RTI Connext DDS平台技术指南

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"RTI DDS 平台使用说明文档" 本文档是关于RTI Connext DDS平台的使用指南，适用于版本5.1.0。RTI Connext DDS是一个数据分布服务（DDS）实现，由Real-Time Innovations（RTI）公司提供，它是一个面向实时和分布式系统的数据通信框架。DDS是一种标准，用于在松散耦合的组件之间高效地传输数据，尤其适合于高性能、高可靠性的应用场景，如航空航天、医疗设备、自动化和物联网等领域。在RTI Connext DDS中，Core Libraries and Utilities是其核心组成部分，提供了基本的数据发布与订阅功能以及一系列辅助工具。此文档旨在帮助用户理解和配置RTI Connext DDS在不同操作系统平台上的应用，确保软件的正确运行和最佳性能。文档首先列出了支持的操作系统平台，包括但不限于AIX、Linux、Windows、VxWorks等。对于AIX平台，文档详细阐述了该平台的特定支持特性，例如： 1. **Multicast Support**: 多播支持是DDS通信中的重要部分，允许数据通过网络一次广播给多个接收者。在AIX平台上，文档会详细解释如何配置多播以优化网络通信效率和减少网络拥堵。 2. **Supported Transports**: RTI Connext DDS支持多种传输协议，如TCP/IP、UDP/IP和Shared Memory等。在AIX平台的章节中，文档会列出具体支持哪些传输方式，并指导用户如何根据应用需求选择合适的传输协议。此外，文档还涵盖了如何安装、配置、调试和优化RTI Connext DDS在各个平台上的使用，以及如何处理可能出现的技术问题。用户可以获取RTI的技术支持，包括电话、电子邮件和在线支持，以解决在使用过程中遇到的问题。 RTI Connext DDS的软件许可协议也在此文档中提及，强调未经许可，不得复制或以任何形式传播该文档或软件。用户需遵循RTI提供的软件许可证协议条款来使用或复制软件。 RTI Connext DDS平台使用说明文档是一份详尽的指南，旨在帮助开发人员和系统集成者充分利用DDS技术，实现高效、可靠的实时数据交换。通过深入理解并遵循文档中的指导，用户能够更好地在不同平台上部署和管理RTI Connext DDS系统。

INTEGRITY Platforms

Ta b l e 3. 3 Building Instructions for INTEGRITY Architectures

API

Library

Format

Required RTI Libraries

Required

System Libraries

Required

Compiler Flags

C++

Static Release

libnddscppz.a

libnddscz.a

libnddscorez.a

For Connext Messaging, also include:

librticonnextmsgcppz.a

libsocket.a

libnet.a

libposix.a

RTI_INTY

--exceptions

Static Debug

libnddscppzd.a

libnddsczd.a

libnddscorezd.a

(libnddscppzd.dba)

(libnddsczd.dba)

(libnddscorezd.dba)

For Connext Messaging, also include:

librticonnextmsgcppzd.a

Static Release

libnddscz.a

libnddscorez.a

For Connext Messaging, also include:

librticonnextmsgcz.a

Static Debug

libnddsczd.a

libnddscorezd.a

(libnddsczd.dba)

(libnddscorezd.dba)

For Connext Messaging, also include:

librticonnextmsgczd.a

a. The Connext C/C++ libraries are located in $(NDDSHOME)/lib/<architecture>/.

(where $(NDDSHOME) is where Connext is installed, such as /local/rti/ndds.5.x.y)

b. Transports (other than the default IP transport) such as StarFabric may require linking in additional libraries. For fur-

ther details, see the online documentation or contact support@rti.com.

c. The *.dba files contain the debugging information. You can link without these, as long as they are located in the same

directory as the matching *d.a file (so that the MULTI

IDE can find the debug information).

Ta b l e 3. 4

Library-Creation Details for INTEGRITY Architectures

RTI Architecture

Library

Format

Compiler Flags Used by RTI

p4080Integrity10.0.2.xes-

p4080-smp

Static

Release

-bsp=xes-p4080-smp -prefixed_msgs

--unknown_pragma_silent --link_once_templates

-fexceptions -O -DPtrIntType=long

-DCSREAL_IS_FLOAT -DCPU=p4080 -DNDEBUG

Static

Debug

-bsp=xes-p4080-smp -prefixed_msgs

--unknown_pragma_silent --link_once_templates

-fexceptions -G -DPtrIntType=long

-DCSREAL_IS_FLOAT -DCPU=p4080

pentiumInty10.0.2.pcx86

Static

Release

-bspname=pcx86 -prefixed_msgs --unknown_pragma_silent -G

-DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=

-DTARGET=\"pentiumInty10.0.2.pcx86\" -DNDEBUG -c

Static

Debug

-bspname=pcx86 -prefixed_msgs --unknown_pragma_silent -G

-DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=

-DTARGET=\"pentiumInty10.0.2.pcx86\" -c

INTEGRITY Platforms

3.3 Diagnostics on INTEGRITY Systems

Connext libraries for the INTEGRITY platforms use consolestring(), which prints debugging

