{"id":6809,"date":"2022-09-01T06:57:15","date_gmt":"2022-08-31T22:57:15","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=6809"},"modified":"2022-09-02T11:29:11","modified_gmt":"2022-09-02T03:29:11","slug":"%e5%88%86%e5%b8%83%e5%bc%8f%e5%ae%9e%e6%97%b6%e9%80%9a%e4%bf%a1-dds%e8%bf%9b%e9%98%b6","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=6809","title":{"rendered":"\u5206\u5e03\u5f0f\u5b9e\u65f6\u901a\u4fe1\u2014DDS\u8fdb\u9636"},"content":{"rendered":"<p>\u4e0a\u4e00\u6b21\u6211\u4eec\u5bf9DDS\u6709\u4e86\u57fa\u7840\u7684\u4e86\u89e3\uff0c\u8fd9\u4e00\u6b21\u6211\u4eec\u5bf9FastDDS\u5173\u952e\u7279\u6027\u548c\u5178\u578b\u573a\u666f\u7684\u5b9e\u73b0\u673a\u5236\u8fdb\u884c\u8fdb\u4e00\u6b65\u7684\u4e86\u89e3\u3002<\/p>\n<h1>\u4e00\u3001\u673a\u5236<\/h1>\n<h3>1.\u4f20\u8f93<\/h3>\n<p>\u4f20\u8f93\u5c42\u63d0\u4f9b DDS \u5b9e\u4f53\u4e4b\u95f4\u7684\u901a\u4fe1\u670d\u52a1\uff0c\u8d1f\u8d23\u901a\u8fc7\u7269\u7406\u4f20\u8f93\u5b9e\u9645\u53d1\u9001\u548c\u63a5\u6536\u6d88\u606f\u3002DDS \u5c42\u5c06\u6b64\u670d\u52a1\u7528\u4e8e\u7528\u6237\u6570\u636e\u548c\u53d1\u73b0\u6d41\u91cf\u901a\u4fe1\u3002<\/p>\n<p>\u4e0d\u540c\u4f20\u8f93\u65b9\u5f0f\u4e4b\u95f4\u7684\u6bd4\u8f83\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/transport_comparison.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6824\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/transport_comparison.png\" alt=\"\" width=\"952\" height=\"413\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/transport_comparison.png 952w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/transport_comparison-300x130.png 300w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/transport_comparison-768x333.png 768w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/transport_comparison-624x271.png 624w\" sizes=\"(max-width: 952px) 100vw, 952px\" \/><\/a><\/p>\n<ul>\n<li><strong>UDP\/TCP\u4f20\u8f93<\/strong>\uff1a\u9ed8\u8ba4UDPv4 \u4f20\u8f93\u3002\u76f8\u6bd4\u4e8eTCP\uff0cUDP\u5177\u6709\u66f4\u597d\u7684\u6027\u80fd\u3002<\/li>\n<li><strong>SHM\u4f20\u8f93<\/strong>\uff1a\u5728\u540c\u4e00\u4e3b\u673a\u4e0a\u8fd0\u884c\u7684\u5b9e\u4f53\u4e4b\u95f4\u7684\u5171\u4eab\u5185\u5b58\u901a\u4fe1\u3002 \u9ed8\u8ba4\u60c5\u51b5\u4e0b\u4f1a\u5728\u65b0\u7684<span class=\"std std-ref\">DomainParticipant<\/span>\u4e0a\u521b\u5efa\u6b64\u4f20\u8f93\u3002<\/li>\n<li><strong>Data-Sharing\u4ea4\u4ed8<\/strong>\uff1a\u901a\u8fc7\u5171\u4eab\u5185\u5b58\u4e0e<span class=\"std std-ref\">DataReader\u5171\u4eab<\/span><span class=\"std std-ref\">DataWriter<\/span>\u7684\u5386\u53f2\u8bb0\u5f55\uff0c\u4ece\u800c\u52a0\u5feb\u540c\u4e00\u673a\u5668\u5185\u5b9e\u4f53\u4e4b\u95f4\u7684\u901a\u4fe1\u3002\u8fd9\u907f\u514d\u4e86\u4f20\u8f93\u5c42\u4e2d\u6d89\u53ca\u7684\u4efb\u4f55\u5f00\u9500\uff0c\u6709\u6548\u5730\u907f\u514d\u4e86 DataWriter \u548c DataReader \u4e4b\u95f4\u7684\u4efb\u4f55\u6570\u636e\u590d\u5236\u3002\u4e0e<span class=\"std std-ref\">\u5171\u4eab\u5185\u5b58\u4f20\u8f93<\/span>\u7684\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\u907f\u514d\u4e86\u4f20\u8f93\u7684\u6570\u636e\u4ece DataWriter \u5386\u53f2\u8bb0\u5f55\u590d\u5236\u5230\u4f20\u8f93\uff0c\u7136\u540e\u4ece\u4f20\u8f93\u590d\u5236\u5230 DataReader\u7684\u526f\u672c\u3002<\/li>\n<li><strong>\u8fdb\u7a0b\u5185\u4ea4\u4ed8<\/strong>\uff1a<span class=\"std std-ref\">\u53d1\u5e03<\/span>\u8005\u76f4\u63a5\u8c03\u7528<span class=\"std std-ref\">\u8ba2\u9605\u8005<\/span>\u7684\u63a5\u6536\u51fd\u6570\u3002\u5b8c\u5168\u907f\u514d\u4f20\u8f93\u7684\u590d\u5236\u6216\u53d1\u9001\u64cd\u4f5c\uff0c\u540c\u65f6\u907f\u514d\u4e86\u786e\u8ba4\u673a\u5236\u3002<\/li>\n<li><strong>\u767d\u540d\u5355<\/strong>\uff1a\u53ef\u4ee5\u901a\u8fc7\u5c06 IP \u5730\u5740\u6dfb\u52a0\u5230<code class=\"xref cpp cpp-var docutils literal notranslate\"><span class=\"pre\">interfaceWhiteList<\/span><\/code> \u5b57\u6bb5\u6765\u5b9e\u73b0\u7684TCP\/UDP\u7684\u8bbf\u95ee\u767d\u540d\u5355\u63a7\u5236\u3002<\/li>\n<\/ul>\n<h3>2.\u6301\u4e45\u5316<\/h3>\n<p>\u9ed8\u8ba4QoS\u65f6\uff0cDataWriterHistory\u3001DataReaderHistory\u672a\u6301\u4e45\u5316\uff0c\u610f\u5916\u9000\u51fa\u65f6\u6570\u636e\u5c06\u4f1a\u4e22\u5931\u3002\u4e3a\u6b64FastDDS\u63d0\u4f9b\u4e86<span class=\"std std-ref\">DurabilityQosPolicy\u6301\u4e45\u5316\u7b56\u7565\uff0c\u53ef\u4ee5\u5c06\u6570\u636e\u6301\u4e45\u5316\u5230\u6570\u636e\u5e93\u4e2d\uff0c\u5e76\u5728DataWriters\u3001DataReaders\u91cd\u542f\u65f6\u81ea\u52a8\u52a0\u8f7d\u6062\u590d\uff0c\u4ee5\u5b9e\u73b0\u5728\u610f\u5916\u5173\u95ed\u7b49\u60c5\u51b5\u4e0b\u589e\u52a0\u5e94\u7528\u7a0b\u5e8f\u7684\u7a33\u5065\u6027\u3002<\/span><\/p>\n<p>FastDDS\u91c7\u7528SQLite3\u5b9e\u73b0\u6301\u4e45\u5316\u5b58\u8d2e\uff0c\u901a\u8fc7\u914d\u7f6eDurabilityQosPolicyKind\u4e3a TRANSIENT_DURABILITY_QOS\u5f00\u542f\u6301\u4e45\u5316\u7b56\u7565\u3002<span style=\"font-size: 1rem;\">\u4e3a\u907f\u514d\u56e0\u5e76\u53d1\u8bbf\u95ee SQLite3 \u6570\u636e\u5e93\u800c\u5bfc\u81f4\u4e0d\u5fc5\u8981\u7684\u5ef6\u8fdf\uff0c\u5efa\u8bae\u4e3a\u6bcf\u4e2a DataWriter \u548c DataReader \u6307\u5b9a\u4e0d\u540c\u7684\u6570\u636e\u5e93\u6587\u4ef6\u3002<\/span><\/p>\n<h3>3.