{"id":6716,"date":"2022-08-18T22:01:22","date_gmt":"2022-08-18T14:01:22","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=6716"},"modified":"2023-05-10T17:53:14","modified_gmt":"2023-05-10T09:53:14","slug":"dds%e6%a6%82%e8%bf%b0","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=6716","title":{"rendered":"\u5206\u5e03\u5f0f\u5b9e\u65f6\u901a\u4fe1\u2014DDS\u6982\u8ff0"},"content":{"rendered":"<p>DDS\u6700\u65e9\u5e94\u7528\u5728\u7f8e\u56fd\u6d77\u519b\u7cfb\u7edf\uff0c\u76ee\u524d\u5df2\u5e7f\u6cdb\u5e94\u7528\u4e8e\u519b\u5de5\u3001\u673a\u5668\u4eba\u3001\u81ea\u52a8\u9a7e\u9a76\u7b49\u9886\u57df\uff0c\u56fd\u9645\u4e3b\u6d41\u519b\u5de5\u5382\u5546\u3001ROS2\u64cd\u4f5c\u7cfb\u7edf\u7b49\u5747\u5c06DDS\u4f5c\u4e3a\u5176\u63a7\u5236\u7cfb\u7edf\u7684\u6838\u5fc3\u4e2d\u95f4\u4ef6\uff0c\u4e3a\u5404\u7c7b\u6218\u8230\u3001\u673a\u5668\u4eba\u7b49\u63d0\u4f9b\u53ef\u9760\u3001\u9ad8\u5b9e\u65f6\u7684\u5206\u5e03\u5f0f\u901a\u4fe1\u529f\u80fd\u3002\u4eca\u5929\u5c31\u5e26\u5927\u5bb6\u4e00\u8d77\u4e86\u89e3\u4e00\u4e0b\u3002<\/p>\n<h1>\u4e00\u3001\u6982\u8ff0<\/h1>\n<p>DDS\uff08Data Distribution Service\uff09\uff0c\u5373\u6570\u636e\u5206\u53d1\u670d\u52a1\uff0c\u662fOMG\uff08Object Management Group\uff09\u5bf9\u8c61\u7ba1\u7406\u7ec4\u7ec7\u53d1\u5e03\u7684\u5206\u5e03\u5f0f\u901a\u4fe1\u89c4\u8303\uff0c\u91c7\u7528\u8ba2\u9605\u53d1\u5e03\u6a21\u578b\uff0c\u4ee5\u4e2d\u95f4\u4ef6\u7684\u5f62\u5f0f\u63d0\u4f9b\u901a\u4fe1\u670d\u52a1\uff0c\u5e76\u63d0\u4f9bQoS\uff08Quality of Service\uff09\u7b56\u7565\uff0c\u4fdd\u969c\u6570\u636e\u5b9e\u65f6\u3001\u9ad8\u6548\u3001\u7075\u6d3b\u7684\u5206\u53d1\u3002<\/p>\n<h3>1.\u534f\u8bae\u7ec4\u6210<\/h3>\n<p>DDS\u5728\u7f51\u7edc\u6808\u4e2d\u5904\u4e8e\u4f20\u8f93\u5c42\u7684\u4e0a\u9762\uff0c\u4ee5TCP\/UDP\u4e3a\u57fa\u7840\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-tcp.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6730\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-tcp-1024x493.png\" alt=\"\" width=\"625\" height=\"301\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-tcp-1024x493.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-tcp-300x145.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-tcp-768x370.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-tcp-1536x740.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-tcp-624x301.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-tcp.png 1800w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>DDS\u7684\u76f8\u5173\u6807\u51c6\u5305\u62ec\u6838\u5fc3\u534f\u8bae(DDSI-RTPS\uff0cDDS-XTypes\uff0cDDS-Security\uff0cInterface Definition Language (IDL)\u2026)\uff0cAPI(DDS C++ API\uff0cDDS Java API)\uff0c\u62d3\u5c55\u534f\u8bae(DDS-RPC\uff0cDDS-XML\u2026)\u7b4913\u4efd\u534f\u8bae\u96c6\u5408\u3002\u5728\u5206\u5e03\u5f0f\u7cfb\u7edf\u4e2d\uff0cDDS\u4f4d\u4e8e\u64cd\u4f5c\u7cfb\u7edf\u548c\u5e94\u7528\u7a0b\u5e8f\u4e4b\u95f4\uff0c\u652f\u6301\u591a\u79cd\u7f16\u7a0b\u8bed\u8a00\u4ee5\u53ca\u591a\u79cd\u5e95\u5c42\u534f\u8bae\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds.jpg\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6726\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds.jpg\" alt=\"\" width=\"754\" height=\"648\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds.jpg 754w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-300x258.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-624x536.jpg 624w\" sizes=\"(max-width: 754px) 100vw, 754px\" \/><\/a><\/p>\n<h3>2.\u901a\u4fe1\u6a21\u578b<\/h3>\n<p>DDS\u91c7\u7528\u4ee5\u6570\u636e\u4e3a\u4e2d\u5fc3\u7684\u53d1\u5e03-\u8ba2\u9605\u6a21\u578bDCPS\uff08Data-Centric Publish-Subscribe\uff09\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-pub-sub.jpg\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6728\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-pub-sub-1024x300.jpg\" alt=\"\" width=\"625\" height=\"183\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-pub-sub-1024x300.jpg 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-pub-sub-300x88.jpg 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-pub-sub-768x225.jpg 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-pub-sub-624x183.jpg 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-pub-sub.jpg 1080w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u4e0e\u5e38\u89c1\u6570\u636e\u901a\u4fe1\u65b9\u5f0f\u7684\u5bf9\u6bd4\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/4g-dcps.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6729\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/4g-dcps-1024x548.png\" alt=\"\" width=\"625\" height=\"334\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/4g-dcps-1024x548.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/4g-dcps-300x161.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/4g-dcps-768x411.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/4g-dcps-1536x823.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/4g-dcps-624x334.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/4g-dcps.png 1774w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<ul>\n<li>Client-Server\uff1a\u6bd4\u8f83\u5e38\u89c1\u7684TCP\u3001WS\u3001REST\u7b49\u5747\u4e3a\u8fd9\u79cd\u8bf7\u6c42\u54cd\u5e94\u6a21\u5f0f\uff1b<\/li>\n<li>Broker\uff1a\u6d88\u606f\u961f\u5217\uff0c\u6d88\u606f\u7684\u751f\u4ea7\u548c\u6d88\u8d39\u7edf\u4e00\u8fde\u63a5\u5230broker\uff0c\u5e38\u89c1\u7684MQTT\u3001Kafka\u6d88\u606f\u961f\u5217\u5747\u5c5e\u4e8e\u8fd9\u79cd\u6a21\u5f0f\uff1b<\/li>\n<li>\u5e7f\u64ad\uff1a\u6bcf\u4e2a\u4eba\u90fd\u53ef\u4ee5\u5728\u901a\u9053\u4e0a\u5e7f\u64ad\u548c\u63a5\u53d7\u6d88\u606f\uff0c\u901a\u4fe1\u53cc\u65b9\u6ca1\u6709\u76f4\u63a5\u8fde\u63a5\uff0c\u800c\u662f\u7edf\u4e00\u63a5\u5230bus\u603b\u7ebf\u4e0a\u6536\u53d1\uff0c\u6709\u70b9\u50cf\u4e70\u5356\u53cc\u65b9\u90fd\u8981\u5230\u8df3\u86a4\u5e02\u573a\u4e00\u6837\u7a0d\u5fae\u6709\u70b9\u4e71\uff0c\u6c7d\u8f66\u4e0a\u5e38\u89c1\u7684CANbus\u5373\u4e3a\u8fd9\u79cd\u6a21\u5f0f\uff1b<\/li>\n<li>DDS\uff1a\u4e0e\u5e7f\u64ad\u6a21\u578b\u7c7b\u4f3c\uff0c\u4f46\u5b83\u53ef\u4ee5\u5728\u901a\u4fe1\u65f6\u53ea\u5173\u5fc3\u81ea\u5df1\u7684\u6d88\u606f\uff0c\u800c\u4e0d\u7528\u770b\u5230\u90a3\u4e9b\u4e0d\u5173\u5fc3\u7684\u5608\u6742\u6d88\u606f\uff1b<\/li>\n<\/ul>\n<h3>3.DDS\u4e0eRTPS\u5173\u7cfb<\/h3>\n<p class=\"artcon\">\u5728 DDS \u89c4\u8303\u4e2d\uff0c\u6709\u4e24\u4e2a\u63cf\u8ff0\u6807\u51c6\u7684\u57fa\u672c\u6587\u6863\uff1a<\/p>\n<ul>\n<li><a href=\"https:\/\/www.omg.org\/spec\/DDS\/\">DDS \u89c4\u8303\u00a0<\/a>\uff1aDDS \u89c4\u8303\u63cf\u8ff0\u4e86\u7528\u4e8e\u5206\u5e03\u5f0f\u5e94\u7528\u7a0b\u5e8f\u901a\u4fe1\u548c\u96c6\u6210\u7684\u4ee5\u6570\u636e\u4e3a\u4e2d\u5fc3\u7684\u53d1\u5e03-\u8ba2\u9605 (DCPS) \u6a21\u578b\u3002\u8be5\u89c4\u8303\u5b9a\u4e49\u4e86\u5e94\u7528\u7a0b\u5e8f\u63a5\u53e3 (API) \u548c\u901a\u4fe1\u8bed\u4e49\uff08\u884c\u4e3a\u548c\u670d\u52a1\u8d28\u91cf\uff09\uff0c\u5b83\u4eec\u80fd\u591f\u6709\u6548\u5730\u5c06\u4fe1\u606f\u4ece\u4fe1\u606f\u751f\u4ea7\u8005\u4f20\u9012\u5230\u5339\u914d\u7684\u6d88\u8d39\u8005\u3002DDS \u89c4\u8303\u7684\u76ee\u7684\u53ef\u4ee5\u6982\u62ec\u4e3a\u201c\u5728\u6b63\u786e\u7684\u65f6\u95f4\u5c06\u6b63\u786e\u7684\u4fe1\u606f\u9ad8\u6548\u3001\u7a33\u5065\u5730\u4f20\u9012\u5230\u6b63\u786e\u7684\u5730\u70b9\u201d\u3002<\/li>\n<li><a href=\"https:\/\/www.omg.org\/spec\/DDSI-RTPS\/2.2\/\">DDSI-RTPS\u00a0<\/a>\uff1aRTPS\uff08Real Time Publish Subscribe Protocol\uff09\u534f\u8bae\u901a\u8fc7TCP\/UDP\u7b49\u5b9e\u73b0\u6700\u5927\u52aa\u529b\u53ef\u9760\u7684\u53d1\u5e03-\u8ba2\u9605\u3002\u8be5\u89c4\u8303\u5b9a\u4e49\u4e86 DDS \u7684\u4e92\u64cd\u4f5c\u6027\u534f\u8bae\uff0c\u5176\u76ee\u7684\u548c\u8303\u56f4\u662f\u786e\u4fdd\u57fa\u4e8e\u4e0d\u540c\u4f9b\u5e94\u5546\u7684 DDS \u5b9e\u73b0\u7684\u5e94\u7528\u7a0b\u5e8f\u53ef\u4ee5\u4e92\u64cd\u4f5c\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-rtps.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6731\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-rtps-1024x475.png\" alt=\"\" width=\"625\" height=\"290\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-rtps-1024x475.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-rtps-300x139.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-rtps-768x357.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-rtps-1536x713.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-rtps-624x290.