详细描述

Transport configuration for the ddsc:// CycloneDDS transport.

DdscConf binds the ddsc:// URL scheme to Eclipse CycloneDDS, the lightweight, production-grade open-source DDS implementation from the Eclipse Foundation. The backend is fully cross-machine: writers and readers participate in a standards- compliant RTPS Domain and discover each other automatically over UDP multicast (or via a configured discovery server). Use it whenever a DDS deployment is required and a small footprint is preferred over the broader Fast-DDS feature set.

Supported Node Types

Publisher	Subscriber	Server	Client	Getter	Setter
yes	yes	yes	yes	yes	yes

URL Format: ddsc://<topic>[?domain=<N>&depth=<N>&qos=<profile>]

Component	Description
`topic`	CycloneDDS topic name, assembled from the URL host plus path
`domain`	DDS Domain ID (?domain=); falls back to the `VLINK_DDS_DOMAIN` env var
`depth`	Optional history-depth override; `0` keeps the depth of the selected QoS
`qos`	Named QoS profile previously registered via `register_qos()`

Backend-Specific Options

Option	Purpose	Default
Domain ID	Isolates discovery traffic between deployments	0
History depth	Per-instance KeepLast retention	from QoS
Response topic suffix	Auto-derived RPC reply topic name	___resp

Example: vlink::Qos qos;

qos.reliability.kind = vlink::Qos::Reliability::kReliable;

vlink::DdscConf::register_qos("reliable_profile", qos);

auto pub = vlink::Publisher<MyMsg>::create_unique("ddsc://sensors/lidar?domain=7&qos=reliable_profile");

auto sub = vlink::Subscriber<MyMsg>::create_unique("ddsc://sensors/lidar?domain=7&qos=reliable_profile");

vlink::Publisher::create_unique
static UniquePtr create_unique(const std::string &url_str, InitType type=InitType::kWithInit)
Heap-allocates a Publisher and wraps it in a std::unique_ptr.
Definition: publisher-inl.h:39

vlink::Subscriber::create_unique
static UniquePtr create_unique(const std::string &url_str, InitType type=InitType::kWithInit)
Heap-allocates a Subscriber and wraps it in a std::unique_ptr.
Definition: subscriber-inl.h:39

vlink::Qos::Reliability::kind
Kind kind
Delivery guarantee kind.
Definition: qos.h:102

vlink::Qos::Reliability::kReliable
@ kReliable
Retransmit until acknowledged.
Definition: qos.h:99

vlink::Qos
Aggregate Quality of Service policy for a VLink communication endpoint.
Definition: qos.h:86

vlink::Qos::reliability
Reliability reliability
Delivery guarantee policy.
Definition: qos.h:306

注解: Compiled only when VLINK_SUPPORT_DDSC is defined at build time.; Unlike DdsConf, no external XML profile loading or register_topic() helper is exposed.