\u81ea\u53d1\u73b0<\/h3>\n<p>\u81ea\u53d1\u73b0\u4e3b\u8981\u901a\u8fc7\u591a\u64ad\u901a\u4fe1\u5b9e\u73b0\uff0c\u5141\u8bb8\u8de8\u57df<span class=\"std std-ref\">\u53c2\u4e0e\u8005Participant\u81ea\u52a8\u67e5\u627e\u548c\u5339\u914d<\/span><span class=\"std std-ref\">DataWriters<\/span>\u548c<span class=\"std std-ref\">DataReader\u3002<\/span><\/p>\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<h5>3.1.\u53d1\u73b0\u9636\u6bb5<\/h5>\n<ol class=\"arabic simple\">\n<li><strong><span class=\"std std-ref\">Participant Discovery Phase \u53c2\u4e0e\u8005<\/span>\u53d1\u73b0\u9636\u6bb5\uff08PDP\uff09<\/strong>\uff1a\u5728\u6b64\u9636\u6bb5\uff0c<code class=\"xref cpp cpp-class docutils literal notranslate\"><span class=\"pre\">DomainParticipants<\/span><\/code>\u786e\u8ba4\u5f7c\u6b64\u7684\u5b58\u5728\u3002\u4e3a\u6b64\uff0c\u6bcf\u4e2a DomainParticipant \u90fd\u4f1a\u4fa6\u542c\u5e76\u5b9a\u671f\u53d1\u9001\u516c\u544a\u6d88\u606f\u5230\u5143\u6570\u636e\u548c\u7528\u6237\u6570\u636e\u6d41\u91cf\u7684\u5355\u64ad\u5730\u5740\uff08IP \u548c\u7aef\u53e3\uff09\u3002\u5f53\u4e24\u4e2a\u7ed9\u5b9a\u7684 DomainParticipants \u5b58\u5728\u4e8e\u540c\u4e00\u4e2a DDS \u57df\u4e2d\u65f6\uff0c\u5b83\u4eec\u5c06\u53d1\u73b0\u5bf9\u65b9\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c\u901a\u77e5\u6d88\u606f\u4f7f\u7528\u4f17\u6240\u5468\u77e5\u7684\u591a\u64ad\u5730\u5740\u548c\u7aef\u53e3\uff08\u4f7f\u7528 <code class=\"xref cpp cpp-type docutils literal notranslate\"><span class=\"pre\">DomainId<\/span><\/code>\u8ba1\u7b97\uff09\u53d1\u9001\u3002\u6b64\u5916\uff0c\u53ef\u4ee5\u6307\u5b9a\u5730\u5740\u5217\u8868\u4ee5\u4f7f\u7528\u5355\u64ad\u53d1\u9001\u901a\u77e5\uff08\u53c2\u89c1<span class=\"std std-ref\">\u521d\u59cb\u5bf9\u7b49<\/span>\u70b9\uff09\u3002\u6b64\u5916\uff0c\u8fd8\u53ef\u4ee5\u914d\u7f6e\u6b64\u7c7b\u516c\u544a\u7684\u5468\u671f\uff08\u8bf7\u53c2\u9605\u00a0<span class=\"std std-ref\">\u53d1\u73b0\u914d\u7f6e<\/span>\uff09\u3002<\/li>\n<li><strong>Endpoint Discovery Phase \u7aef\u70b9\u53d1\u73b0\u9636\u6bb5\uff08EDP\uff09<\/strong>\uff1a\u5728\u8fd9\u4e2a\u9636\u6bb5\uff0c<code class=\"xref cpp cpp-class docutils literal notranslate\"><span class=\"pre\">DataWriters<\/span><\/code>\u548c<code class=\"xref cpp cpp-class docutils literal notranslate\"><span class=\"pre\">DataReaders<\/span><\/code>\u76f8\u4e92\u786e\u8ba4\u3002\u4e3a\u6b64\uff0cDomainParticipants \u4f7f\u7528 PDP \u671f\u95f4\u5efa\u7acb\u7684\u901a\u4fe1\u901a\u9053\u76f8\u4e92\u5171\u4eab\u6709\u5173\u5176 DataWriters \u548c DataReader \u7684\u4fe1\u606f\u3002\u9664\u5176\u4ed6\u5916\uff0c\u6b64\u4fe1\u606f\u5305\u542b<code class=\"xref cpp cpp-class docutils literal notranslate\"><span class=\"pre\">Topic<\/span><\/code>\u548c \u6570\u636e\u7c7b\u578b\u3002\u5bf9\u4e8e\u8981\u5339\u914d\u7684\u4e24\u4e2a\u7aef\u70b9\uff0c\u5b83\u4eec\u7684\u4e3b\u9898\u548c\u6570\u636e\u7c7b\u578b\u5fc5\u987b\u4e00\u81f4\u3002\u4e00\u65e6 DataWriter \u548c DataReader \u5339\u914d\uff0c\u5b83\u4eec\u5c31\u53ef\u4ee5\u53d1\u9001\/\u63a5\u6536\u7528\u6237\u6570\u636e\u3002<\/li>\n<\/ol>\n<h5>3.2.\u53d1\u73b0\u673a\u5236<\/h5>\n<ul class=\"simple\">\n<li><strong><span class=\"std std-ref\">\u7b80\u5355\u53d1\u73b0<\/span><\/strong>\uff1a\u8fd9\u662f\u9ed8\u8ba4\u673a\u5236\u3002\u5b83\u652f\u6301 PDP \u548c EDP \u7684RTPS \u6807\u51c6\uff0c\u56e0\u6b64\u63d0\u4f9b\u4e0e\u4efb\u4f55\u5176\u4ed6 DDS \u548c RTPS \u5b9e\u73b0\u7684\u517c\u5bb9\u6027\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/09\/dds-simple-discovery.