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-rtps.png 1792w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>DDS\u672c\u8eab\u662fOMG\u7ef4\u62a4\u7684\u6807\u51c6\uff0c\u5177\u4f53\u6709\u5f88\u591a\u5f00\u6e90\u548c\u5546\u4e1a\u4ea7\u54c1\u5b9e\u73b0\u4e86\u8fd9\u4e2a\u6807\u51c6\uff0c\u6bd4\u5982FastRTPS\u3001OpenDDS\u3001OpenSplice DDS\u3001Cyclone DDS\u7b49\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e8c\u3001\u5e94\u7528\u9886\u57df<\/h1>\n<h3>1.\u56fd\u9632\u519b\u5de5<\/h3>\n<p>DDS\u6700\u65e9\u5e94\u7528\u5728\u7f8e\u56fd\u6d77\u519b\u7cfb\u7edf\uff0c\u7528\u4e8e\u89e3\u51b3\u519b\u8230\u7cfb\u7edf\u590d\u6742\u7f51\u7edc\u73af\u5883\u4e2d\u5927\u91cf\u8f6f\u4ef6\u95f4\u7684\u517c\u5bb9\u6027\u95ee\u9898\u3002\u76ee\u524dDDS\u5728\u6b27\u7f8e\u5df2\u5e7f\u6cdb\u5e94\u7528\u4e8e\u56fd\u9632\u519b\u5de5\u9886\u57df\uff0cTHALES\u6cf0\u96f7\u5179\u3001EADS\u6b27\u6d32\u5b87\u822a\u9632\u52a1\u3001Raytheon\u96f7\u795e\u3001Lockheed Martin\u6d1b\u514b\u5e0c\u5fb7\u00b7\u9a6c\u4e01\u7b49\u56fd\u9645\u4e3b\u6d41\u519b\u5de5\u5382\u5546\u5747\u5c06DDS\u4f5c\u4e3a\u5176\u5404\u79cd\u4f5c\u6218\u6307\u6325\u4e0e\u63a7\u5236\u7cfb\u7edf\u7684\u6838\u5fc3\u4e2d\u95f4\u4ef6\uff0c\u4e3aF124\/\u5b99\u65af\u76feDDG1000\u62a4\u536b\u8230\u3001MQ-9\u6355\u98df\u8005\u65e0\u4eba\u673a\u3001\u6ce2\u97f3\u9884\u8b66\u673a\u3001MK-41\u8230\u8f7d\u5bfc\u5f39\u53d1\u5c04\u7cfb\u7edf\u3001SSDS\u8230\u8247\u81ea\u536b\u7cfb\u7edf\u3001\u7f8e\u56fd\u548c\u6b27\u6d32\u5b87\u822a\u5c40\u53d1\u5c04\u63a7\u5236\u7cfb\u7edf\u7b49\u63d0\u4f9b\u53ef\u9760\u3001\u9ad8\u5b9e\u65f6\u7684\u5206\u5e03\u5f0f\u901a\u4fe1\u529f\u80fd\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6721\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-.png\" alt=\"\" width=\"544\" height=\"544\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-.png 544w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds--300x300.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds--150x150.png 150w\" sizes=\"(max-width: 544px) 100vw, 544px\" \/><\/a><\/p>\n<h3>2.\u673a\u5668\u4eba<\/h3>\n<p>\u5728\u673a\u5668\u4eba\u9886\u57df\uff0c\u4f20\u7edf\u5355\u673a\u4f5c\u4e1a\u6a21\u5f0f\u5df2\u53d1\u5c55\u4e3a\u7fa4\u4f53\u5206\u5e03\u5f0f\u534f\u540c\uff0c\u5bf9\u4e8e\u751f\u4ea7\u4f5c\u4e1a\u7b49\u73af\u8282\u4e2d\u7684\u673a\u5668\u4eba\u96c6\u7fa4\uff0c\u5b58\u5728\u76f8\u4e92\u534f\u4f5c\u7684\u53ef\u9760\u3001\u7075\u6d3b\u3001\u5b9e\u65f6\u3001\u5b89\u5168\u7684\u8fde\u63a5\u9700\u6c42\uff0c\u5728ROS2\u4e2d\u4e5f\u5c06DDS\u786e\u5b9a\u4e3a\u901a\u4fe1\u5c42\u6807\u51c6\uff0c\u4fc3\u8fdb\u4e86\u673a\u5668\u4eba\u4ea7\u4e1a\u7684\u53d1\u5c55\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-robot.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6802\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-robot.png\" alt=\"\" width=\"603\" height=\"339\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-robot.png 603w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-robot-300x169.png 300w\" sizes=\"(max-width: 603px) 100vw, 603px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-ros2.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6724\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-ros2.png\" alt=\"\" width=\"554\" height=\"336\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-ros2.png 554w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-ros2-300x182.png 300w\" sizes=\"(max-width: 554px) 100vw, 554px\" \/><\/a><\/p>\n<h3>3.\u81ea\u52a8\u9a7e\u9a76<\/h3>\n<p>\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u662f\u590d\u6742\u7684\u5206\u5e03\u5f0f\u7cfb\u7edf\uff0c\u5b83\u7ed3\u5408\u4e86\u89c6\u89c9\u3001\u96f7\u8fbe\u3001GPS\u3001\u5bfc\u822a\u3001\u89c4\u5212\u548c\u63a7\u5236\u7b49\u7ec4\u4ef6\uff0c\u8fd9\u4e9b\u6a21\u5757\u5fc5\u987b\u7ec4\u6210\u5b89\u5168\u53ef\u9760\u7684\u7cfb\u7edf\uff0c\u5b9e\u65f6\u5206\u6790\u590d\u6742\u7684\u73af\u5883\u5e76\u5bf9\u5176\u4f5c\u51fa\u6b63\u786e\u53cd\u5e94\u3002\u591a\u5bb6\u81ea\u52a8\u9a7e\u9a76\u5e73\u53f0\u5747\u91c7\u7528DDS\u96c6\u6210\u591a\u79cd\u590d\u6742\u6613\u8d2d\u4f20\u611f\u5668\u6536\u96c6\u7684\u4fe1\u606f\uff0c\u4ee5\u652f\u6491\u5176\u4f5c\u51fa\u53ca\u65f6\u6b63\u786e\u7684\u63a7\u5236\u51b3\u7b56\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-car.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6725\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-car.png\" alt=\"\" width=\"574\" height=\"262\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-car.png 574w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-car-300x137.png 300w\" sizes=\"(max-width: 574px) 100vw, 574px\" \/><\/a><\/p>\n<h3>4.\u7269\u8054\u7f51<\/h3>\n<p>\u7269\u8054\u7f51\u662f\u4e00\u4e2a\u7269-\u7269\u76f8\u8fde\u7684\u4e92\u8054\u7f51\uff0c\u9700\u8981\u6301\u4e45\u3001\u53ef\u9760\u3001\u9ad8\u6027\u80fd\u7f51\u7edc\u67b6\u6784\u652f\u6301\u3002GE\u591a\u79cd\u533b\u7597\u8bbe\u5907\u4e4b\u95f4\u5df2\u91c7\u7528DDS\u8fdb\u884c\u901a\u4fe1\uff0c\u897f\u95e8\u5b50\u98ce\u7535\u673a\u7684\u5de8\u578b\u6da1\u8f6e\u673a\u5185\u90e8\u63a7\u5236\u3001\u5916\u90e8\u901a\u8fc7\u65e0\u7ebf\/\u536b\u661f\u4e0e\u53d1\u7535\u5382\u6570\u636e\u4f20\u8f93\u4e5f\u5df2\u5e7f\u6cdb\u5e94\u7528\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u4e09\u3001Fast-DDS<\/h1>\n<p>eprosima Fast DDS\uff08\u4ee5\u524d\u79f0\u4e3a Fast-RTPS\uff09\u662f\u5bf9OMG\u00a0 DDS\u6807\u51c6\u7684C++\u5b9e\u73b0\uff0c\u662f\u4e00\u4e2a\u514d\u8d39\u5f00\u6e90\u8f6f\u4ef6\uff0c\u9075\u5faa Apache License 2.0\uff0c\u88abROS2\u8bbe\u5b9a\u4e3a\u9ed8\u8ba4\u7684\u6d88\u606f\u4e2d\u95f4\u4ef6\u3002<\/p>\n<p>Fast-DDS \u9075\u5faa RTPS\uff08\u5b9e\u65f6\u53d1\u5e03\u8ba2\u9605\uff09\u534f\u8bae\uff0c\u8be5\u534f\u8bae\u901a\u8fc7\u4e0d\u53ef\u9760\u4f20\u8f93\uff08\u5982 UDP\uff09\u63d0\u4f9b\u9ad8\u6548\u7a33\u5b9a\u7684\u53d1\u5e03\u8005-\u8ba2\u9605\u8005\u901a\u4fe1\u3002RTPS \u4e5f\u662f\u4e3a\u6570\u636e\u5206\u53d1\u670d\u52a1 (DDS) \u6807\u51c6\u5b9a\u4e49\u7684\u4e92\u64cd\u4f5c\u6027\u534f\u8bae\u3002Fast-DDS\u516c\u5f00\u4e86\u4e00\u4e2a API \u4ee5\u76f4\u63a5\u8bbf\u95ee RTPS \u534f\u8bae\uff0c\u4f7f\u7528\u6237\u53ef\u4ee5\u5b8c\u5168\u8bbf\u95ee\u534f\u8bae\u5185\u90e8\u3002<\/p>\n<h3 dir=\"auto\">1.\u6838\u5fc3\u80fd\u529b<\/h3>\n<ul dir=\"auto\">\n<li><strong>\u5b9e\u65f6\u6027\uff1a<\/strong>\u63d0\u4f9b\u53ef\u914d\u7f6e\u7684\u5b9e\u65f6\u3001\u53ef\u9760\u7684\u53d1\u5e03-\u8ba2\u9605\u901a\u4fe1\u7b56\u7565\uff0c\u652f\u6301\u540c\u6b65\u548c\u5f02\u6b65\u6570\u636e\u53d1\u5e03\u6a21\u5f0f\u3002<\/li>\n<li><strong>\u670d\u52a1\u53d1\u73b0\uff1a<\/strong>\u5185\u7f6e\u5bf9\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u7684\u52a8\u6001\u53d1\u73b0\u673a\u5236\uff0c\u5373\u63d2\u5373\u7528\u8fde\u63a5\uff0c\u52a0\u5165\u6216\u79bb\u5f00\u7f51\u7edc\u65e0\u9700\u914d\u7f6e\u3002<\/li>\n<li><strong>\u6d41\u91cf\u63a7\u5236\uff1a<\/strong>\u652f\u6301\u53ef\u914d\u7f6e\u7684\u541e\u5410\u91cf\u63a7\u5236\uff0c\u53ef\u9650\u5236\u5728\u7279\u5b9a\u6761\u4ef6\u4e0b\u53d1\u9001\u7684\u6570\u636e\u91cf\uff1b<\/li>\n<li><strong>\u4f20\u8f93\u65b9\u5f0f\uff1a<\/strong>\u540c\u65f6\u652f\u6301UDP\/TCP\/SHM(\u5171\u4eab\u5185\u5b58)\u4f20\u8f93\uff1b<\/li>\n<li><strong>\u5b89\u5168\u6027\uff1a<\/strong>\u63d0\u4f9b\u53ef\u914d\u7f6e\u7684\u5b89\u5168\u901a\u4fe1\uff0c\u5305\u62ec\u8fdc\u7a0b\u53c2\u4e0e\u8005\u7684\u8eab\u4efd\u9a8c\u8bc1\u3001\u5b9e\u4f53\u7684\u8bbf\u95ee\u63a7\u5236\u548c\u6570\u636e\u52a0\u5bc6\u7b49\uff1b<\/li>\n<li><strong>\u5206\u5e03\u5f0f\uff1a<\/strong>\u901a\u8fc7\u5206\u5e03\u5f0f\u7f51\u7edc\u53ef\u652f\u6301\u5927\u91cf\u5b9e\u4f53\u63a5\u5165\uff1b<\/li>\n<li><strong>\u53ef\u79fb\u690d\u6027\uff1a<\/strong>\u9075\u5faaDDS\u89c4\u8303\u3001IDL\u5b9a\u4e49\u7b49\uff0c\u5e94\u7528\u7a0b\u5e8f\u53ea\u9700\u91cd\u65b0\u7f16\u8bd1\u5c31\u53ef\u4ee5\u5728\u4e0d\u540cDDS\u5b9e\u73b0\u4e4b\u95f4\u5207\u6362\uff1b<\/li>\n<li><strong>\u9ad8\u6027\u80fd\uff1a<\/strong>\u5141\u8bb8\u9884\u5206\u914d\u8d44\u6e90\uff0c\u51cf\u5c11\u52a8\u6001\u8d44\u6e90\u5206\u914d\uff0c\u907f\u514d\u65e0\u9650\u5236\u4f7f\u7528\u8d44\u6e90\uff0c\u6700\u5c0f\u5316\u6570\u636e\u590d\u5236\u7684\u9700\u8981\uff1b\u57fa\u4e8eeProsima\u7684Fast Buffers\u5e8f\u5217\u5316\uff0c\u5b98\u7f51\u8bf4\u5176\u6027\u80fd\u8981\u9ad8\u4e8eProtocol Buffers\u548cThrift\uff1a<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-fastbuffer.