information to the serial console when available. Using the serial console as opposed to the tar-

get I/O window (host I/O) is generally recommended. Host I/O will affect the real-time perfor-

mance of the target. For more information on consolestring(), please refer to the INTEGRITY

Development Guide.

3.4 Running over IP Backplane on a Dy4 Champ-AVII Board

Connext can run on all four CPUs, provided the following hold true:

❏ Connext applications on CPUs B, C and D only exchange data with applications on a dif-

ferent CPU or off-board.

❏ The IP backplane and associated routing has been properly configured. Connext has been

tested with the following libraries built into the INTEGRITY kernel: debug, res, load,

socket, itcpip, lbp, queue, ifbp, idb, bsl.

3.5 Multi-NIC Support on INTEGRITY 5.0

Due to limitations with the API of the InterPeak stack for INTEGRITY 5.0, Connext only supports

a single NIC when the InterPeak stack is used. This NIC must be called “eth0”. By default on an

INTEGRITY system, this will correspond to the first network card, which can be changed by

reconfiguring the kernel. This limitation does not affect the InterNiche stack.

3.6 Multicast Support

Multicast is supported on all INTEGRITY 5.0 and 10.0 platforms.

3.7 Supported Transports

Shared memory: Supported, enabled by default. To clean up shared memory resources, reboot

the kernel.

UDPv4: Supported, enabled by default.

UDPv6: Not supported.

TCP/IPv4: Not supported.

3.8 Out-of-the-box Transport Compatibility with Other Connext Platforms

Due to some default kernel parameters on INTEGRITY platforms, the default value for

message_size_max for the UDPv4 transport, and the default values for message_size_max,

received_message_count_max, and recv_buffer_size for the shared-memory transport, are dif-

ferent than those for other platforms. This will cause out-of-the-box compatibility issues that

may result in lack of communication. For more information on transport incompatibility, see

Section 2.5, Transport Compatibility, in the RTI Core Libraries and Utilities Release Notes. The mis-

ppc85xxInty5.0.11.xes-p2020

Static

Release

-bspname=xes-p2020 -prefixed_msgs --unknown_pragma_silent

-G -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=

-DTARGET=\"ppc85xxInty5.0.11.xes-p2020\" -DNDEBUG -c

Static

Debug

-bspname=xes-p2020 -prefixed_msgs --unknown_pragma_silent

-G -DPtrIntType=long -DCSREAL_IS_FLOAT -DCPU=

-DTARGET=\"ppc85xxInty5.0.11.xes-p2020\" -c

Ta b l e 3. 4 Library-Creation Details for INTEGRITY Architectures

RTI Architecture

Library

Format

Compiler Flags Used by RTI

INTEGRITY Platforms

match in transport configuration between INTEGRITY and other platforms applies to Connext

5.1.0 and higher.

To address the compatibility issues, you can change the default transport settings of other plat-

forms to match those of the INTEGRITY platform. Alternatively, you can update the INTEG-

RITY kernel parameters as described below so that the INTEGRITY platform will support larger

transport settings.

The directive, GM_IP_FRAG_ENTRY_MAX_SIZE, limits the size of UDP packets that can be

sent and received by INTEGRITY platforms. For details on this directive, please see Section 5.4.2

in the networking.pdf manual provided with the INTEGRITY kernel. The default value of

GM_IP_FRAG_ENTRY_MAX_SIZE is 9216 bytes (not 16,000 bytes as is stated in the INTEG-

RITY documentation), which is why the default message_size_max for all transports supported

for INTEGRITY is 9216 bytes.

If you want to send UDP messages larger than 9k, you must increase the value of

GM_IP_FRAG_ENTRY_MAX_SIZE and rebuild the kernel. (You may also have to reconfigure

other kernel parameters such as the socket, stack, and heap sizes to accommodate the larger

value for GM_IP_FRAG_ENTRY_MAX_SIZE.) Failing to increase this value will cause failures

when sending large UDP packets, and in some cases (for example with the 5.0.11 kernel) the

sendto() call will fail silently.