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6862\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/09\/dds-simple-discovery.png\" alt=\"\" width=\"324\" height=\"154\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/09\/dds-simple-discovery.png 324w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/09\/dds-simple-discovery-300x143.png 300w\" sizes=\"(max-width: 324px) 100vw, 324px\" \/><\/a><\/p>\n<ul class=\"simple\">\n<li><strong><span class=\"std std-ref\">\u9759\u6001\u53d1\u73b0<\/span><\/strong>\uff1a\u6b64\u673a\u5236\u4f7f\u7528\u7b80\u5355\u53c2\u4e0e\u8005\u53d1\u73b0\u534f\u8bae (SPDP) \u8fdb\u884c PDP \u9636\u6bb5\uff0c\u4f46\u5141\u8bb8\u5728\u6240\u6709\u6570\u636e\u5199\u5165\u5668\u548c\u6570\u636e\u8bfb\u53d6\u5668\u7684 IP \u548c\u7aef\u53e3\u3001\u6570\u636e\u7c7b\u578b\u548c\u4e3b\u9898\u662f\u4e8b\u5148\u5df2\u77e5\u7684\u3002<\/li>\n<li><strong><span class=\"std std-ref\">\u53d1\u73b0\u670d\u52a1\u5668<\/span><\/strong>\uff1a\u6b64\u53d1\u73b0\u673a\u5236\u4f7f\u7528\u96c6\u4e2d\u5f0f\u53d1\u73b0\u67b6\u6784\uff0c\u5176\u4e2d\u57df\u53c2\u4e0e\u8005\uff08\u79f0\u4e3a\u670d\u52a1\u5668\uff09\u5145\u5f53\u5143\u6d41\u91cf\u53d1\u73b0\u7684\u4e2d\u5fc3\u3002<\/li>\n<\/ul>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/09\/dds-discovery-server.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6864\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/09\/dds-discovery-server.png\" alt=\"\" width=\"227\" height=\"251\" \/><\/a><\/p>\n<ul class=\"simple\">\n<li><strong>\u624b\u52a8\u53d1\u73b0<\/strong>\uff1a\u6b64\u673a\u5236\u4ec5\u4e0e RTPS \u5c42\u517c\u5bb9\u3002\u5b83\u7981\u7528 PDP\uff0c\u8ba9\u7528\u6237\u624b\u52a8\u5339\u914d\u548c\u53d6\u6d88\u5339\u914d<code class=\"xref cpp cpp-class docutils literal notranslate\"><span class=\"pre\">RTPSParticipants<\/span><\/code>,\u00a0<code class=\"xref cpp cpp-class docutils literal notranslate\"><span class=\"pre\">RTPSReaders<\/span><\/code>\uff0c\u5e76\u00a0<code class=\"xref cpp cpp-class docutils literal notranslate\"><span class=\"pre\">RTPSWriters<\/span><\/code>\u4f7f\u7528\u5176\u9009\u62e9\u7684\u4efb\u4f55\u5916\u90e8\u5143\u4fe1\u606f\u901a\u9053\u3002\u56e0\u6b64\uff0c\u7528\u6237\u5fc5\u987b\u8bbf\u95ee\u7531DomainParticipant\u5b9e\u73b0\u7684RTPSParticipant\uff0c\u5e76\u76f4\u63a5\u5339\u914dRTPS Entities\u3002<\/li>\n<\/ul>\n<h5>3.3.\u53d1\u73b0\u8bbe\u7f6e<\/h5>\n<ul>\n<li><strong><span class=\"std std-ref\">\u5e38\u89c4\u8bbe\u7f6e<\/span><\/strong>\uff1a\u6307\u5b9a\u53d1\u73b0\u534f\u8bae\uff08\u7c7b\u578b\u540c\u4e0a\u53d1\u73b0\u673a\u5236\uff09\u3001\u53d1\u73b0\u8fc7\u6ee4\u6761\u4ef6\u3001\u7aef\u70b9\u5224\u6d3b\u6761\u4ef6\u3001\u5fc3\u8df3\u95f4\u9694\u3002<\/li>\n<li><strong>\u7b80\u5355\u53d1\u73b0\u8bbe\u7f6e<\/strong>\uff1a\u6bcf\u4e2aRTPSParticipant\u90fd\u4f1a\u540c\u65f6\u4e0e\u591a\u64ad\u548c\u5355\u64ad\u4e24\u4e2a\u7aef\u53e3\u76d1\u542cPDP\u534f\u8bae\u6570\u636e\uff0cDomainParticipant\u4e5f\u901a\u8fc7\u6b64\u65b9\u5f0f\u53d1\u9001\u81ea\u8eab\u8282\u70b9PDP\u6570\u636e\u3002\uff08\u53d1\u73b0\u6d41\u91cf\u5355\u64ad\u4fa6\u542c\u7aef\u53e3\u8ba1\u7b97\u516c\u5f0f\uff1a7400 + 250 *\u00a0<cite>domainID<\/cite>\u00a0+ 10 + 2 *\u00a0<cite>participantID\uff0c\u4f8b\u59827400 + 250 * 0 + 10 + 2 * 1 = 7412<\/cite>\uff09<\/li>\n<\/ul>\n<pre class=\"pure-highlightjs\"><code class=\"\">DomainParticipantQos qos;\r\n\r\n\/\/ configure an initial peer on host 192.168.10.13.\r\n\/\/ The port number corresponds to the well-known port for metatraffic unicast\r\n\/\/ on participant ID `1` and domain `0`.\r\nLocator_t initial_peer;\r\nIPLocator::setIPv4(initial_peer, \"192.168.10.13\");\r\ninitial_peer.port = 7412;\r\nqos.wire_protocol().builtin.initialPeersList.push_back(initial_peer);<\/code><\/pre>\n<ul>\n<li><strong>\u9759\u6001EDP\u8bbe\u7f6e<\/strong>\uff1a\u76f4\u63a5\u901a\u8fc7xml\u914d\u7f6eDataWriter\u3001DataReader\u8282\u70b9\u7684entityID\u3001Topic\u3001TopicType\u3001IP\u3001\u7aef\u53e3\u3001QoS\u7b49\u4fe1\u606f\uff0c\u7528\u4e8e\u4e3b\u52a8\u53d1\u73b0\u3002<\/li>\n<li><strong>\u53d1\u73b0\u670d\u52a1\u5668\u8bbe\u7f6e<\/strong>\uff1a\u7531\u4e00\u4e2a\u6216\u591a\u4e2a\u670d\u52a1\u5668\u5b9e\u73b0\u8282\u70b9\u53d1\u73b0\u3002\u53d1\u73b0\u670d\u52a1\u5668\u57df\u53c2\u4e0e\u8005\u53ef\u80fd\u662f<em>\u5ba2\u6237\u7aef<\/em>\u6216<em>\u670d\u52a1\u5668<\/em>\u3002\u5b83\u4eec\u4e4b\u95f4\u7684\u552f\u4e00\u533a\u522b\u5728\u4e8e\u5b83\u4eec\u5982\u4f55\u5904\u7406\u53d1\u73b0\u6d41\u91cf\u3002\u7528\u6237\u6d41\u91cf\uff0c\u5373\u4ed6\u4eec\u521b\u5efa\u7684 DataWriters \u548c DataReader \u4e4b\u95f4\u7684\u6d41\u91cf\uff0c\u662f\u4e0e\u89d2\u8272\u65e0\u5173\u7684\u3002\u53d1\u73b0\u670d\u52a1\u5668\u793a\u4f8b\uff1a<\/li>\n<\/ul>\n<pre class=\"pure-highlightjs\"><code class=\"\">\/\/ Get default participant QoS\r\nDomainParticipantQos server_qos = PARTICIPANT_QOS_DEFAULT;\r\n\r\n\/\/ Set participant as SERVER\r\nserver_qos.wire_protocol().builtin.discovery_config.discoveryProtocol = DiscoveryProtocol_t::SERVER;\r\n\r\n\/\/ Set SERVER's GUID prefix\r\nstd::istringstream(\"44.53.00.5f.45.50.52.4f.53.49.4d.41\") &gt;&gt; server_qos.wire_protocol().prefix;\r\n\r\n\/\/ Set SERVER's listening locator for PDP\r\nLocator_t locator;\r\nIPLocator::setIPv4(locator, 127, 0, 0, 1);\r\nlocator.port = 11811;\r\nserver_qos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(locator);\r\n\r\n\/* Add a remote serve to which this server will connect *\/\r\n\/\/ Set remote SERVER's GUID prefix\r\nRemoteServerAttributes remote_server_att;\r\nremote_server_att.ReadguidPrefix(\"44.53.01.5f.45.50.52.4f.53.49.4d.41\");\r\n\r\n\/\/ Set remote SERVER's listening locator for PDP\r\nLocator_t remote_locator;\r\nIPLocator::setIPv4(remote_locator, 127, 0, 0, 1);\r\nremote_locator.port = 11812;\r\nremote_server_att.metatrafficUnicastLocatorList.push_back(remote_locator);\r\n\r\n\/\/ Add remote SERVER to SERVER's list of SERVERs\r\nserver_qos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);\r\n\r\n\/\/ Create SERVER\r\nDomainParticipant* server =\r\n        DomainParticipantFactory::get_instance()-&gt;create_participant(0, server_qos);\r\nif (nullptr == server)\r\n{\r\n    \/\/ Error\r\n    return;\r\n}<\/code><\/pre>\n<ul>\n<li><strong>\u53d1\u73b0\u56de\u8c03<\/strong>\uff1a<span class=\"std std-ref\">\u5b9e\u73b0<\/span><span class=\"std std-ref\">DomainParticipantListener \u7684\u4ee5\u4e0b\u56de\u8c03\u5373\u53ef\u76d1\u542c\u5230\u53d1\u73b0\u76f8\u5173\u4e8b\u4ef6\uff1a\u00a0on_participant_discovery()\u3001\u00a0on_subscriber_discovery()\u3001\u00a0on_publisher_discovery()\u3001\u00a0on_type_discovery()<\/span>\u3002<\/li>\n<\/ul>\n<div class=\"admonition important\">\n<h3>4.\u5b89\u5168<\/h3>\n<\/div>\n<p>DDS \u5b89\u5168\u89c4\u8303\u5305\u62ec\u4e94\u4e2a\u5b89\u5168\u5185\u7f6e\u63d2\u4ef6\uff1a<\/p>\n<ul class=\"arabic simple\">\n<li>\u8eab\u4efd\u9a8c\u8bc1\u63d2\u4ef6\uff1a<a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/security\/auth_plugin\/auth_plugin.html#auth-pki-dh\"><span class=\"std std-ref\">DDS:Auth:PKI-DH<\/span><\/a>\u3002\u6b64\u63d2\u4ef6\u4f7f\u7528\u53d7\u4fe1\u4efb\u7684\u8bc1\u4e66\u9881\u53d1\u673a\u6784(CA)\u4e3a\u52a0\u5165 DDS \u57df \u7684\u6bcf\u4e2a\u57df<span class=\"std std-ref\">\u53c2\u4e0e\u8005<\/span>\u63d0\u4f9b\u8eab\u4efd\u9a8c\u8bc1\u3002\u652f\u6301DomainParticipants\u4e4b\u95f4\u7684\u76f8\u4e92\u8ba4\u8bc1\uff0c\u5efa\u7acb\u5171\u4eab\u79d8\u5bc6\u3002<\/li>\n<li>\u8bbf\u95ee\u63a7\u5236\u63d2\u4ef6\uff1a<a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/security\/access_control_plugin\/access_control_plugin.html#access-permissions\"><span class=\"std std-ref\">DDS:Access:Permissions<\/span><\/a>\u3002\u6b64\u63d2\u4ef6\u4e3a\u6267\u884c\u53d7\u4fdd\u62a4\u64cd\u4f5c\u7684 DomainParticipants \u63d0\u4f9b\u8bbf\u95ee\u63a7\u5236\u3002<\/li>\n<li>\u52a0\u5bc6\u63d2\u4ef6\uff1a<a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/security\/crypto_plugin\/crypto_plugin.html#crypto-aes-gcm-gmac\"><span class=\"std std-ref\">DDS:Crypto:AES-GCM-GMAC<\/span><\/a>\u3002\u6b64\u63d2\u4ef6\u4f7f\u7528AES\u4e2d\u7684\u9ad8\u7ea7\u52a0\u5bc6\u6807\u51c6 (AES-GCM) \u63d0\u4f9b\u7ecf\u8fc7\u8eab\u4efd\u9a8c\u8bc1\u7684\u52a0\u5bc6\u3002\u53ef\u4ee5\u5bf9\u6574\u4e2aRTPS\u6d88\u606f\u3001\u7279\u5b9a\u5b9e\u4f53\u7684\u5b50\u6d88\u606f\u6216\u7279\u5b9aWriter\u7684payload\u8fdb\u884c\u52a0\u5bc6\u3002<\/li>\n<li>\u65e5\u5fd7\u63d2\u4ef6\uff1a<a class=\"reference internal\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/security\/logging_plugin\/logging_plugin.html#logging-logtopic\"><span class=\"std std-ref\">DDS:Logging:DDS_LogTopic<\/span><\/a>\u3002\u6b64\u63d2\u4ef6\u8bb0\u5f55<span class=\"std std-ref\">DomainParticipant\u7684<\/span>\u6240\u6709\u5b89\u5168\u4e8b\u4ef6\u6570\u636e\u5e76\u5c06\u5b83\u4eec\u4fdd\u5b58\u5728\u672c\u5730\u6587\u4ef6\u4e2d\u3002<\/li>\n<li>\u6570\u636e\u6807\u8bb0\uff1aDDS\uff1a\u6807\u8bb0\uff1aDDS_Discovery\u3002\u8be5\u63d2\u4ef6\u53ef\u4ee5\u4e3a\u6570\u636e\u6dfb\u52a0\u5b89\u5168\u6807\u7b7e\u3002\u56e0\u6b64\uff0c\u53ef\u4ee5\u6307\u5b9a\u6570\u636e\u7684\u5206\u7c7b\u7ea7\u522b\u3002\u5728 DDS \u4e0a\u4e0b\u6587\u4e2d\uff0c\u5b83\u53ef\u4ee5\u4f5c\u4e3a\u8bbf\u95ee\u63a7\u5236\u7684\u8865\u5145\uff0c\u521b\u5efa\u57fa\u4e8e\u6570\u636e\u6807\u8bb0\u7684\u8bbf\u95ee\u63a7\u5236\uff1b\u7528\u4e8e\u6d88\u606f\u4f18\u5148\u7ea7\uff1b\u5e76\u9632\u6b62\u5b83\u88ab\u4e2d\u95f4\u4ef6\u4f7f\u7528\u800c\u88ab\u5e94\u7528\u7a0b\u5e8f\u6216\u670d\u52a1\u4f7f\u7528\uff08FastDDS\u672a\u5b9e\u73b0\u6b64\u63d2\u4ef6\uff09\u3002<\/li>\n<\/ul>\n<p>\u9ed8\u8ba4\u60c5\u51b5\u4e0bFast DDS \u4e0d\u7f16\u8bd1\u4efb\u4f55\u5b89\u5168\u652f\u6301\uff0c\u4f46\u53ef\u4ee5\u5728 CMake\u73af\u8282\u6dfb\u52a0 <code class=\"docutils literal notranslate\"><span class=\"pre\">-DSECURITY=ON<\/span><\/code>\u914d\u7f6e\u6253\u5f00\u3002<\/p>\n<h1>\u4e8c\u3001\u5178\u578b\u573a\u666f<\/h1>\n<h3>1.