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6758\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-fastbuffer.png\" alt=\"\" width=\"586\" height=\"343\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-fastbuffer.png 586w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-fastbuffer-300x176.png 300w\" sizes=\"(max-width: 586px) 100vw, 586px\" \/><\/a><\/p>\n<ul dir=\"auto\">\n<li><strong>\u8de8\u5e73\u53f0\uff1a<\/strong>\u652f\u6301Linux\u3001Mac OS\u3001QNX\u3001Windows\u3001VxWorks\u3001iOS\u3001Android\u3001Raspbian\u7b49\u5e73\u53f0\u3002<\/li>\n<li><strong>\u514d\u8d39\u548c\u5f00\u6e90\uff1a<\/strong>Fast DDS\u5e93\u3001Fast RTPS\u5e93\u3001Fast DDS-Gen\u3001\u5185\u90e8\u4f9d\u8d56\u9879(\u5982Fast CDR)\u548c\u5916\u90e8\u4f9d\u8d56\u9879(\u5982foonathan\u5e93)\u90fd\u662f\u514d\u8d39\u548c\u5f00\u6e90\u7684\u3002<\/li>\n<\/ul>\n<h3>2.\u603b\u4f53\u67b6\u6784<\/h3>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6756\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-1024x871.png\" alt=\"\" width=\"625\" height=\"532\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-1024x871.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-300x255.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-768x653.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds-624x531.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/fastdds.png 1065w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<ul>\n<li><strong>\u5e94\u7528\u5c42\uff1a<\/strong>\u4f7f\u7528Fast DDS API \u5728\u5206\u5e03\u5f0f\u7cfb\u7edf\u4e2d\u5b9e\u73b0\u901a\u4fe1\u7684\u7528\u6237\u5e94\u7528\u7a0b\u5e8f\u3002<\/li>\n<li><strong>DDS \u5c42\uff1a<\/strong>DDS \u901a\u4fe1\u4e2d\u95f4\u4ef6\u7684\u5b9e\u73b0\u3002\u5b83\u5141\u8bb8\u90e8\u7f72\u4e00\u4e2a\u6216\u591a\u4e2a DDS \u57df\uff0c\u5176\u4e2d\u540c\u4e00\u57df\u5185\u7684\u57df\u53c2\u4e0e\u8005\u901a\u8fc7\u5728\u57df\u4e3b\u9898\u4e0b\u53d1\u5e03\/\u8ba2\u9605\u6765\u4ea4\u6362\u6d88\u606f\u3002<\/li>\n<li><strong>RTPS \u5c42\uff1a<\/strong>\u5b9e\u73b0\u5b9e\u65f6\u53d1\u5e03-\u8ba2\u9605 (RTPS) \u534f\u8bae\u4ee5\u652f\u6301\u4e0e DDS \u5e94\u7528\u7a0b\u5e8f\u7684\u4e92\u64cd\u4f5c\u6027\u3002\u8be5\u5c42\u5145\u5f53\u4f20\u8f93\u5c42\u7684\u62bd\u8c61\u5c42\u3002<\/li>\n<li><strong>\u4f20\u8f93\u5c42\uff1a<\/strong>\u5feb\u901f DDS\u53ef\u7528\u4e8e\u5404\u79cd\u4f20\u8f93\u534f\u8bae\uff0c\u4f8b\u5982\u4e0d\u53ef\u9760\u4f20\u8f93\u534f\u8bae (UDP)\u3001\u53ef\u9760\u4f20\u8f93\u534f\u8bae (TCP) \u6216\u5171\u4eab\u5185\u5b58\u4f20\u8f93\u534f\u8bae (SHM)\u3002<\/li>\n<\/ul>\n<h5>2.1.Entity\u5b9e\u4f53<\/h5>\n<p>Entity\u662f\u6240\u6709 DDS \u5b9e\u4f53\u7684\u62bd\u8c61\u57fa\u7c7b\uff0cDDS\u57df\u4e0b\u7684\u6240\u6709\u5bf9\u8c61\u90fd\u7ee7\u627f\u81eaEntity\u3002\u5305\u62ec\u4ee5\u4e0b\u7c7b\u578b\uff1a<\/p>\n<ul>\n<li>DomainParticipant\uff1a\u8be5\u5b9e\u4f53\u662f\u670d\u52a1\u7684\u5165\u53e3\u70b9\uff0c\u5145\u5f53\u53d1\u5e03\u8005\u3001\u8ba2\u9605\u8005\u548c\u4e3b\u9898\u7684\u5de5\u5382\u3002<\/li>\n<li>Publisher\uff1a\u5b83\u5145\u5f53\u53ef\u4ee5\u521b\u5efa\u4efb\u610f\u6570\u91cf\u7684 DataWriters \u7684\u5de5\u5382\u3002<\/li>\n<li>Subscriber\uff1a\u5b83\u5145\u5f53\u53ef\u4ee5\u521b\u5efa\u4efb\u610f\u6570\u91cf\u7684 DataReader \u7684\u5de5\u5382\u3002<\/li>\n<li>Topic\uff1a\u8be5\u5b9e\u4f53\u9002\u5408\u53d1\u5e03\u548c\u8ba2\u9605\u5b9e\u4f53\u4e4b\u95f4\uff0c\u5e76\u5145\u5f53\u6e20\u9053\u3002<\/li>\n<li>DataWriter\uff1a\u662f\u8d1f\u8d23\u6570\u636e\u5206\u53d1\u7684\u5bf9\u8c61\u3002<\/li>\n<li>DataReader\uff1a\u662f\u7528\u6765\u8bbf\u95ee\u63a5\u6536\u5230\u7684\u6570\u636e\u7684\u5bf9\u8c61\u3002<\/li>\n<\/ul>\n<p>DDS \u5b9e\u4f53\u4e4b\u95f4\u7684\u5c42\u6b21\u7ed3\u6784\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/entity-diagram.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6774\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/entity-diagram.png\" alt=\"\" width=\"756\" height=\"295\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/entity-diagram.png 756w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/entity-diagram-300x117.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/entity-diagram-624x243.png 624w\" sizes=\"(max-width: 756px) 100vw, 756px\" \/><\/a><\/p>\n<p>\u6240\u6709\u5b9e\u4f53\u5171\u4eab\u7684\u7279\u5f81\uff1a<\/p>\n<ul>\n<li>\u5b9e\u4f53\u552f\u4e00ID\uff1a\u8be5 ID \u5728 DDS \u5b9e\u4f53\u53ca\u5176\u5bf9\u5e94\u7684 RTPS \u5b9e\u4f53\u4e4b\u95f4\u5171\u4eab\u3002ID\u5b58\u50a8\u5728 Entity \u57fa\u7c7b\u4e0a\u58f0\u660e\u7684 Instance Handle \u5bf9\u8c61\u4e2d\uff0c\u53ef\u4ee5\u4f7f\u7528 getter \u51fd\u6570get_instance_handle()\u8bbf\u95ee\u8be5\u5bf9\u8c61\u3002<\/li>\n<li>QoS\u7b56\u7565\uff1a\u6bcf\u4e2a\u5b9e\u4f53\u90fd\u53ef\u4ee5\u4f7f\u7528\u7b56\u7565\u914d\u7f6e\uff0c\u5bf9\u4e8e\u6bcf\u4e00\u4e2a\u5b9e\u4f53\u7c7b\u578b\u90fd\u6709\u5bf9\u5e94\u7684QoS\u7c7b\u3002\u5728\u5b9e\u4f53\u521b\u5efa\u6216\u4f7f\u7528\u4e2d\u53ef\u4ee5\u901a\u8fc7::set_qos()\u65b9\u6cd5\u8fdb\u884c\u7b56\u7565\u914d\u7f6e\u3002<\/li>\n<li>Listener\u76d1\u542c\u5668\uff1a\u6240\u6709\u5b9e\u4f53\u7c7b\u578b\u90fd\u5b9a\u4e49\u4e86\u4e00\u4e2a\u62bd\u8c61\u4fa6\u542c\u5668\u63a5\u53e3\uff0c\u5176\u4e2d\u5305\u542b\u5c06\u5b9e\u4f53\u72b6\u6001\u53d8\u5316\u89e6\u53d1\u4f20\u9012\u7ed9\u5e94\u7528\u7684\u56de\u8c03\u51fd\u6570\u3002\u7528\u6237\u53ef\u4ee5\u91cd\u5199\u63a5\u53e3\u5b9e\u73b0\u81ea\u5df1\u7684\u4fa6\u542c\u5668\u56de\u8c03\u3002<\/li>\n<li>Status\u4e0eStatusCondition\uff1a\u6bcf\u4e2a\u5b9e\u4f53\u90fd\u4e0e\u4e00\u7ec4\u72b6\u6001\u5bf9\u8c61\u76f8\u5173\u8054\uff0c\u8fd9\u4e9b\u72b6\u6001\u5bf9\u8c61\u7684\u503c\u8868\u793a\u8be5\u5b9e\u4f53\u7684<em>\u901a\u4fe1\u72b6\u6001<\/em>\u00a0\u3002\u8fd9\u4e9b\u72b6\u6001\u503c\u7684\u66f4\u6539\u4f1a\u89e6\u53d1\u9002\u5f53\u7684\u4fa6\u542c\u5668\u56de\u8c03\u7684\u8c03\u7528\u4ee5\u5f02\u6b65\u901a\u77e5\u5e94\u7528\u7a0b\u5e8f\u3002\u8be6\u89c1 <a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/dds_layer\/core\/status\/status.html#dds-layer-core-status\"><span class=\"std std-ref\">Status<\/span><\/a> \u3001<a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/dds_layer\/core\/waitsets\/waitsets.html#dds-layer-core-waitsets\"><span class=\"std std-ref\">Conditions and Wait-sets<\/span><\/a> \u3002<\/li>\n<\/ul>\n<p>\u76d1\u542c\u5668\u7ee7\u627f\u5173\u7cfb\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/listeners_inheritance_diagram.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6775\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/listeners_inheritance_diagram.png\" alt=\"\" width=\"648\" height=\"680\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/listeners_inheritance_diagram.png 648w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/listeners_inheritance_diagram-286x300.png 286w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/listeners_inheritance_diagram-624x655.png 624w\" sizes=\"(max-width: 648px) 100vw, 648px\" \/><\/a><\/p>\n<h5>2.2.Policy\u7b56\u7565<\/h5>\n<p>\u5217\u51e0\u4e2a\u5e38\u89c1\u7684\u7b56\u7565\u5427\uff0c\u76f8\u673a\u7684\u5927\u5bb6\u53ef\u4ee5\u53bb\u770b\u4e0b<a href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/dds_layer\/core\/policy\/standardQosPolicies.html\" target=\"_blank\" rel=\"noopener\">\u5b98\u65b9\u6587\u6863<\/a>\uff1a<\/p>\n<ul>\n<li>DeadlineQosPolicy\uff1a\u6709\u6548\u6027\u7b56\u7565\uff0c\u4e3b\u8981\u7528\u4e8e\u76d1\u63a7\u65b0\u6570\u636e\u7684\u53d1\u5e03\/\u63a5\u53d7\u9891\u7387\uff0c\u4f4e\u4e8e\u8bbe\u5b9a\u9608\u503c\u65f6\u5c06\u53d1\u51fa\u62a5\u8b66\u3002<\/li>\n<li>DestinationOrderQosPolicy\uff1a\u4fdd\u5e8f\u7b56\u7565\uff0c\u7528\u4e8e\u540c\u4e00\u4e2aTopic\u7684\u6d88\u606f\u5728reader\u65f6\u786e\u4fdd\u987a\u5e8f\u3002<\/li>\n<li>DurabilityQosPolicy\uff1a\u6301\u4e45\u6027\u7b56\u7565\uff0c\u7528\u4e8e\u63a7\u5236\u5728\u6ca1\u6709reader\u7684\u60c5\u51b5\u4e0b\uff0cwriter\u80fd\u5426\u53d1\u9001\u6d88\u606f\uff0c\u4ee5\u53ca\u540e\u52a0\u5165\u7684reader\u80fd\u5426\u8bfb\u53d6\u52a0\u5165\u524dtopic\u91cc\u7684\u6d88\u606f\u3002<\/li>\n<li>EntityFactoryQosPolicy\uff1a\u5b9e\u4f53\u5de5\u5382\u7b56\u7565\uff0c\u7528\u4e8edisabled\u5de5\u5177\u7c7b\u7684\u5b9e\u4f53\u7c7b\u3002<\/li>\n<li>GroupDataQosPolicy\uff1a\u7ec4\u7b56\u7565\uff0c\u7528\u4e8e\u7ec4\u5408\u5b9e\u73b0\u7c7b\u4f3cpartition\u5206\u5e03\u5f0f\u7684\u6548\u679c\u3002<\/li>\n<li>HistoryQosPolicy\uff1a\u5386\u53f2\u6d88\u606f\u4e22\u5f03\u7b56\