ddst_conf.h 文件参考

Transport configuration for the ddst:// TravoDDS transport. 更多...

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详细描述

Transport configuration for the ddst:// TravoDDS transport.

DdstConf binds the ddst:// URL scheme to TravoDDS, a domestic open-source DDS implementation hosted at https://gitee.com/agiros/travodds. The API surface mirrors DdsConf so callers may swap between Fast-DDS, RTI Connext, and TravoDDS by changing only the URL scheme; choose ddst:// when locality of supply chain or specific TravoDDS extensions are required.

Supported Node Types

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

URL Format

ddst://<topic>[?domain=<N>&depth=<N>&qos=<profile>]
ddst://<topic>[?domain=<N>&part=<v>&topic=<v>&pub=<v>&sub=<v>&writer=<v>&reader=<v>]

Component	Description
topic	TravoDDS 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 profile file	Loaded via load_global_qos_file()	none
Discovered topics query	Snapshot from get_discovered_topics()	n/a
RPC reply suffix	Auto-derived response topic name	___resp

Example

vlink::DdstConf::load_global_qos_file("/etc/vlink/ddst_profile.xml");
 
vlink::Qos qos;
qos.reliability.kind = vlink::Qos::Reliability::kReliable;
vlink::DdstConf::register_qos("reliable", qos);
 
auto pub = vlink::Publisher<MyMsg>::create_unique("ddst://telemetry/imu?domain=1&qos=reliable");

注解

Compiled only when VLINK_SUPPORT_DDST is defined.

qos and qos_ext are mutually exclusive; setting both forces is_valid() to false.

RPC reply topics are derived by appending "___resp" to the topic name.