\u5927\u6570\u636e\u4f20\u8f93<\/h3>\n<p>\u5f53pub-sub\u4f20\u8f93\u6570\u636e\u91cf\u8fc7\u5927\u65f6\uff0c\u9700\u8981\u8003\u8651\u5bf9\u7f51\u7edc\u548ccpu\u8d1f\u8f7d\u7684\u5f71\u54cd\uff0c\u5e76\u8fdb\u884c\u63a7\u5236\uff1a<\/p>\n<h5>1.1.\u589e\u52a0socket\u7f13\u51b2\u533a\u5927\u5c0f<\/h5>\n<p>\u4f20\u8f93\u7684\u6570\u636e\u91cf\u5728\u5904\u7406\u4e4b\u524d\u586b\u6ee1\u4e86\u5957\u63a5\u5b57\u7f13\u51b2\u533a\u65f6\uff0c\u7f51\u7edc\u5305\u53ef\u80fd\u4f1a\u88ab\u4e22\u5f03\uff0c\u9700\u8981\u589e\u52a0\u7f13\u51b2\u533a\u5927\u5c0f\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u67e5\u770b\u64cd\u4f5c\u7cfb\u7edfsocket\u7f13\u51b2\u533a\u6700\u5927\u503c\r\nsudo sysctl -a | grep net.core.wmem_max    # \u53d1\u9001\r\nsudo sysctl -a | grep net.core.rmem_max     # \u63a5\u6536\r\n\r\n# \u4fee\u6539\u64cd\u4f5c\u7cfb\u7edfsocket\u7f13\u51b2\u533a\u6700\u5927\u503c\r\nsudo sysctl -w net.core.wmem_max=12582912   # \u53d1\u9001\r\nsudo sysctl -w net.core.rmem_max=12582912    # \u63a5\u6536\r\n\r\n# \u4fee\u6539dds\u9ed8\u8ba4socket buffer size\r\nDomainParticipantQos participant_qos;\r\nparticipant_qos.transport().send_socket_buffer_size = 1048576;  \/\/ sending buffer size\r\nparticipant_qos.transport().listen_socket_buffer_size = 4194304;  \/\/ receiving buffer size\r\n<\/code><\/pre>\n<h5>1.2.\u589e\u52a0\u63a5\u53e3\u7684\u4f20\u8f93\u961f\u5217\u957f\u5ea6<\/h5>\n<p>\u4f20\u8f93\u961f\u5217\u957f\u5ea6 (\u00a0<code class=\"docutils literal notranslate\"><span class=\"pre\">txqueuelen<\/span><\/code>) \u662f TCP\/UDP\/IP \u5806\u6808\u7f51\u7edc\u63a5\u53e3\u503c\u3002\u6b64\u503c\u8bbe\u7f6e\u7f51\u7edc\u63a5\u53e3\u8bbe\u5907\u7684\u6bcf\u4e2a\u5185\u6838\u4f20\u8f93\u961f\u5217\u5141\u8bb8\u7684\u6570\u636e\u5305\u6570\u3002\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c<code class=\"docutils literal notranslate\"><\/code>\u5728 Linux \u4e2d<code class=\"docutils literal notranslate\"><span class=\"pre\">txqueuelen<\/span><\/code>\u4ee5\u592a\u7f51\u63a5\u53e3\u7684\u503c\u4e3a<code class=\"docutils literal notranslate\"><span class=\"pre\">1000<\/span><\/code>\u3002\u8fd9\u4e2a\u503c\u5bf9\u4e8e\u5927\u591a\u6570\u5343\u5146\u7f51\u7edc\u8bbe\u5907\u6765\u8bf4\u5df2\u7ecf\u8db3\u591f\u4e86\u3002\u4f46\u662f\uff0c\u5728\u67d0\u4e9b\u7279\u5b9a\u60c5\u51b5\u4e0b\uff0c<code class=\"docutils literal notranslate\"><span class=\"pre\">txqueuelen<\/span><\/code>\u5e94\u589e\u52a0\u8be5\u8bbe\u7f6e\u4ee5\u907f\u514d\u4e22\u5f03\u6570\u636e\u5305\u7684\u6ea2\u51fa\u3002\u540c\u6837\uff0c\u9009\u62e9\u592a\u5927\u7684\u503c\u53ef\u80fd\u4f1a\u5bfc\u81f4\u989d\u5916\u7684\u5f00\u9500\uff0c\u4ece\u800c\u5bfc\u81f4\u66f4\u9ad8\u7684\u7f51\u7edc\u5ef6\u8fdf\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u67e5\u770b\u6307\u5b9a\u7f51\u5361\u7684\u4f20\u8f93\u961f\u5217\u957f\u5ea6\u8bbe\u7f6e\r\nifconfig wlo1 | grep txqueuelen\r\n\r\n# \u4fee\u6539\r\nifconfig ${interface} txqueuelen ${size}\r\n<\/code><\/pre>\n<h5>1.3.\u6d41\u91cf\u63a7\u5236\u5668<\/h5>\n<p>Fast DDS\u63d0\u4f9b\u4e86\u4e00\u79cd\u673a\u5236\u6765\u9650\u5236 DataWriter \u53d1\u9001\u6570\u636e\u7684\u901f\u7387\u3002\u8fd9\u4e9b\u63a7\u5236\u5668\u5e94\u8be5\u5728\u4f7f\u7528<span class=\"std std-ref\">FlowControllersQos<\/span>\u521b\u5efa DomainParticipant \u65f6\u6ce8\u518c\uff0c\u7136\u540e\u5728\u4f7f\u7528<span class=\"std std-ref\">PublishModeQosPolicy<\/span>\u521b\u5efa DataWriter \u65f6\u5f15\u7528\u3002<\/p>\n<p>\u5f02\u6b65 DataWriter \u7b2c\u4e00\u6b21\u5f15\u7528\u6d41\u63a7\u5236\u5668\u65f6\u4f1a\u4ea7\u751f\u4e00\u4e2a\u65b0\u7ebf\u7a0b\u3002\u8be5\u7ebf\u7a0b\u5c06\u8d1f\u8d23\u4ef2\u88c1\u5f15\u7528\u540c\u4e00\u6d41\u63a7\u5236\u5668\u7684\u6240\u6709 DataWriters \u6b63\u5728\u4f20\u8f93\u7684\u6837\u672c\u7684\u7f51\u7edc\u8f93\u51fa\u3002<\/p>\n<p>\u5e94\u8be5\u4e3a\u6d41\u63a7\u5236\u5668\u547d\u540d\uff0c\u4ee5\u4fbf\u4ee5\u540e\u53ef\u4ee5\u7531 DataWriters \u5f15\u7528\u5b83\u4eec\u3002\u9ed8\u8ba4\u7684\u3001\u65e0\u9650\u5236\u7684<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">FIFO<\/span><\/code>\u6d41\u91cf\u63a7\u5236\u5668\u4e3a\u00a0<code class=\"xref cpp cpp-var docutils literal notranslate\"><span class=\"pre\">FASTDDS_FLOW_CONTROLLER_DEFAULT<\/span><\/code>\u3002<\/p>\n<p>\u8c03\u5ea6\u7b56\u7565\uff1a<\/p>\n<p>\u6839\u636e\u4f7f\u7528\u7684\u8c03\u5ea6\u7b56\u7565\uff0c\u6709\u4e0d\u540c\u79cd\u7c7b\u7684\u6d41\u63a7\u5236\u5668\uff0c\u5b83\u4eec\u4ec5\u5728\u51b3\u5b9a\u6837\u672c\u53d1\u9001\u987a\u5e8f\u7684\u65b9\u5f0f\u4e0a\u6709\u6240\u4e0d\u540c\u3002\u6240\u6709\u6d41\u63a7\u5236\u5668\u90fd\u5c06\u9650\u5236\u53d1\u9001\u5230\u7f51\u7edc\u7684\u5b57\u8282\u6570\u5728<code class=\"xref cpp cpp-member