u7565\uff0c\u63a7\u5236\u662f\u5426\u53ea\u4fdd\u7559\u6700\u65b0\u503c\u4ee5\u53ca\u4fdd\u7559\u7684\u6d88\u606f\u6570\u91cf\u3002<\/li>\n<li>LatencyBudgetQosPolicy\uff1a\u5ef6\u8fdf\u7b56\u7565\uff0c\u5236\u5b9a\u4ece\u5199\u5165\u6570\u636e\u5230\u63d2\u5165DataReader\u5386\u53f2\u8bb0\u5f55\u5e76\u901a\u77e5\u5230\u56de\u8c03\u7684\u6700\u5927\u53ef\u63a5\u53d7\u5ef6\u8fdf\u3002<\/li>\n<li>LivelinessQosPolicy\uff1a\u6d3b\u8dc3\u7b56\u7565\uff0c\u901a\u8fc7\u76d1\u63a7\u672b\u6b21\u6d3b\u8dc3\u540e\u7684\u7b49\u5f85\u65f6\u957f\u6765\u786e\u5b9a\u5b9e\u4f53\u662f\u5426\u8fd8\u6d3b\u7740\u3002<\/li>\n<li>OwnershipQosPolicy\uff1a\u6240\u6709\u8005\u7b56\u7565\uff0c\u5141\u8bb8\u6307\u5b9a\u5b9e\u4f8b\u53ea\u80fd\u7531\u4e00\u4e2aDataWriter\u66f4\u65b0\u3002<\/li>\n<li>PartitionQosPolicy\uff1a\u903b\u8f91\u5206\u533a\u7b56\u7565\uff0cDataReader\u53ea\u80fd\u63a5\u6536Topic+\u6307\u5b9aPartition\u903b\u8f91\u5206\u533a\u7684\u6d88\u606f\u3002<\/li>\n<li>ReliabilityQosPolicy\uff1a\u53ef\u9760\u6027\u7b56\u7565\uff0c\u662f\u5426\u786e\u4fdd\u4e00\u5b9a\u9001\u8fbe\uff0c\u5e76\u6536\u5230DataReader\u7684\u786e\u8ba4\u3002<\/li>\n<\/ul>\n<h5>2.3.Domain\u57df<\/h5>\n<p>\u53ef\u4ee5\u628a\u57df\u770b\u4f5c\u662f\u4e00\u4e2a\u865a\u62df\u7f51\u7edc\uff0c\u8fde\u63a5\u540c\u57df\u4e0a\u8fd0\u884c\u7684\u6240\u6709\u5e94\u7528\u7a0b\u5e8f\uff0c\u5e76\u5c06\u5b83\u4eec\u4e0e\u8fd0\u884c\u5728\u4e0d\u540c\u57df\u4e0a\u7684\u5e94\u7528\u7a0b\u5e8f\u9694\u79bb\u5f00\u6765\u3002\u8fd9\u6837\uff0c\u591a\u4e2a\u72ec\u7acb\u7684\u5206\u5e03\u5f0f\u5e94\u7528\u7a0b\u5e8f\u53ef\u4ee5\u5728\u540c\u4e00\u4e2a\u7269\u7406\u7f51\u7edc\u4e2d\u5171\u5b58\uff0c\u800c\u4e0d\u4f1a\u76f8\u4e92\u5e72\u6270\uff0c\u751a\u81f3\u4e0d\u4f1a\u76f8\u4e92\u611f\u77e5\u3002<\/p>\n<p>\u6bcf\u4e2a\u57df\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u7684\u6807\u8bc6\u7b26\uff0c\u79f0\u4e3a domainId\uff0c\u5b83\u88ab\u5b9e\u73b0\u4e3a\u4e00\u4e2a<code class=\"docutils literal notranslate\"><span class=\"pre\">uint32<\/span><\/code>\u503c\u3002\u540c domainId \u7684\u5e94\u7528\u7a0b\u5e8f\u5c5e\u4e8e\u540c\u4e00\u4e2a\u57df\u5e76\u4e14\u80fd\u591f\u901a\u4fe1\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u57df\u53c2\u4e0e\u8005\u6301\u6709\u57dfdomainId\r\nDomainId_t  did= 0;      # using DomainId_t = uint32_t;\r\nparticipant_ = DomainParticipantFactory::get_instance()-&gt;create_participant(<span style=\"color: #ff0000;\">did<\/span>, pqos);<\/code><\/pre>\n<h6><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/domain_class_diagram.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6790\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/domain_class_diagram-1024x770.png\" alt=\"\" width=\"625\" height=\"470\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/domain_class_diagram-1024x770.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/domain_class_diagram-300x225.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/domain_class_diagram-768x577.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/domain_class_diagram-624x469.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/domain_class_diagram.png 1530w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/h6>\n<h6>2.3.1.Partitions\u5206\u533a<\/h6>\n<p>\u5206\u533a\u5728\u57df\u4e2d\u5f15\u5165\u4e86\u53e6\u4e00\u4e2a\u5b9e\u4f53\u9694\u79bb\u7ea7\u522b\u3002\u867d\u7136 DomainParticipant \u5982\u679c\u5b83\u4eec\u5728\u540c\u4e00\u4e2a\u57df\u4e2d\u5c06\u80fd\u591f\u76f8\u4e92\u901a\u4fe1\uff0c\u4f46\u4ecd\u7136\u53ef\u4ee5\u9694\u79bb\u5b83\u4eec\u7684<span class=\"std std-ref\">Publishers<\/span>\u548c\u00a0<span class=\"std std-ref\">Subscribers<\/span>\u5e76\u5c06\u5b83\u4eec\u5206\u914d\u7ed9\u4e0d\u540c\u7684<a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/dds_layer\/domain\/domainParticipant\/partition.html#partitions\"><span class=\"std std-ref\">Partitions<\/span><\/a>\u3002<\/p>\n<ul>\n<li>\u4e0e\u57df\u548c\u4e3b\u9898\u4e0d\u540c\uff0c\u5206\u533a\u53ef\u4ee5\u5728\u7aef\u70b9\u7684\u751f\u547d\u5468\u671f\u5185\u4ee5\u5f88\u5c11\u7684\u6210\u672c\u52a8\u6001\u66f4\u6539\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4e0d\u542f\u52a8\u65b0\u7ebf\u7a0b\uff0c\u4e0d\u5206\u914d\u65b0\u5185\u5b58\uff0c\u4e0d\u5f71\u54cd\u66f4\u6539\u5386\u53f2\u3002<\/li>\n<li>\u4e0e Domain \u548c Topic \u4e0d\u540c\uff0c\u4e00\u4e2a\u7aef\u70b9\u53ef\u4ee5\u540c\u65f6\u5c5e\u4e8e\u591a\u4e2a Partition\u3002<\/li>\n<\/ul>\n<p><span class=\"std std-ref\">\u53ef\u4ee5\u5728PublisherQos<\/span>\u6216<span class=\"std std-ref\">SubscriberQos<\/span>\u5bf9\u8c61\u7684<span class=\"std std-ref\">PartitionQosPolicy<\/span> \u6570\u636e\u6210\u5458\u4e0a\u914d\u7f6e\u5206\u533a\u3002\u5206\u533a\u540d\u4e3a\u5b57\u7b26\u4e32\uff0c\u53ef\u4ee5\u4f7f\u7528\u901a\u914d\u7b26\uff0c\u4f46\u9700\u8981\u6ce8\u610f*\u901a\u914d\u4e0d\u5339\u914d\u9ed8\u8ba4\u7684\u65e0\u540dpartition\uff0c\u5373\u540ctopic\u5c3d\u53ef\u80fd\u8981\u4e48pub\/sub\u7ec8\u7aef\u90fd\u7528partition\uff0c\u8981\u4e48\u90fd\u4e0d\u7528\uff0c\u5c3d\u91cf\u4e0d\u6df7\u7740\u7528\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">PublisherQos pub_11_qos;\r\npub_11_qos.partition().push_back(\"Partition_1\");\r\npub_11_qos.partition().push_back(\"Partition_2\");\r\n\r\nPublisherQos pub_12_qos;\r\npub_12_qos.partition().push_back(\"*\");\r\n\r\nPublisherQos pub_21_qos;\r\n\/\/No partitions defined for pub_21\r\n\r\nPublisherQos pub_22_qos;\r\npub_22_qos.partition().push_back(\"Partition*\");\r\n\r\nSubscriberQos subs_31_qos;\r\nsubs_31_qos.partition().push_back(\"Partition_1\");\r\n\r\nSubscriberQos subs_32_qos;\r\nsubs_32_qos.partition().push_back(\"Partition_2\");\r\n\r\nSubscriberQos subs_33_qos;\r\nsubs_33_qos.partition().push_back(\"Partition_3\");\r\n\r\nSubscriberQos subs_34_qos;\r\n\/\/No partitions defined for subs_34<\/code><\/pre>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/pubsub-partition.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6789\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/pubsub-partition-1024x218.png\" alt=\"\" width=\"625\" height=\"133\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/pubsub-partition-1024x218.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/pubsub-partition-300x64.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/pubsub-partition-768x164.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/pubsub-partition-1536x327.png 1536w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/pubsub-partition-624x133.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/pubsub-partition.png 1906w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h5>2.4.Publisher\u53d1\u5e03\u8005<\/h5>\n<p>\u6d88\u606f\u53d1\u5e03\u7531Publisher\u548cDataWriter\u5171\u540c\u5b8c\u6210\u3002Publisher\u901a\u8fc7DataWriter\u5411Topic\u53d1\u5e03\u6d88\u606f\uff0c\u4e24\u8005\u901a\u8fc7Listener\u76d1\u542c\u8fdb\u884c\u5f02\u6b65\u56de\u8c03\u5904\u7406\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/publisher_class_diagram.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6794\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/publisher_class_diagram-1024x501.png\" alt=\"\" width=\"625\" height=\"306\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/publisher_class_diagram-1024x501.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/publisher_class_diagram-300x147.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/publisher_class_diagram-768x376.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/publisher_class_diagram-624x305.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/publisher_class_diagram.png 1532w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h5>2.5.Subscriber\u8ba2\u9605\u8005<\/h5>\n<p>\u8ba2\u9605\u7531Subscriber\u548cDataReader\u5171\u540c\u5b8c\u6210\u3002Subscriber\u521b\u5efaDataReader\uff0cDataReader\u7ed1\u5b9aTopic\uff0c\u5f53\u63a5\u6536\u5230\u6570\u636e\u65f6\uff0c\u901a\u8fc7Listener\u901a\u77e5\u5e94\u7528\u8fdb\u884c\u56de\u8c03\u5904\u7406\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/subscriber_class_diagram.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6795\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/subscriber_class_diagram-1024x617.png\" alt=\"\" width=\"625\" height=\"377\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/subscriber_class_diagram-1024x617.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/subscriber_class_diagram-300x181.