3.8.1 Smaller Shared-Memory Receive-Resource Queue Size

INTEGRITY's shared-memory pluggable transport uses the shared-memory POSIX API. This

API is part of the standard INTEGRITY distribution and is shipped as a library. The current ver-

sion (5.0.4) of this library uses a hard-coded value for the total amount of memory that can be

shared with an address space. This limits the overall buffer space that can be used by the

DomainParticipants within the same address space to communicate over shared memory with

other DomainParticipants.

To allow more DomainParticipants to run within the same address space, we reduced the default

size of the queue for each receive resource of the shared memory transport. The queue size is

reduced to eight messages (the default for other platforms is 32). This change only applies to

INTEGRITY architectures and this default value can be overwritten through the shared memory

transport QoS.

3.8.2 Using Shared Memory on INTEGRITY Systems

Connext uses the single address-space POSIX library to implement the shared-memory transport

on INTEGRITY 10.0 operating systems.

To use shared-memory, you must configure your system to include the POSIX shared-memory

library. The posix_shm_manager must be running in an "AddressSpace" solely dedicated to it.

After building any Connext application that uses shared memory, you must use the intex utility

(provided with the INTEGRITY development environment) to pack the application with multi-

ple address-spaces: one (or more) to contain the Connext application(s), and another one to con-

tain the posix_shm_manager.

Connext will run on a target without the posix_shm_manager, but the POSIX functions will fail

and return ENOSYS, and the participants will fail to communicate through shared memory.

To include the POSIX Shared-Memory Manager in its own Address Space:

The project files generated by rtiddsgen for MULTI will create the shared-memory manager for

you. Please follow these steps:

1. Specify the path to your INTEGRITY distribution in the _default.gpj top-level project file

by adding the following line (modify it according to the path to your INTEGRITY distri-

bution):

INTEGRITY Platforms

-os_dir=/local/applications/integrity/integrity-10.0.2

2. Build the project.

3. Before running your Connext application on a target, download the posix_shm_manager

file (generated by the build) onto the target.

The POSIX Shared Memory Manager will start automatically after the download and your

applications will be able to use shared memory.

Notes:

❏ Only one posix_shm_manager is needed on a particular target. INTEGRITY offers the

option of building this posix_shm_manager inside the kernel. Please refer to the INTEG-

RITY documentation.

❏ If you are already using shared memory through the POSIX library, there may be a possi-

ble conflict.

❏ INTEGRITY 5 has two different types of POSIX library: a single-address space one (or

'light') and another one (complete POSIX implementation). Connext uses the first one, but

will work if you are using the complete POSIX implementation.

3.8.3 Shared Memory Limitations on INTEGRITY Systems

If several applications are running on the same INTEGRITY node and are using shared memory,

once an application is stopped, it cannot be restarted. When the application is stopped (grace-

fully or ungracefully), any new application on the same domain index within the same domain

will fail to start until the shared memory manager is also restarted.

Additionally, if the application is stopped ungracefully, the remaining applications will print

several error messages such as the following until Connext purges the stopped application from

its database:

Resource Manager send error = 0x9

This error message is logged from INTEGRITY’s POSIX shared memory manager, not from Con-

next. The error message is benign and will not prevent the remaining applications from commu-

nicating with each other or with application on other nodes.

The workaround is to either restart the stopped application with a different participant index or

shut down all the other applications and the shared memory manager, then restart everything.

3.9 Using rtiddsping and rtiddsspy on PowerPC INTEGRITY Systems

While the RTI libraries for INTEGRITY can be used with any BSP, providing the PowerPC pro-

cessor falls under the same category (for example, the ppc7400... RTI libraries can be used on

any target with a PPC74xx processor), rtiddsping and rtiddsspy are provided as executables, and

therefore are BSP-dependent. You will not be able to run them successfully on your target if it is

not compatible with the BSP listed in the architecture name (such as mvme5100-7400). Please

refer to your hardware documentation for peripheral compatibility across BSPs.

3.10 Monotonic Clock Support

The monotonic clock (described in Section 8.6 in the RTI Core Libraries and Utilities User’s Manual)

is not supported.

3.11 Thread Configuration

Table 3.5 lists the thread settings for INTEGRITY platforms.

Table 3.6 and Table 3.7 list the thread-priority definitions. Table 3.6 applies to all INTEGRITY

platforms except INTEGRITY 10.02. Table 3.7 applies to INTEGRITY 10.02 only.

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