docutils literal notranslate\"><span class=\"pre\">period_ms<\/span><\/code>\u00a0\u6beb\u79d2\u5185\u4e0d\u8d85\u8fc7<code class=\"xref cpp cpp-member docutils literal notranslate\"><span class=\"pre\">max_bytes_per_period<\/span><\/code>\u5b57\u8282\u3002<\/p>\n<ul class=\"simple\">\n<li>FIFO\uff1a\u4ee5\u5148\u5230\u5148\u5f97\u7684\u987a\u5e8f\u8f93\u51fa\u6837\u672c\u3002<\/li>\n<li>ROUND_ROBIN\uff1a\u4ee5\u5faa\u73af\u987a\u5e8f\u4ece\u6bcf\u4e2a DataWriter \u8f93\u51fa\u4e00\u4e2a\u6837\u672c\u3002<\/li>\n<li>HIGH_PRIORITY\uff1a\u9996\u5148\u4ece\u5177\u6709\u6700\u9ad8\u4f18\u5148\u7ea7\u7684 DataWriters \u8f93\u51fa\u6837\u672c\u3002\u4f7f\u7528 property \u914d\u7f6e DataWriter \u7684\u4f18\u5148\u7ea7fastdds.sfc.priority\uff08 \u6700\u9ad8-10\u5230\u6700\u4f4e10\uff0c\u9ed8\u8ba4\u6700\u4f4e\uff09\u3002\u5177\u6709\u76f8\u540c\u4f18\u5148\u7ea7\u7684 DataWriter \u7684\u6837\u672c\u6309 FIFO \u987a\u5e8f\u5904\u7406\u3002<\/li>\n<li>PRIORITY_WITH_RESERVATION\uff1a\u4e0e\u524d\u4e00\u4e2a\u4e00\u6837\u5de5\u4f5c\uff0c\u4f46\u5141\u8bb8 DataWriters \u4fdd\u7559\u90e8\u5206\u8f93\u51fa\u5e26\u5bbd\u3002\u8fd9\u662f\u901a\u8fc7\u5c5e\u6027\u5b8c\u6210\u7684fastdds.sfc.bandwidth_reservation\uff08\u4ece 0 \u5230 100\uff0c\u8868\u793a\u603b\u6d41\u91cf\u63a7\u5236\u5668\u9650\u5236\u7684\u767e\u5206\u6bd4\uff0c\u9ed8\u8ba40\uff09\u3002\u9884\u7559\u5e26\u5bbd\u6d88\u8017\u5b8c\u540e\uff0c\u5269\u4e0b\u7684\u6837\u672c\u5c06\u6309\u7167HIGH_PRIORITY\u89c4\u5219\u5904\u7406\u3002<\/li>\n<\/ul>\n<p>\u914d\u7f6e\u793a\u4f8b\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">\/\/ \u9650\u5236300kb\/s\r\nstatic const char* flow_controller_name = \"example_flow_controller\";\r\nauto flow_control_300k_per_sec = std::make_shared&lt;eprosima::fastdds::rtps::FlowControllerDescriptor&gt;();\r\nflow_control_300k_per_sec-&gt;name = flow_controller_name;\r\nflow_control_300k_per_sec-&gt;scheduler = eprosima::fastdds::rtps::FlowControllerSchedulerPolicy::FIFO;\r\nflow_control_300k_per_sec-&gt;max_bytes_per_period = 300 * 1000;\r\nflow_control_300k_per_sec-&gt;period_ms = 1000;\r\n\r\n\/\/ \u4e3a\u57df\u6210\u5458\u7b56\u7565 \u914d\u7f6e\u6d41\u63a7\u5236\u5668\r\nDomainParticipantQos participant_qos;\r\nparticipant_qos.flow_controllers().push_back(flow_control_300k_per_sec);\r\n\r\n\/\/ .... \u521b\u5efa\u57df\u6210\u5458\u548c\u53d1\u5e03\u8005\r\n\r\n\/\/ \u4e3aDataWriter\u7b56\u7565\u5173\u8054\u6d41\u63a7\u5236\u5668\r\nDataWriterQos qos;\r\nqos.publish_mode().kind = ASYNCHRONOUS_PUBLISH_MODE;\r\nqos.publish_mode().flow_controller_name = flow_controller_name;<\/code><\/pre>\n<h5>1.4.\u8c03\u6574\u5fc3\u8df3\u5468\u671f<\/h5>\n<p>\u5728<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">RELIABLE_RELIABILITY_QOS<\/span><\/code>(\u5f3a\u53ef\u9760\u6027\u7b56\u7565) \u4e0a\uff0cRTPS \u534f\u8bae\u53ef\u4ee5\u68c0\u6d4b\u54ea\u4e9b\u6d88\u606f\u5df2\u4e22\u5931\u5e76\u91cd\u4f20\u3002\u5b83\u57fa\u4e8e DataWriters \u548c DataReaders \u4e4b\u95f4\u4ea4\u6362\u7684\u5143\u6d41\u91cf\u4fe1\u606f\uff0c\u5373 Heartbeat \u548c Ack\/Nack \u6d88\u606f\u3002<\/p>\n<p>\u8f83\u5c0f\u7684 Heartbeat \u5468\u671f\u4f1a\u589e\u52a0 CPU \u548c\u7f51\u7edc\u5f00\u9500\uff0c\u4f46\u4f1a\u5728\u4e22\u5931\u6570\u636e\u65f6\u52a0\u5feb\u7cfb\u7edf\u54cd\u5e94\u901f\u5ea6\u3002\u56e0\u6b64\uff0c\u7528\u6237\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u9700\u8981\u81ea\u5b9a\u4e49\u5fc3\u8df3\u5468\u671f\u3002\u8fd9\u53ef\u4ee5\u901a\u8fc7 DataWriterQos \u5b8c\u6210\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">DataWriterQos qos;\r\nqos.reliable_writer_qos().times.heartbeatPeriod.seconds = 0;\r\nqos.reliable_writer_qos().times.heartbeatPeriod.nanosec = 500000000; \/\/500 ms<\/code><\/pre>\n<h5>1.5.\u4f7f\u7528\u975e\u4e25\u683c\u53ef\u9760\u6027<\/h5>\n<p>\u5f53<span class=\"std std-ref\">HistoryQosPolicyKind<\/span>\u8bbe\u7f6e\u4e3a<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">KEEP_ALL_HISTORY_QOS<\/span><\/code>\u65f6\uff0c\u6240\u6709\u8ba2\u9605\u8005\u90fd\u5fc5\u987b\u63a5\u6536\u6240\u6709\u6837\u672c\uff08\u5e76Ack\uff09\uff0c\u7136\u540e\u6837\u672c\u624d\u80fd\u88ab DataWriter \u8986\u76d6\u3002\u5982\u679c\u6d88\u606f\u901f\u7387\u9ad8\u4e14\u7f51\u7edc\u4e0d\u53ef\u9760\uff08\u5373\u5927\u91cf\u6570\u636e\u5305\u4e22\u5931\uff09\uff0cDataWriter \u7684\u5386\u53f2\u8bb0\u5f55\u4f1a\u88ab\u586b\u6ee1\uff0c\u963b\u6b62\u65b0\u6d88\u606f\u7684\u53d1\u5e03\uff0c\u76f4\u5230\u6240\u6709\u65e7\u6d88\u606f\u88ab\u6240\u6709\u8ba2\u9605\u8005\u786e\u8ba4\u3002<\/p>\n<p>\u5982\u679c\u5b9e\u9645\u573a\u666f\u4e0d\u9700\u8981\u8fd9\u79cd\u4e25\u683c\u6027\uff0c\u53ef\u4ee5\u5c06<span class=\"std std-ref\">HistoryQosPolicyKind<\/span>\u8bbe\u7f6e\u4e3a<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">KEEP_LAST_HISTORY_QOS<\/span><\/code>\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u5f53 DataWriter \u7684\u5386\u53f2\u8bb0\u5f55\u5df2\u6ee1\u65f6\uff0c\u5c1a\u672a\u5b8c\u5168Ack\u7684\u6700\u65e7\u6d88\u606f\u5c06\u88ab\u65b0\u6d88\u606f\u8986\u76d6\u3002\u5982\u679c\u4efb\u4f55\u8ba2\u9605\u8005\u90fd\u6ca1\u6709\u6536\u5230\u88ab\u4e22\u5f03\u7684\u6d88\u606f\uff0c\u53d1\u5e03\u8005\u5c06\u53d1\u9001 GAP \u6d88\u606f\u901a\u77e5\u8ba2\u9605\u8005\u8be5\u6d88\u606f\u5c06\u6c38\u8fdc\u4e22\u5931\u3002<\/p>\n<h5>1.6.