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/subscriber_class_diagram-768x463.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/subscriber_class_diagram-624x376.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/subscriber_class_diagram.png 1506w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<h5>2.6.Topic\u4e3b\u9898<\/h5>\n<p>Topic\u7528\u6765\u8fde\u63a5\u540c\u4e00\u7c7b\u6570\u636e\u7684\u53d1\u5e03\u65b9\u548c\u8ba2\u9605\u65b9\u3002<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic_class_diagram.png\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-6796\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic_class_diagram-1024x662.png\" alt=\"\" width=\"625\" height=\"404\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic_class_diagram-1024x662.png 1024w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic_class_diagram-300x194.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic_class_diagram-768x497.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic_class_diagram-624x403.png 624w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic_class_diagram.png 1160w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><\/p>\n<p>\u5355\u4e2aTopic\u7ed1\u5b9a\u5230\u5355\u4e2a\u6570\u636e\u7c7b\u578b\uff0c\u6240\u4ee5\u6bcf\u6761\u6570\u636e\u53ef\u4ee5\u7406\u89e3\u4e3a\u4e00\u4e2a\u6570\u636e\u7c7b\u578b\u7684\u5b9e\u4f8b\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic-instances.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6810\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic-instances.png\" alt=\"\" width=\"525\" height=\"327\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic-instances.png 525w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/topic-instances-300x187.png 300w\" sizes=\"(max-width: 525px) 100vw, 525px\" \/><\/a><\/p>\n<p>Subscriber\u5728\u8ba2\u9605topic\u65f6\uff0c\u9664\u4e86\u57fa\u672c\u7684\u8ba2\u9605\u65b9\u5f0f\u5916\uff0c\u8fd8\u53ef\u4ee5\u9009\u62e9\u63d0\u4f9b\u6570\u636e\u7b5b\u9009\u80fd\u529b\u7684contentFelteredTopic\uff0c\u5b83\u63d0\u4f9b\u7c7b\u4f3cSQL\u7684\u8fc7\u6ee4\u53c2\u6570\u914d\u7f6e\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">\/\/ \u57df\u6210\u5458\r\nDomainParticipant* participant =\r\n        DomainParticipantFactory::get_instance()-&gt;create_participant(0, PARTICIPANT_QOS_DEFAULT);\r\nif (nullptr == participant)\r\n{\r\n    \/\/ Error\r\n    return;\r\n}\r\n\r\n\/\/ \u8bdd\u9898\r\n\/* IDL\r\n *\r\n * struct HelloWorld\r\n * {\r\n *     long index;\r\n *     string message;\r\n * }\r\n *\r\n *\/\r\nTopic* topic =\r\n        participant-&gt;create_topic(\"HelloWorldTopic\", \"HelloWorld\", TOPIC_QOS_DEFAULT);\r\nif (nullptr == topic)\r\n{\r\n    \/\/ Error\r\n    return;\r\n}\r\n\r\n\/\/ \u901a\u8fc7\u8868\u8fbe\u5f0f\u7b5b\u9009topic\u6570\u636e\u5185\u5bb9\r\nstd::string expression = \"message like 'Hello*'\";\r\nstd::vector&lt;std::string&gt; parameters;\r\nContentFilteredTopic* filter_topic =\r\n        participant-&gt;create_contentfilteredtopic(\"HelloWorldFilteredTopic1\", topic, expression, parameters);\r\nif (nullptr == filter_topic)\r\n{\r\n    \/\/ Error\r\n    return;\r\n}\r\n\r\n\/\/ \u901a\u8fc7\u8868\u8fbe\u5f0f+\u53c2\u6570\u7b5b\u9009topic\u6570\u636e\u5185\u5bb9\r\nexpression = \"message like %0 or index &gt; %1\";\r\nparameters.push_back(\"'*world*'\");\r\nparameters.push_back(\"20\");\r\nContentFilteredTopic* filter_topic_with_parameters =\r\n        participant-&gt;create_contentfilteredtopic(\"HelloWorldFilteredTopic2\", topic, expression, parameters);\r\nif (nullptr == filter_topic_with_parameters)\r\n{\r\n    \/\/ Error\r\n    return;\r\n}\r\n\r\n\/\/ \u8ba2\u9605\u8005\r\nSubscriber* subscriber =\r\n        participant-&gt;create_subscriber(SUBSCRIBER_QOS_DEFAULT);\r\nif (nullptr == subscriber)\r\n{\r\n    \/\/ Error\r\n    return;\r\n}\r\n\r\n\/\/ \u5e26\u6570\u636e\u8fc7\u6ee4\u80fd\u529b\u7684DataReader1\r\nDataReader* reader_on_filter = subscriber-&gt;create_datareader(filter_topic, DATAREADER_QOS_DEFAULT);\r\nif (nullptr == reader_on_filter)\r\n{\r\n    \/\/ Error\r\n    return;\r\n}\r\n\r\n\/\/ \u5e26\u6570\u636e\u8fc7\u6ee4\u80fd\u529b\u7684DataReader2\r\nDataReader* reader_on_filter_with_parameters =\r\n        subscriber-&gt;create_datareader(filter_topic_with_parameters, DATAREADER_QOS_DEFAULT);\r\nif (nullptr == reader_on_filter_with_parameters)\r\n{\r\n    \/\/ Error\r\n    return;\r\n}<\/code><\/pre>\n<p>\u4f60\u4e5f\u53ef\u4ee5\u81ea\u5b9a\u4e49\u8fc7\u6ee4\u7b56\u7565\uff0c\u6216\u7ed3\u5408\u4e1a\u52a1\u573a\u666f\u5728DataWriter\u7aef\u8fdb\u884c\u8fc7\u6ee4\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>3.\u7f16\u7a0b\u548c\u6267\u884c\u6a21\u578b<\/h3>\n<h5>3.1.\u5e76\u53d1\u548c\u591a\u7ebf\u7a0b<\/h5>\n<p>Fast DDS\u5b9e\u73b0\u4e86\u4e00\u4e2a\u5e76\u53d1\u591a\u7ebf\u7a0b\u7cfb\u7edf\u3002\u6bcf\u4e2aDomainParticipant\u751f\u6210\u4e00\u7ec4\u7ebf\u7a0b\u6765\u5904\u7406\u540e\u53f0\u4efb\u52a1\uff0c\u4f8b\u5982\u65e5\u5fd7\u8bb0\u5f55\u3001\u6d88\u606f\u63a5\u6536\u548c\u5f02\u6b65\u901a\u4fe1\u3002\u8fd9\u4e0d\u4f1a\u5f71\u54cd\u4f7f\u7528\u8be5\u5e93\u7684\u65b9\u5f0f\uff0c\u5373Fast DDS API\u662f\u7ebf\u7a0b\u5b89\u5168\u7684\uff0c\u56e0\u6b64\u53ef\u4ee5\u4ece\u4e0d\u540c\u7684\u7ebf\u7a0b\u5b89\u5168\u7684\u8c03\u7528\u540c\u4e00DomainParticipant\u4e0a\u7684\u4efb\u4f55\u65b9\u6cd5\u3002\u4f46\u662f\uff0c\u5f53\u5916\u90e8\u51fd\u6570\u8bbf\u95ee\u7531\u5e93\u5185\u8fd0\u884c\u7ebf\u7a0b\u4fee\u6539\u7684\u8d44\u6e90\u65f6\uff0c\u5fc5\u987b\u8003\u8651\u8fd9\u79cd\u591a\u7ebf\u7a0b\u5b9e\u73b0\u3002\u8fd9\u65b9\u9762\u7684\u4e00\u4e2a\u793a\u4f8b\u662f\u5e94\u7528Listener\u4fa6\u542c\u5668\u56de\u8c03\u4e2d\u7684\u4fee\u6539\u8d44\u6e90\u3002<\/p>\n<p>Fast DDS\u591a\u7ebf\u7a0b\u8c03\u5ea6\u5de5\u4f5c\u65b9\u5f0f\uff1a<\/p>\n<ul>\n<li><strong>\u4e3b\u7ebf\u7a0b\uff1a<\/strong>\u7531\u5e94\u7528\u7a0b\u5e8f\u7ba1\u7406\u3002<\/li>\n<li><strong>\u4e8b\u4ef6\u7ebf\u7a0b\uff1a<\/strong>\u6bcf\u4e2a DomainParticipant \u62e5\u6709\u5176\u4e2d\u4e4b\u4e00\u3002\u5b83\u5904\u7406\u5468\u671f\u6027\u548c\u89e6\u53d1\u7684\u65f6\u95f4\u4e8b\u4ef6\u3002<\/li>\n<li><strong>\u5f02\u6b65\u5199\u5165\u7ebf\u7a0b\uff1a<\/strong>\u8be5\u7ebf\u7a0b\u7ba1\u7406\u6240\u6709 DomainParticipants \u7684\u5f02\u6b65\u5199\u5165\u3002\u5373\u4f7f\u5bf9\u4e8e\u540c\u6b65\u5199\uff0c\u67d0\u4e9b\u5f62\u5f0f\u7684\u901a\u4fe1\u4e5f\u5fc5\u987b\u5728\u540e\u53f0\u542f\u52a8\u3002<\/li>\n<li><strong>\u63a5\u6536\u7ebf\u7a0b\uff1a<\/strong>\u57df\u53c2\u4e0e\u8005\u4e3a\u6bcf\u4e2a\u63a5\u6536\u901a\u9053\u751f\u6210\u4e00\u4e2a\u7ebf\u7a0b\uff0c\u5176\u4e2d\u901a\u9053\u7684\u6982\u5ff5\u53d6\u51b3\u4e8e\u4f20\u8f93\u5c42\uff08\u4f8b\u5982 UDP \u7aef\u53e3\uff09\u3002<\/li>\n<\/ul>\n<h5>3.2.\u4e8b\u4ef6\u9a71\u52a8<\/h5>\n<p>FastDDS\u901a\u8fc7\u4e00\u4e2a\u65f6\u95f4\u4e8b\u4ef6\u7cfb\u7edf\u4f7f\u6765\u54cd\u5e94\u67d0\u4e9b\u6761\u4ef6\u5e76\u5b89\u6392\u5b9a\u671f\u6267\u884c\u3002\u7531\u4e8e\u5927\u591a\u6570\u4e0e DDS \u548c RTPS \u5143\u6570\u636e\u6709\u5173\uff0c\u56e0\u6b64\u7528\u6237\u5f88\u5c11\u770b\u5230\u5b83\u4eec\u3002\u4f46\u662f\uff0c\u7528\u6237\u53ef\u4ee5\u901a\u8fc7\u5728\u4ed6\u4eec\u7684\u5e94\u7528\u7a0b\u5e8f\u4e2d\u7ee7\u627f<code class=\"xref py py-class docutils literal notranslate\"><span class=\"pre\">TimedEvent<\/span><\/code>\u7c7b\u5b9e\u73b0\u5468\u671f\u6027\u4e8b\u4ef6\u3002<\/p>\n<h3>4.\u529f\u80fd<\/h3>\n<h5>4.1.