Network Communications Models .......................................................................................1-3
1.4 Features of RTI Data Distribution Service ............................................................................1-5
2 Data-Centric Publish-Subscribe Communications................2-1
2.1 What is DCPS?..........................................................................................................................2-1
2.1.1 DCPS for Real-Time Requirements ..........................................................................2-2
2.2 Data Types, Topics, Keys, Instances, and Samples..............................................................2-4
2.2.1 Data Topics — What is the Data Called?.................................................................2-4
2.2.2 Samples, Instances, and Keys ...................................................................................2-5
2.3 DataWriters/Publishers and DataReaders/Subscribers ....................................................2-7
2.4 Domains and DomainParticipants ......................................................................................2-10
2.5 Quality of Service (QoS)........................................................................................................2-11
2.5.1 Controlling Behavior with Quality of Service (QoS) Policies.............................2-11
2.6 Application Discovery...........................................................................................................2-13
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