详细描述

Transport configuration for the ddsr:// RTI Connext DDS transport.

DdsrConf binds the ddsr:// URL scheme to RTI Connext DDS, the commercial DDS stack widely used in safety-critical avionics, automotive ADAS, and industrial automation deployments where deterministic real-time behaviour and certified tooling are required. The API surface mirrors DdsConf so an application can switch between Fast-DDS and Connext by changing only the URL scheme.

Supported Node Types

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

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

ddsr://<topic>[?domain=<N>&part=<v>&topic=<v>&pub=<v>&sub=<v>&writer=<v>&reader=<v>]

Component	Description
`topic`	RTI Connext topic name (URL host concatenated with path)
`domain`	DDS Domain ID (?domain=); defaults from the `VLINK_DDS_DOMAIN` env var
`depth`	Optional history-depth override; `0` keeps the QoS-selected depth
`qos`	Named QoS profile registered via `register_qos()` (?qos=)
`qos_ext`	Remaining query keys after `domain`, `depth` and `qos` are removed

Backend-Specific Options

Option	Purpose	Default
XML QoS Library/Profile	Per-entity overrides via `qos_ext` keys	none
RPC reply suffix	Auto-derived response topic name	___resp
Domain ID	DomainParticipant Domain joined by readers and writers	0

Example: vlink::Qos qos;

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

vlink::DdsrConf::register_qos("rtps_reliable", qos);

auto pub = vlink::Publisher<MyMsg>::create_unique("ddsr://control/cmd?domain=3&qos=rtps_reliable");

auto sub = vlink::Subscriber<MyMsg>::create_unique("ddsr://control/cmd?domain=3&qos=rtps_reliable");

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_DDSR is defined.; qos and qos_ext are mutually exclusive on the same instance.; RPC reply topics are derived by appending "___resp" to the topic name.