\u81ea\u53d1\u73b0\u534f\u8bae<\/h5>\n<p>\u81ea\u53d1\u73b0\u534f\u8bae\u5b9a\u4e49\u4e86\u76f8\u540c Topic \u4e0b\u7684 DataWriters \u548c DataReader \u76f8\u5339\u914d\u7684\u673a\u5236\uff0c\u4ee5\u4fbf\u5b83\u4eec\u53ef\u4ee5\u5171\u4eab\u6570\u636e\u3002Fast DDS\u63d0\u4f9b\u4ee5\u4e0b\u53d1\u73b0\u673a\u5236\uff1a<\/p>\n<ul>\n<li><strong>\u7b80\u5355\u53d1\u73b0\uff1a<\/strong>\u8fd9\u662f\u9ed8\u8ba4\u7684\u53d1\u73b0\u673a\u5236\uff0c\u5728 RTPS \u6807\u51c6\u4e2d\u5b9a\u4e49\u5e76\u63d0\u4f9b\u4e0e\u5176\u4ed6 DDS \u5b9e\u73b0\u7684\u517c\u5bb9\u6027\u3002\u5728\u8fd9\u91cc\uff0cDomainParticipants \u662f\u5728\u65e9\u671f\u5355\u72ec\u53d1\u73b0\u7684\uff0c\u4ee5\u4fbf\u968f\u540e\u5339\u914d\u5b83\u4eec\u5b9e\u73b0\u7684 DataWriter \u548c DataReader\u3002<\/li>\n<li><strong>\u53d1\u73b0\u670d\u52a1\u5668\uff1a<\/strong>\u8fd9\u79cd\u53d1\u73b0\u673a\u5236\u4f7f\u7528\u96c6\u4e2d\u5f0f\u53d1\u73b0\u67b6\u6784\uff0c\u5176\u4e2d\u670d\u52a1\u5668\u5145\u5f53\u5143\u6d41\u91cf\u53d1\u73b0\u7684\u4e2d\u5fc3\u3002<\/li>\n<li><strong>\u9759\u6001\u53d1\u73b0\uff1a<\/strong>\u8fd9\u5b9e\u73b0\u4e86 DomainParticipant \u5f7c\u6b64\u4e4b\u95f4\u7684\u53d1\u73b0\uff0c\u4f46\u5982\u679c\u8fdc\u7a0b DomainParticipant \u4e8b\u5148\u77e5\u9053\u8fd9\u4e9b\u5b9e\u4f53\uff0c\u5219\u53ef\u4ee5\u8df3\u8fc7\u6bcf\u4e2a DomainParticipant (DataReader\/DataWriter) \u4e2d\u5305\u542b\u7684\u5b9e\u4f53\u7684\u53d1\u73b0\u3002<\/li>\n<li><strong>\u624b\u52a8\u53d1\u73b0\uff1a<\/strong>\u6b64\u673a\u5236\u4ec5\u4e0e RTPS \u5c42\u517c\u5bb9\u3002\u5b83\u5141\u8bb8\u7528\u6237\u4f7f\u7528\u5176\u9009\u62e9\u7684\u4efb\u4f55\u5916\u90e8\u5143\u4fe1\u606f\u901a\u9053\u624b\u52a8\u5339\u914d\u548c\u53d6\u6d88\u5339\u914d RTPSParticipants\u3001RTPSWriters \u548c RTPSReaders\u3002<\/li>\n<\/ul>\n<p>*\u6ce8\uff1a\u8be6\u7ec6\u89e3\u91ca\u548c\u914d\u7f6e\u53ef\u4ee5\u5728<a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/discovery\/discovery.html#discovery\"><span class=\"std std-ref\">Discovery<\/span><\/a>\u67e5\u770b\u3002<\/p>\n<h5>4.2.\u5b89\u5168<\/h5>\n<p>Fast DDS\u53ef\u901a\u8fc7\u5728\u4e09\u4e2a\u7ea7\u522b\u914d\u7f6e\u6765\u63d0\u4f9b\u5b89\u5168\u901a\u4fe1\uff1a<\/p>\n<ul>\n<li><strong>\u8fdc\u7a0b\u57df\u53c2\u4e0e\u8005\u7684\u8eab\u4efd\u9a8c\u8bc1\uff1a<\/strong>DDS:Auth:PKI-DH\u63d2\u4ef6\u4f7f\u7528\u53d7\u4fe1\u4efb\u7684\u8bc1\u4e66\u9881\u53d1\u673a\u6784 (CA) \u548c ECDSA \u6570\u5b57\u7b7e\u540d\u7b97\u6cd5\u63d0\u4f9b\u8eab\u4efd\u9a8c\u8bc1\uff0c\u4ee5\u6267\u884c\u76f8\u4e92\u8eab\u4efd\u9a8c\u8bc1\u3002\u5b83\u8fd8\u4f7f\u7528\u692d\u5706\u66f2\u7ebf Diffie-Hellman (ECDH) \u5bc6\u94a5\u534f\u8bae\u534f\u8bae\u5efa\u7acb\u5171\u4eab\u79d8\u5bc6\u3002<\/li>\n<li><strong>\u5b9e\u4f53\u7684\u8bbf\u95ee\u63a7\u5236\uff1a<\/strong>DDS:Access:Permissions\u63d2\u4ef6\u5728DDS \u57df\u548c\u4e3b\u9898\u7ea7\u522b\u4e3a DomainParticipants \u63d0\u4f9b\u8bbf\u95ee\u63a7\u5236\u3002<\/li>\n<li><strong>\u6570\u636e\u52a0\u5bc6\uff1a<\/strong>DDS:Crypto:AES-GCM-GMAC\u63d2\u4ef6\u4f7f\u7528\u4f3d\u7f57\u74e6\u8ba1\u6570\u5668\u6a21\u5f0f (AES-GCM) \u4e2d\u7684\u9ad8\u7ea7\u52a0\u5bc6\u6807\u51c6 (AES) \u63d0\u4f9b\u7ecf\u8fc7\u8eab\u4efd\u9a8c\u8bc1\u7684\u52a0\u5bc6\u3002<\/li>\n<\/ul>\n<p>*\u6ce8\uff1a\u8be6\u89c1 <a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/security\/security.html#security\"><span class=\"std std-ref\">Security<\/span><\/a> \u3002<\/p>\n<h5>4.3.\u65e5\u5fd7<\/h5>\n<p>Fast DDS\u63d0\u4f9b\u4e86\u4e00\u4e2a\u53ef\u6269\u5c55\u7684\u65e5\u5fd7\u7cfb\u7edf\u3002Log\u7c7b\u516c\u5f00\u4e86\u4e09\u4e2a\u5b8f\u5b9a\u4e49\u4ee5\u7b80\u5316\u5176\u4f7f\u7528logInfo\u3001logWarning\u548clogError\u3002\u5b83\u4f7f\u7528\u6b63\u5219\u8868\u8fbe\u5f0f\u63d0\u4f9b\u6309\u7c7b\u522b\u8fc7\u6ee4\uff0c\u4ee5\u63a7\u5236\u65e5\u5fd7\u7684\u8be6\u7ec6\u7a0b\u5ea6\u3002\u65e5\u5fd7\u7cfb\u7edf\u914d\u7f6e\u7684\u8be6\u7ec6\u4fe1\u606f\u8be6\u89c1<a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/logging\/intro.html#dds-layer-log-intro\"><span class=\"std std-ref\">Logging<\/span><\/a>\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3 class=\"artdir1\">5.\u7f16\u8bd1\u548c\u6d4b\u8bd5<\/h3>\n<p class=\"artcon\">Fast-DDS \u7684\u6e90\u4ee3\u7801\u4f4d\u4e8e Github \u4e0a\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">mkdir ~\/project\/Fast-DDS\/src &amp;&amp; cd ~\/project\/Fast-DDS\/src\r\ngit clone https:\/\/github.com\/eProsima\/Fast-DDS.git  fastrtps\r\n# \u4f9d\u8d56\r\ngit clone https:\/\/github.com\/eProsima\/foonathan_memory_vendor.git\r\ngit clone https:\/\/github.com\/eProsima\/Fast-CDR.git  fastcdr\r\ngit clone https:\/\/github.com\/eProsima\/Fast-DDS-Gen.git  fastddsgen\r\ngit clone https:\/\/github.com\/eProsima\/IDL-Parser.git  fastddsgen\/thirdparty\/idl-parser\r\ngit clone https:\/\/github.com\/google\/googletest<\/code><\/pre>\n<h4 class=\"artcon\">5.1.\u6e90\u7801\u7f16\u8bd1<\/h4>\n<h6 class=\"artcon\">5.1.1.Linux\u6e90\u7801\u7f16\u8bd1<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># 1.\u5b89\u88c5\u4f9d\u8d56\r\nsudo apt install -y cmake g++ python3-pip wget git\r\n# asio\u5f02\u6b65\u7f51\u7edcIO\u5e93\u3001tinyxml\u89e3\u6790\u5668\r\nsudo apt install -y libasio-dev libtinyxml2-dev\r\n# openssl\r\nsudo apt install -y libssl-dev\r\n# Libp\u3001softhsm\u5b89\u5168\u5e93\r\nsudo apt install -y libp11-dev libengine-pkcs11-openssl\r\nsudo apt install -y softhsm2\r\nsudo usermod -a -G softhsm $USER\r\n# \u68c0\u67e5libp\u80fd\u5426\u627e\u5230softhsm\r\np11-kit list-modules\r\n# \u68c0\u67e5OpenSSL \u662f\u5426\u80fd\u591f\u8bbf\u95ee PKCS#11 \u5f15\u64ce\r\nopenssl engine pkcs11 -t\r\n\r\n# gtest\r\ngit clone https:\/\/github.com\/google\/googletest src\/googletest-distribution\r\nmkdir build &amp;&amp; cd build\r\ncmake ..\r\nmake\r\n\r\n# colcon\u3001vcstool\u7f16\u8bd1\u5de5\u5177\r\npip3 install -U colcon-common-extensions vcstool\r\n\r\n# jdk\u3001gradle \u7f16\u8bd1ddsgen\u7528\r\nsudo apt install -y openjdk-8-jdk  # gradle\r\n# download binary from https:\/\/services.gradle.org\/distributions\/gradle-6.4-bin.zip\r\nsudo mkdir \/opt\/gradle\r\nsudo unzip -d \/opt\/gradle gradle-6.4-bin.zip\r\nls \/opt\/gradle\/gradle-6.4\r\n# path\r\nexport PATH=$PATH:\/opt\/gradle\/gradle-6.4\/bin\r\n# run\r\ngradle -v\r\n\r\n# 2.vcs\u62c9\u53d6\u76f8\u5173\u6e90\u7801 \uff08foonathan_memory_vendor\u3001Fast-CDR\u3001Fast-DDS\u3001IDL-Parser\u7b49\uff09\r\nmkdir -p ~\/project\/Fast-DDS &amp;&amp; cd ~\/project\/Fast-DDS\r\nwget https:\/\/raw.githubusercontent.com\/eProsima\/Fast-DDS\/master\/fastrtps.repos\r\nmkdir src\r\nvcs import src &lt; fastrtps.repos\r\n# \u6ce8\uff1aFast-DDS\u4ee3\u7801\u5e93\u4f1a\u88ab\u91cd\u547d\u540d\u4e3afastrtps\uff0cFast-CDR\u91cd\u547d\u540d\u4e3afastcdr\u7b49\u3002\r\n\r\n# 3.\u7f16\u8bd1\r\n# 3.1.colcon\u7f16\u8bd1\r\ncolcon build\r\n# LIBRARY_PATH\r\nsource ~\/project\/Fast-DDS\/install\/setup.bash\r\n\r\n# 3.2.cmake\u7f16\u8bd1\uff08\u4e0ecolcon\u4e8c\u90091\u5373\u53ef\uff09\r\n# foonathan_memory_vendor\r\ncd ~\/project\/Fast-DDS\/src\/foonathan_memory_vendor\r\nmkdir build &amp;&amp; cd build\r\ncmake .. -DCMAKE_INSTALL_PREFIX=~\/project\/Fast-DDS\/install -DBUILD_SHARED_LIBS=ON\r\nsudo cmake --build . --target install\r\n# Fast-CDR\r\ncd ~\/project\/Fast-DDS\/src\/fastcdr\r\nmkdir build &amp;&amp; cd build\r\ncmake ..  -DCMAKE_INSTALL_PREFIX=~\/project\/Fast-DDS\/install\r\nsudo cmake --build . --target install\r\n# Fast-DDS\r\ncd ~\/project\/Fast-DDS\/src\/fastrtps\r\nmkdir build &amp;&amp; cd build\r\ncmake ..  -DCMAKE_INSTALL_PREFIX=~\/project\/Fast-DDS\/install -DCMAKE_PREFIX_PATH=~\/project\/Fast-DDS\/install\r\nsudo cmake --build . --target install\r\n# *\u6ce8\uff1a\u5982\u60f3\u5b89\u88c5\u5230\u64cd\u4f5c\u7cfb\u7edf\uff0c\u4fee\u6539\u6240\u6709\u7f16\u8bd1\u9009\u9879\u91cc\u7684\u4ee5\u4e0b\u53c2\u6570\u5373\u53ef\r\n# -DCMAKE_INSTALL_PREFIX=\/usr\/local\/ -DBUILD_SHARED_LIBS=ON\r\n\r\n# LIBRARY_PATH\r\nexport LD_LIBRARY_PATH=\/home\/work\/project\/Fast-DDS\/install\/lib\/\r\nor\r\nexport LD_LIBRARY_PATH=\/usr\/local\/lib\/\r\n\r\n\r\n# 4.dds python\r\nsudo apt install -y swig libpython3-dev\r\n# build\r\ncd ~\/project\/Fast-DDS\r\nvim fastrtps.repos\r\n  fastdds_python:\r\n  type: git\r\n  url: https:\/\/github.com\/eProsima\/Fast-DDS-python.git\r\n  version: main\r\n#wget https:\/\/raw.githubusercontent.com\/eProsima\/Fast-DDS-python\/main\/fastdds_python.repos\r\nvcs import src &lt; fastrtps.repos\r\ncolcon build\r\n# path\r\nsource ~\/project\/Fast-DDS\/install\/setup.bash\r\nexport LD_LIBRARY_PATH=\/home\/work\/project\/Fast-DDS\/install\/lib\/\r\n\r\n\r\n# 5.dds gen\r\n# build\r\ncd ~\/project\/\r\ngit clone --recursive https:\/\/github.com\/eProsima\/Fast-DDS-Gen.git\r\ncd Fast-DDS-Gen\r\n.\/gradlew assemble\r\n# path\r\nexport PATH=$PATH:~\/project\/Fast-DDS-Gen\/scripts<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h6 class=\"artcon\">5.1.2.Mac\u6e90\u7801\u7f16\u8bd1<\/h6>\n<pre class=\"pure-highlightjs\"><code class=\"\"># 1.\u5de5\u5177&amp;\u4f9d\u8d56\r\n# homebrew\r\n\/bin\/bash -c \"$(curl -fsSL https:\/\/raw.githubusercontent.com\/Homebrew\/install\/master\/install.sh)\"\r\n# cmake\u3001asio\u7b49\r\nbrew install cmake boost python3 wget    # \u5982\u679cbrew\u5b89\u88c5cmake\u5931\u8d25\uff0c\u53ef\u4ee5\u5230https:\/\/cmake.org\/download\/\u4e0b\u8f7ddmg\u5b89\u88c5\u5305\uff0c\u5b89\u88c5\u540e\u6267\u884csudo \"\/Applications\/CMake.app\/Contents\/bin\/cmake-gui\" --install \u5373\u53ef\r\nbrew install asio tinyxml2 openssl@1.1   # \u5982\u679cbrew\u5b89\u88c5asio\u5931\u8d25\uff0c\u53ef\u4ee5\u5230https:\/\/sourceforge.net\/projects\/asio\/files\/asio\/1.20.0%20%28Stable%29\/\u4e0b\u8f7d\u89e3\u538b\uff0c\u6267\u884c.\/configure --with-boost=\"\/usr\/local\/include\" &amp;&amp; make install \u5373\u53ef\r\n# colcon\u3001vcstool\r\npip3 install -U colcon-common-extensions vcstool\r\n\r\n# 2.vcs\u62c9\u53d6\u76f8\u5173\u6e90\u7801 \uff08foonathan_memory_vendor\u3001Fast-CDR\u3001Fast-DDS\u3001IDL-Parser\u7b49\uff09\r\nmkdir ~\/project\/Fast-DDS &amp;&amp; cd ~\/project\/Fast-DDS\r\nwget https:\/\/raw.githubusercontent.com\/eProsima\/Fast-DDS\/master\/fastrtps.repos\r\nmkdir src\r\nvcs import src &lt; fastrtps.repos\r\n# \u6ce8\uff1aFast-DDS\u4ee3\u7801\u5e93\u4f1a\u88ab\u91cd\u547d\u540d\u4e3afastrtps\uff0cFast-CDR\u91cd\u547d\u540d\u4e3afastcdr\u7b49\u3002\r\n\r\n# 3.1.colcon\u7f16\u8bd1\r\ncolcon build\r\n# LIBRARY_PATH\r\nsource ~\/project\/Fast-DDS\/install\/setup.bash\r\n\r\n# 3.2.cmake\u7f16\u8bd1\uff08\u4e0ecolcon\u4e8c\u90091\u5373\u53ef\uff09\r\n# foonathan_memory_vendor\r\ncd ~\/project\/Fast-DDS\/src\/foonathan_memory_vendor\r\nmkdir build &amp;&amp; cd build\r\ncmake .. -DCMAKE_INSTALL_PREFIX=~\/project\/Fast-DDS\/install -DBUILD_SHARED_LIBS=ON\r\nsudo cmake --build . --target install\r\n# Fast-CDR\r\ncd ~\/project\/Fast-DDS\/src\/fastcdr\r\nmkdir build &amp;&amp; cd build\r\ncmake ..  -DCMAKE_INSTALL_PREFIX=~\/project\/Fast-DDS\/install\r\nsudo cmake --build . --target install\r\n# Fast-DDS\r\ncd ~\/project\/Fast-DDS\/src\/fastrtps\r\nmkdir build &amp;&amp; cd build\r\ncmake ..  -DCMAKE_INSTALL_PREFIX=~\/project\/Fast-DDS\/install -DCMAKE_PREFIX_PATH=~\/project\/Fast-DDS\/install\r\nsudo cmake --build . --target install\r\n# *\u6ce8\uff1a\u5982\u60f3\u5b89\u88c5\u5230\u64cd\u4f5c\u7cfb\u7edf\uff0c\u4fee\u6539\u6240\u6709\u7f16\u8bd1\u9009\u9879\u91cc\u7684\u4ee5\u4e0b\u53c2\u6570\u5373\u53ef\r\n# -DCMAKE_INSTALL_PREFIX=\/usr\/local\/ -DBUILD_SHARED_LIBS=ON\r\n\r\n# LIBRARY_PATH\r\nexport LD_LIBRARY_PATH=\/home\/work\/project\/Fast-DDS\/install\/lib\/\r\nor\r\nexport LD_LIBRARY_PATH=\/usr\/local\/lib\/\r\n\r\n# 4.dds idl gen\r\n# \u5b89\u88c5\u7f16\u8bd1\u4f9d\u8d56 jdk\u3001gradle\r\n#jdk\u53ef\u4e0b\u8f7dmac dmg\u5b89\u88c5https:\/\/www.oracle.com\/java\/technologies\/downloads\/#jdk18-mac\r\n# \u7f16\u8bd1fastddsgen\r\ncd ~\/project\/Fast-DDS\/src\/fastddsgen\r\n.\/gradlew assemble\r\n<\/code><\/pre>\n<h4 class=\"artcon\">5.2.\u5e94\u7528\u5c42\u793a\u4f8b<\/h4>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u7f16\u8bd1\u793a\u4f8b\r\ncd ~\/project\/Fast-DDS\/src\/fastrtps\/examples\/cpp\/dds\/HelloWorldExample\r\nmkdir build &amp;&amp; cd build\r\ncmake ..\/\r\nmake\r\n\u6216\r\ncd ~\/project\/Fast-DDS\/\r\nvim src\/fastrtps\/CMakeLists.txt\r\n  option(COMPILE_EXAMPLES \"Build example\" ON)\r\n  option(INSTALL_EXAMPLES \"Install example\" ON)\r\ncolcon build\r\n# \u8fd0\u884c\u793a\u4f8b\r\n.\/DDSHelloWorldExample publisher\r\n  Starting \r\n  Publisher running 10 samples.\r\n  Publisher matched.\r\n  Message: HelloWorld with index: 1 SENT\r\n  Message: HelloWorld with index: 2 SENT\r\n  Message: HelloWorld with index: 3 SENT\r\n  Message: HelloWorld with index: 4 SENT\r\n  Message: HelloWorld with index: 5 SENT\r\n  Message: HelloWorld with index: 6 SENT\r\n  Message: HelloWorld with index: 7 SENT\r\n  Message: HelloWorld with index: 8 SENT\r\n  Message: HelloWorld with index: 9 SENT\r\n  Message: HelloWorld with index: 10 SENT\r\n.\/DDSHelloWorldExample subscriber\r\n  Starting \r\n  Subscriber running. Please press enter to stop the Subscriber\r\n  Subscriber matched.\r\n  Message HelloWorld 1 RECEIVED   # \u5982\u679csubscriber\u5728publisher\u540e\u542f\u52a8\uff0c\u5076\u53d1\u8fd9\u6761\u4f1a\u6536\u4e0d\u5230\uff0c\u9700\u8981QoS\u4fdd\u969c\r\n  Message HelloWorld 2 RECEIVED\r\n  Message HelloWorld 3 RECEIVED\r\n  Message HelloWorld 4 RECEIVED\r\n  Message HelloWorld 5 RECEIVED\r\n  Message HelloWorld 6 RECEIVED\r\n  Message HelloWorld 7 RECEIVED\r\n  Message HelloWorld 8 RECEIVED\r\n  Message HelloWorld 9 RECEIVED\r\n  Message HelloWorld 10 RECEIVED\r\n  Subscriber unmatched.<\/code><\/pre>\n<p>\u5982\u679c\u53cd\u590d\u591a\u6b21\u5c1d\u8bd5\u5148\u542f\u52a8<code class=\"\">publisher<\/code>\u518d\u542f\u52a8<code class=\"\">subscriber<\/code>\u65f6\uff0c\u4f1a\u53d1\u73b0\u5076\u53d1\u7b2c1\u6761\u6d88\u606fsub\u7aef\u6ca1\u6536\u5230\u7684\u60c5\u51b5\u3002\u5176\u539f\u56e0\u4e3asubscriber\u7684matched\u56de\u8c03\u53ef\u80fd\u665a\u4e8epublisher\u7684matched\u7ea670ms\uff0c\u6b64\u65f6\u5982\u679c\u6ca1\u6709qos\u7b56\u7565\u4fdd\u969c\uff0cpub\u65f6\uff0csub\u7aef\u53ef\u80fd\u8fd8\u6ca1matched\uff0c\u4f1a\u5bfc\u81f4sub\u7aef\u4e22\u5931\u6570\u636e\u3002\u9a8c\u8bc1pub\/sub matched\u65f6\u95f4\u5dee\u53ca\u89e3\u51b3\u4e22\u6570\u636e\u95ee\u9898\u7684\u65b9\u6cd5\u5982\u4e0b\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># 1.\u5728pub\/sub\u7684match\u548c\u6536\u53d1\u6d88\u606f\u7684\u5730\u65b9\u589e\u52a0\u5fae\u79d2\u65f6\u95f4\u6233\u6253\u5370\r\n# pub\r\nuint64_t ts = std::chrono::duration_cast&lt;std::chrono::microseconds&gt;(std::chrono::system_clock::now().time_since_epoch()).count();\r\nstd::cout &lt;&lt; ts &lt;&lt; \" Publisher matched.\" &lt;&lt; std::endl;\r\n\r\nuint64_t ts = std::chrono::duration_cast&lt;std::chrono::microseconds&gt;(std::chrono::system_clock::now().time_since_epoch()).count();\r\nstd::cout &lt;&lt; ts &lt;&lt; \" Message: \" &lt;&lt; hello_.message() &lt;&lt; \" with index: \" &lt;&lt; hello_.index() &lt;&lt; \" SENT\" &lt;&lt; std::endl;\r\n\r\n# sub\r\nuint64_t ts = std::chrono::duration_cast&lt;std::chrono::microseconds&gt;(std::chrono::system_clock::now().time_since_epoch()).count();\r\nstd::cout &lt;&lt; ts &lt;&lt; \" Subscriber matched.\" &lt;&lt; std::endl;\r\n\r\nuint64_t ts = std::chrono::duration_cast&lt;std::chrono::microseconds&gt;(std::chrono::system_clock::now().time_since_epoch()).count();\r\nstd::cout &lt;&lt; ts &lt;&lt; \" Message \" &lt;&lt; hello_.message() &lt;&lt; \" \" &lt;&lt; hello_.index() &lt;&lt; \" RECEIVED\" &lt;&lt; std::endl;\r\n\r\n# \u542f\u52a8\r\n.\/DDSHelloWorldExample publisher\r\n1670310329490553 Starting \r\n1670310329500484 Publisher running 10 samples.\r\n1670310332<span style=\"color: #ff0000;\">695000<\/span> Publisher matched.\r\n1670310332<span style=\"color: #ff0000;\">702463<\/span> Message: HelloWorld with index: 1 SENT  # \u6d88\u606f1\u7684pub\u65f6\u95f4\u65e9\u4e8esub matched\u65f6\u95f4 \r\n1670310332802577 Message: HelloWorld with index: 2 SENT\r\n1670310332902696 Message: HelloWorld with index: 3 SENT\r\n1670310333002813 Message: HelloWorld with index: 4 SENT\r\n1670310333102933 Message: HelloWorld with index: 5 SENT\r\n1670310333203057 Message: HelloWorld with index: 6 SENT\r\n1670310333303187 Message: HelloWorld with index: 7 SENT\r\n1670310333403318 Message: HelloWorld with index: 8 SENT\r\n1670310333503451 Message: HelloWorld with index: 9 SENT\r\n1670310333603579 Message: HelloWorld with index: 10 SENT\r\n\r\n.\/DDSHelloWorldExample subscriber\r\n1670310332685584 Starting \r\n1670310332694407 Subscriber running. Please press enter to stop the Subscriber\r\n1670310332<span style=\"color: #ff0000;\">765089<\/span> Subscriber matched.\r\n1670310332845676 Message HelloWorld 2 RECEIVED  # <span style=\"color: #ff0000;\">\u6d88\u606f\uff11\u4e22\u5931<\/span>\r\n1670310332902758 Message HelloWorld 3 RECEIVED\r\n1670310333002843 Message HelloWorld 4 RECEIVED\r\n1670310333102963 Message HelloWorld 5 RECEIVED\r\n1670310333203090 Message HelloWorld 6 RECEIVED\r\n1670310333303222 Message HelloWorld 7 RECEIVED\r\n1670310333403352 Message HelloWorld 8 RECEIVED\r\n1670310333503519 Message HelloWorld 9 RECEIVED\r\n1670310333603613 Message HelloWorld 10 RECEIVED\r\n1670310333703766 Subscriber unmatched.\r\n\r\n\r\n# 2.\u589e\u52a0\u53ef\u9760\u6027QoS\r\n# pub qos\r\n    wqos.<span style=\"color: #ff0000;\">history<\/span>().depth = <span style=\"color: #ff0000;\">3<\/span>;\r\n    wqos.reliability().kind = <span style=\"color: #ff0000;\">RELIABLE<\/span>_RELIABILITY_QOS;\r\n# sub qos\r\n    rqos.history().depth = 3;\r\n    rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;\r\n# \u542f\u52a8\u5373\u53ef\u4fdd\u969c\u6570\u636e\u4e0d\u4e22\u5931\r\n.\/DDSHelloWorldExample publisher                                                                                                               work@mars\r\n1670311352137530 Starting \r\n1670311352144375 Publisher running 10 samples.\r\n1670311353<span style=\"color: #ff0000;\">318030<\/span> Publisher matched.\r\n1670311353<span style=\"color: #ff0000;\">345727<\/span> Message: HelloWorld with index: 1 SENT # \u6d88\u606f1\u7684pub\u65f6\u95f4\u65e9\u4e8esub matched\u65f6\u95f4 \r\n1670311353446010 Message: HelloWorld with index: 2 SENT\r\n1670311353546344 Message: HelloWorld with index: 3 SENT\r\n1670311353646654 Message: HelloWorld with index: 4 SENT\r\n1670311353746932 Message: HelloWorld with index: 5 SENT\r\n1670311353847223 Message: HelloWorld with index: 6 SENT\r\n1670311353947544 Message: HelloWorld with index: 7 SENT\r\n1670311354047823 Message: HelloWorld with index: 8 SENT\r\n1670311354148167 Message: HelloWorld with index: 9 SENT\r\n1670311354248508 Message: HelloWorld with index: 10 SENT\r\n\r\n.\/DDSHelloWorldExample subscriber\r\n1670311353309845 Starting \r\n1670311353317186 Subscriber running. Please press enter to stop the Subscriber\r\n1670311353<span style=\"color: #ff0000;\">388798<\/span> Subscriber matched.\r\n1670311353470344 Message HelloWorld 1 RECEIVED  #\u3000<span style=\"color: #ff0000;\">\u786e\u4fdd<\/span><span style=\"color: #ff0000;\">\u6d88\u606f\uff11\u9001\u8fbe<\/span>\r\n1670311353546459 Message HelloWorld 2 RECEIVED\r\n1670311353646771 Message HelloWorld 3 RECEIVED\r\n1670311353747064 Message HelloWorld 4 RECEIVED\r\n1670311353847348 Message HelloWorld 5 RECEIVED\r\n1670311353947673 Message HelloWorld 6 RECEIVED\r\n1670311354047942 Message HelloWorld 7 RECEIVED\r\n1670311354148288 Message HelloWorld 8 RECEIVED\r\n1670311354248627 Message HelloWorld 9 RECEIVED\r\n1670311354349079 Subscriber unmatched.<\/code><\/pre>\n<h4>5.3.\u4f7f\u7528idl\u751f\u6210\u5e94\u7528\u5c42\u4ee3\u7801<\/h4>\n<pre class=\"pure-highlightjs\" style=\"padding-left: 40px;\"><code class=\"\"># \u6839\u636eidl\u751f\u6210\u4ee3\u7801\r\n# define idl\r\ncd ~\/project\/Fast-DDS\/src\/fastrtps\/examples\/cpp\/dds\/\r\nmkdir test &amp;&amp; cd test\r\ncp ..\/HelloWorldExample\/HelloWorld.idl .\/Test.idl\r\nvim Test.idl\r\n  struct Test  # \u6570\u636e\u7c7b\u578b\r\n  {\r\n\t@key unsigned long index;  # \u7d22\u5f15\r\n\tstring message;       # \u6d88\u606f\r\n  };\r\n\r\n# path\r\nsource \/home\/work\/project\/Fast-DDS\/install\/setup.bash\r\nexport LD_LIBRARY_PATH=\/home\/work\/project\/Fast-DDS\/install\/lib\/\r\nexport PATH=$PATH:\/home\/work\/project\/Fast-DDS\/src\/fastddsgen\/scripts\r\n\r\n# gen\r\n# \u751f\u6210idl\u5b9a\u4e49\u7c7b\u578b\u7684c++\u7c7b\u4ee3\u7801\r\nfastddsgen Test.idl -d . -replace\r\n    Test.h\/cxx                # \u5305\u542bidl\u5b9a\u4e49\u5c5e\u6027\u4ee5\u53ca\u5e8f\u5217\u5316\u65b9\u6cd5\u7684\u7c7b\r\n    TestPubSubTypes.h\/cxx     # \u96c6\u6210\u81eafastdds::dds::TopicDataType\u7684topic\u4f20\u8f93\u6570\u636e\u7c7b\uff0c\u6301\u6709Test type\u7c7b\u578b\u5c5e\u6027\r\n# \u751f\u6210\u5e94\u7528\u8c03\u7528\u793a\u4f8b\u4ee3\u7801\r\nfastddsgen Test.idl -example CMake -d . \r\n    TestPublisher.h\/cxx       # \u53d1\u5e03\u7c7b\u5c01\u88c5\uff0c\u5305\u542binit()\u3001run()\u65b9\u6cd5\uff0c\u91cd\u5199on_publication_matched listener\u56de\u8c03\r\n    TestSubscriber.h\/cxx      # \u8ba2\u9605\u7c7b\u5c01\u88c5\uff0c\u5305\u542binit()\u3001run()\u65b9\u6cd5\uff0c\u91cd\u5199on_subscription_matched\/on_data_available listener\u56de\u8c03\r\n    TestPubSubMain.cxx        # main\u5165\u53e3\uff0c\u5b9e\u4f8b\u5316TestPublisher\/TestSubscriber\u5e76\u8c03\u7528init()\u548crun()\r\n\r\n# \u751f\u6210python\u793a\u4f8b\r\n#fastddsgen Test.idl -python -example CMake -d .\r\n\r\n# \u7f16\u8bd1\u8fd0\u884c\u4ee3\u7801\r\ncmake ..\r\ncmake --build .\r\n.\/Test publisher\r\n.\/Test subscriber<\/code><\/pre>\n<h4 class=\"artcon\">5.4.\u5e94\u7528\u5c42\u4ee3\u7801\u7814\u8bfb<\/h4>\n<p>\u4ee3\u7801\u592a\u957f\u4e0d\u5728\u8fd9\u91cc\u8d34\u4e86\uff0c\u7b80\u5355\u6765\u8bf4<code class=\"\">TestPublisher<\/code>\u3001<code class=\"\">TestSubscriber<\/code>\u4e3b\u8981\u505a\u4e86\u8fd9\u4e48\u4e24\u4ef6\u4e8b\uff1a<\/p>\n<ul>\n<li>\u5b9a\u4e49participant\u6210\u5458\u3001subscriber\u8ba2\u9605\/publisher\u53d1\u5e03\u3001data reader\u8bfb\/writer\u5199\u3001topic\u3001type\uff08idl\u7c7b\u578b\uff09\u3001listener\u76d1\u542c\u5668\uff0c\u5e76\u5728init()\u65f6\u521d\u59cb\u5316\uff08\u5173\u7cfb\u94fe\u4e0efastdds\u67b6\u6784\u56fe\u76f8\u540c\uff09\uff0c\u5728run()\u65f6\u8fdb\u884c\u6d88\u606f\u7684pub\/sub\u5904\u7406\u3002<\/li>\n<li>\u91cd\u5199data reader\/writer listener\u76d1\u542c\u5668\u7684on_publication_matched\u3001on_subscription_matched\u3001on_data_available\u56de\u8c03\u65b9\u6cd5\uff0c\u5728\u53d1\u5e03\u6216\u65b0\u6d88\u606f\u5230\u6765\u65f6\uff0c\u8fdb\u884c\u76f8\u5e94\u7684\u5904\u7406\u3002<\/li>\n<\/ul>\n<p>\u4f20\u8f93\u7684\u6d88\u606f\u683c\u5f0f\u7c7b\u4f3cprotobuf\uff0c\u5728.idl\u5185\u5b9a\u4e49\u540e\uff0c\u901a\u8fc7fastddsgen\u81ea\u52a8\u751f\u6210\u5bf9\u5e94\u7c7b\uff0c\u5728\u5e94\u7528\u4e2d\u4f7f\u7528\u5373\u53ef\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u56db\u3001\u603b\u7ed3<\/h1>\n<p>DDS\u5728\u670d\u52a1\u8d28\u91cf\uff08QoS\uff09\u4e0a\u63d0\u4f9b\u975e\u5e38\u591a\u7684\u4fdd\u969c\u9014\u5f84\uff0c\u8fd9\u4e5f\u662f\u5b83\u9002\u7528\u4e8e\u56fd\u9632\u519b\u4e8b\u3001\u5de5\u4e1a\u63a7\u5236\u8fd9\u4e9b\u9ad8\u53ef\u9760\u6027\u3001\u53ef\u5b89\u5168\u6027\u5e94\u7528\u9886\u57df\u7684\u539f\u56e0\u3002\u4f46\u8fd9\u4e9b\u5e94\u7528\u90fd\u5de5\u4f5c\u5728\u6709\u7ebf\u7f51\u7edc\u4e0b\uff0c\u5728\u65e0\u7ebf\u7f51\u7edc\uff0c\u7279\u522b\u662f\u8d44\u6e90\u53d7\u9650\u7684\u60c5\u51b5\u4e0b\u5e94\u7528\u8fd8\u6bd4\u8f83\u5c11\u89c1\u3002\u4f5c\u4e3a\u4e00\u4e2a\u8de8\u57df\u901a\u4fe1\u4e2d\u95f4\u4ef6\u534f\u8bae\uff0c\u5176\u975e\u5e38\u9002\u5408\u9700\u8981\u540c\u65f6\u652f\u6301\u8fdb\u7a0b\u5185\u3001\u8fdb\u7a0b\u95f4\u3001\u8de8\u57df\u901a\u4fe1 \u5e76\u5bf9\u5b9e\u65f6\u6027\u548c\u53ef\u9760\u6027\u8981\u6c42\u8f83\u9ad8\u7684\u573a\u666f\u3002<\/p>\n<p>\u597d\u4e86\uff0c\u4eca\u5929\u5148\u5230\u8fd9\u91cc\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u5c06\u7ee7\u7eed\u6df1\u5165\u7684\u7814\u7a76\u4e0bFastDDS\u7684\u5e95\u5c42\u5b9e\u73b0\u673a\u5236\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>yan 22.8.20<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/DDS_CSIT\/article\/details\/104607476\" target=\"_blank\" rel=\"noopener\">\u4e00\u6587\u8bfb\u61c2\u201c\u6570\u636e\u5206\u53d1\u670d\u52a1DDS\u201d\uff08Data Distribution Service\uff0cRTPS\uff0cOMG\uff09<\/a><\/p>\n<p><a href=\"http:\/\/www.uml.org.cn\/zjjs\/202203081.asp\" target=\"_blank\" rel=\"noopener\">DDS\u4e0eFastRTPS<\/a><\/p>\n<p><a href=\"https:\/\/github.com\/eProsima\/Fast-DDS\" target=\"_blank\" rel=\"noopener\">eProsima\/Fast-DDS<\/a><\/p>\n<p><a href=\"https:\/\/fast-rtps.docs.eprosima.com\/en\/latest\/sources.html\">Fast RTPS Installation from Sources<\/a><\/p>\n<p><a href=\"https:\/\/blog.csdn.net\/weixin_41770169\/article\/details\/85758091\" target=\"_blank\" rel=\"noopener\">mac\u4e0bcmake\u5b89\u88c5\u3001\u914d\u7f6e\u548c\u4f7f\u7528<\/a><\/p>\n<p><a href=\"http:\/\/blog.chinaunix.net\/uid-27875-id-5847092.html\" target=\"_blank\" rel=\"noopener\">Fast RTPS\u4e0eCyclone DDS\u4e0eOpenSplice DDS\u5bf9\u6bd4\u6d4b\u8bd5<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>DDS\u6700\u65e9\u5e94\u7528\u5728\u7f8e\u56fd\u6d77\u519b\u7cfb\u7edf\uff0c\u76ee\u524d\u5df2\u5e7f\u6cdb\u5e94\u7528\u4e8e\u519b\u5de5\u3001\u673a\u5668\u4eba\u3001\u81ea\u52a8\u9a7e\u9a76\u7b49\u9886\u57df\uff0c\u56fd\u9645\u4e3b\u6d41\u519b\u5de5\u5382\u5546\u3001ROS2\u64cd\u4f5c\u7cfb\u7edf [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1227,1293],"tags":[1228,1229,1231,1230],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6716"}],"collection":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=6716"}],"version-history":[{"count":4,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6716\/revisions"}],"predecessor-version":[{"id":7369,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6716\/revisions\/7369"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6716"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=6716"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6716"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}