\u793a\u4f8b-\u5927\u6587\u4ef6<\/h5>\n<p>\u793a\u4f8b\u573a\u666f\uff1a<\/p>\n<ul class=\"simple\">\n<li>Publisher \u53d1\u9001\u4e00\u4e2a\u5927\u5c0f\u4e3a 9.9 MB \u7684\u6587\u4ef6\u3002<\/li>\n<li>Publisher \u548c Subscriber \u8fde\u63a5\u7684\u7f51\u7edc\u5e26\u5bbd\u4e3a 100 MB\/s \u3002<\/li>\n<\/ul>\n<p style=\"padding-left: 40px;\">\u5bf9\u4e8e 64 kB \u7684\u7247\u6bb5\u5927\u5c0f\uff0c\u53d1\u5e03\u8005\u5fc5\u987b\u53d1\u9001\u5927\u7ea6 1100 \u4e2a\u7247\u6bb5\u624d\u80fd\u53d1\u9001\u6574\u4e2a\u6587\u4ef6\u3002<\/p>\n<p>\u63a8\u8350\u65b9\u6848\uff1a<\/p>\n<ul class=\"simple\">\n<li>\u4f7f\u7528<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">RELIABLE_RELIABILITY_QOS<\/span><\/code>, \u56e0\u4e3a\u4e22\u5931\u5355\u4e2a\u7247\u6bb5\u5c06\u610f\u5473\u7740\u4e22\u5931\u6574\u4e2a\u6587\u4ef6\u3002<\/li>\n<li>\u51cf\u5c11\u5fc3\u8df3\u5468\u671f\uff0c\u4ee5\u589e\u52a0\u53d1\u5e03\u8005\u7684\u53cd\u5e94\u6027\u3002<\/li>\n<li>\u4f7f\u7528<span class=\"std std-ref\">Flow Controller\u6d41\u63a7\u5236\u5668<\/span>\u9650\u5236\u6570\u636e\u901f\u7387\uff0c\u4ee5\u907f\u514d\u8fd9\u79cd\u4f20\u8f93\u8695\u98df\u6574\u4e2a\u5e26\u5bbd\u3002\u6b64\u5e94\u7528\u7a0b\u5e8f\u7684\u5408\u7406\u901f\u7387\u53ef\u80fd\u662f 5 MB\/s\uff0c\u4ec5\u5360\u603b\u5e26\u5bbd\u7684 5%\u3002<\/li>\n<\/ul>\n<div class=\"admonition note\">\n<p class=\"admonition-title\">\u5176\u4ed6\uff1a<\/p>\n<ul>\n<li>\u5982\u4f7f\u7528SHM<span class=\"std std-ref\">\u5171\u4eab\u5185\u5b58\u4f20\u8f93\uff0c<\/span>\u5bf9\u7247\u6bb5\u5927\u5c0f\u7684\u552f\u4e00\u9650\u5236\u662f\u53ef\u7528\u5185\u5b58\u3002\u56e0\u6b64\uff0c\u53ef\u4ee5\u901a\u8fc7\u589e\u52a0\u5171\u4eab\u7f13\u51b2\u533a\u7684\u5927\u5c0f\u6765\u907f\u514d SHM \u788e\u7247\u3002<\/li>\n<\/ul>\n<h5>1.7.\u793a\u4f8b-\u89c6\u9891\u6d41<\/h5>\n<p>\u793a\u4f8b\u573a\u666f\uff1a<\/p>\n<ul>\n<li>\u5e94\u7528\u7a0b\u5e8f\u4ee5 50 fps \u5728\u53d1\u5e03\u8005\u548c\u8ba2\u9605\u8005\u4e4b\u95f4\u4f20\u8f93\u89c6\u9891\u6d41\u3002<\/li>\n<\/ul>\n<p>\u63a8\u8350\u65b9\u6848\uff1a<\/p>\n<ul>\n<li>\u5728\u5b9e\u65f6\u97f3\u9891\u6216\u89c6\u9891\u4f20\u8f93\u4e2d\uff0c\u901a\u5e38\u4f18\u9009\u5177\u6709\u9ad8\u7a33\u5b9a\u7684\u6570\u636e\u901f\u7387\u9988\u9001\uff0c\u5373\u4f7f\u4ee5\u4e22\u5931\u4e00\u4e9b\u6837\u672c\u4e3a\u4ee3\u4ef7\u3002<\/li>\n<li>\u4ee5 50 fps \u6bcf\u79d2\u4e22\u59311-2\u4e2a\u6837\u672c\u6bd4\u51bb\u7ed3\u89c6\u9891\u7b49\u5f85\u91cd\u65b0\u4f20\u8f93\u4e22\u5931\u7684\u6837\u672c\u66f4\u53ef\u63a5\u53d7\u3002\u56e0\u6b64\uff0c\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\u91c7\u7528<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">BEST_EFFORT_RELIABILITY_QOS<\/span><\/code>\u7b56\u7565\uff08\u4e22\u5931\u540e\u4e0d\u91cd\u53d1\uff09\u3002<\/li>\n<\/ul>\n<\/div>\n<h3><\/h3>\n<h3>2.\u6709\u5f88\u591a\u8ba2\u9605\u8005\u7684Topic<\/h3>\n<p>\u9ed8\u8ba4\u60c5\u51b5\u4e0b\uff0c\u6bcf\u6b21<span class=\"std std-ref\">Data<\/span><span class=\"std std-ref\">W<\/span><span class=\"std std-ref\">riter\u5728<\/span><span class=\"std std-ref\">Topic<\/span>\u4e0a\u53d1\u5e03\u6570\u636e\u65f6 \uff0c\u90fd\u4f1a\u4e3a\u8ba2\u9605\u8be5 Topic\u7684\u6bcf\u4e2a\u00a0<span class=\"std std-ref\">DataReader\u53d1\u9001\u4e00\u6761\u5355\u64ad\u6d88\u606f\u3002<\/span>\u5982\u679c\u8ba2\u9605\u4e86\u591a\u4e2a DataReader\uff0c\u5efa\u8bae\u4f7f\u7528\u591a\u64ad\u800c\u4e0d\u662f\u5355\u64ad\u3002\u8fd9\u6837\uff0c\u6bcf\u4e2a\u6837\u672c\u53ea\u4f1a\u53d1\u9001\u4e00\u4e2a\u7f51\u7edc\u5305\u3002\u8fd9\u5c06\u63d0\u9ad8 CPU \u548c\u7f51\u7edc\u7684\u4f7f\u7528\u7387\u3002<\/p>\n<p>\u6b64\u89e3\u51b3\u65b9\u6848\u53ef\u4ee5\u4f7f\u7528<span class=\"std std-ref\">UDP \u4f20\u8f93<\/span>\u6216<span class=\"std std-ref\">\u5171\u4eab\u5185\u5b58\u4f20\u8f93<\/span>(SHM) \u6765\u5b9e\u73b0\u3002SHM \u4f20\u8f93\u9ed8\u8ba4\u662f\u591a\u64ad\u7684\uff0c\u4f46\u4ec5\u5728\u540c\u4e00\u53f0\u673a\u5668\u4e0a\u7684 DataWriters \u548c DataReader \u4e4b\u95f4\u53ef\u7528\u3002UDP \u4f20\u8f93\u9700\u8981\u4e00\u4e9b\u989d\u5916\u7684\u914d\u7f6e\u3002\u4e0b\u9762\u7684\u793a\u4f8b\u663e\u793a\u5982\u4f55\u8bbe\u7f6e<span class=\"std std-ref\">DataReaderQos<\/span>\u4ee5\u5c06 DataReader \u914d\u7f6e\u4e3a\u5728 UDP \u4e0a\u4f7f\u7528\u591a\u64ad\u4f20\u8f93\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">\/\/ \u6dfb\u52a0\u4e00\u4e2a\u591a\u64ad\u5b9a\u4f4d\u5668\uff08\u6307\u5b9aIP\u548c\u7aef\u53e3\u5217\u8868\uff09\r\neprosima::fastrtps::rtps::Locator_t new_multicast_locator;\r\neprosima::fastrtps::rtps::IPLocator::setIPv4(new_multicast_locator, \"239.255.0.4\");\r\nnew_multicast_locator.port = 7900;\r\nqos.endpoint().multicast_locator_list.push_back(new_multicast_locator);<\/code><\/pre>\n<h3><\/h3>\n<h3>3.\u5b9e\u65f6\u6027<\/h3>\n<p>\u5b9e\u65f6\u5e94\u7528\u7a0b\u5e8f\u5bf9\u6570\u636e\u5904\u7406\u65f6\u95f4\u6709\u975e\u5e38\u4e25\u683c\u7684\u9650\u5236\uff0c\u4e3a\u4e86\u786e\u4fdd\u5728\u6307\u5b9a\u65f6\u95f4\u5185\u54cd\u5e94\uff0c\u6211\u4eec\u53ef\u4ee5\u91c7\u53d6\u4ee5\u4e0b\u63aa\u65bd\uff1a<\/p>\n<ul>\n<li>\u5728\u5b9e\u4f53\u521d\u59cb\u5316\u671f\u95f4\u5206\u914d\u6240\u6709\u9700\u8981\u7684\u5185\u5b58\uff0c\u4ee5\u4fbf\u6240\u6709\u6570\u636e\u5904\u7406\u4efb\u52a1\u65e0\u5806\u5206\u914d\u3002<\/li>\n<li>\u5982\u679c\u8fbe\u5230\u6307\u5b9a\u8d85\u65f6\u65f6\u95f4\uff0c\u5f3a\u5236\u4ece\u963b\u585e\u51fd\u6570\u8fd4\u56de\u3002<\/li>\n<\/ul>\n<h5>3.1.\u5185\u5b58\u5206\u914d<\/h5>\n<p>\u5206\u914d\u548c\u91ca\u653e\u5185\u5b58\u610f\u5473\u7740\u4e00\u4e9b\u975e\u786e\u5b9a\u6027\u7684\u8017\u65f6\u64cd\u4f5c\u3002\u56e0\u6b64\uff0c\u5927\u591a\u6570\u5b9e\u65f6\u7cfb\u7edf\u9700\u8981\u5728\u5e94\u7528\u7a0b\u5e8f\u521d\u59cb\u5316\u671f\u95f4\u4ee5\u6240\u6709\u52a8\u6001\u5185\u5b58\u5206\u914d\u7684\u65b9\u5f0f\u8fd0\u884c\uff0c\u907f\u514d\u5728\u4e3b\u5faa\u73af\u4e2d\u8fdb\u884c\u5185\u5b58\u7ba1\u7406\u64cd\u4f5c\u3002<\/p>\n<p>\u5982\u679c\u7528\u6237\u4e3aDDS\u5185\u90e8\u4fdd\u7559\u7684\u6570\u636e\u548c\u96c6\u5408\u63d0\u4f9b\u6700\u5927\u5927\u5c0f\uff0c\u5219\u53ef\u4ee5\u5728\u5b9e\u4f53\u521d\u59cb\u5316\u671f\u95f4\u4e3a\u8fd9\u4e9b\u6570\u636e\u548c\u96c6\u5408\u9884\u5206\u914d\u5185\u5b58\u3002\u4e3a\u4e86\u9009\u62e9\u6b63\u786e\u7684\u5927\u5c0f\u503c\uff0c\u7528\u6237\u5fc5\u987b\u4e86\u89e3\u6574\u4e2a\u57df\u7684\u62d3\u6251\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u00a0\u5728\u8bbe\u7f6e\u914d\u7f6e\u65f6\u5fc5\u987b\u77e5\u9053<span class=\"std std-ref\">DomainParticipants<\/span>\u3001\u00a0<span class=\"std std-ref\">DataWriters<\/span>\u548c<span class=\"std std-ref\">DataReaders\u7684\u6570\u91cf\u3002<\/span><\/p>\n<p>\u6211\u4eec\u4ee5\u4e0b\u65b9\u62d3\u6251\u7684\u7cfb\u7edf\u4e3a\u4f8b\uff0c\u8bf4\u660e\u5982\u4f55\u8fdb\u884c\u5185\u5b58\u7684\u9884\u5206\u914d\uff1a<\/p>\n<p><a href=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-realtime.png\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-6854\" src=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-realtime.png\" alt=\"\" width=\"492\" height=\"134\" srcset=\"https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-realtime.png 492w, https:\/\/yanjingang.com\/blog\/wp-content\/uploads\/2022\/08\/dds-realtime-300x82.png 300w\" sizes=\"(max-width: 492px) 100vw, 492px\" \/><\/a><\/p>\n<p>\u62d3\u6251\u5173\u7cfb\u5206\u6790\uff1a<\/p>\n<ul class=\"simple\">\n<li>DomainParticipants \u7684\u603b\u6570\u4e3a 3\u3002<\/li>\n<li>\u6bcf\u4e2a DomainParticipant \u7684\u6700\u5927 DataWriter \u6570\u4e3a 1<\/li>\n<li>\u6bcf\u4e2a DomainParticipant \u7684\u6700\u5927 DataReader \u6570\u4e3a 2\u3002<\/li>\n<li>Topic 1 \u7684 DataWriter \u4e0e 3 \u4e2a DataReader \u5339\u914d\u3002<\/li>\n<li>Topic 2 \u7684 DataWriter \u4e0e 2 \u4e2a DataReader \u5339\u914d\u3002<\/li>\n<li>\u6240\u6709 DataReader \u90fd\u4e0e 1 \u4e2a DataWriter \u5b8c\u5168\u5339\u914d\u3002<\/li>\n<\/ul>\n<p>\u5047\u8bbe\u6ca1\u6709\u4f7f\u7528\u5185\u5bb9\u8fc7\u6ee4\uff0c\u5e76\u4e14\u9650\u5236\u7b56\u7565\u53c2\u6570\u7684\u5927\u5c0f\uff1a<\/p>\n<ul class=\"simple\">\n<li>\u6700\u5927<span class=\"std std-ref\">PartitionQosPolicy<\/span>\u5927\u5c0f\uff1a256<\/li>\n<li>\u6700\u5927<span class=\"std std-ref\">UserDataQosPolicy<\/span>\u5927\u5c0f\uff1a256<\/li>\n<li>\u6700\u5927<span class=\"std std-ref\">PropertyPolicyQos<\/span>\u5927\u5c0f\uff1a512<\/li>\n<\/ul>\n<p>\u5c06\u4ee5\u4e0a\u4fe1\u606f\u8fdb\u884c\u9884\u914d\u7f6e\uff0c\u542f\u52a8\u65f6\u5c06\u81ea\u52a8\u63d0\u524d\u5206\u914d\u76f8\u5173\u5185\u5b58\uff0c\u4ee5\u907f\u514d\u76f8\u5173\u7684\u5806\u5206\u914d\u3002<\/p>\n<h5>3.2.\u975e\u963b\u585e\u8c03\u7528<\/h5>\n<p><span class=\"std std-ref\">\u5f53\u64cd\u4f5c\u7ade\u4e89\u8d44\u6e90\u65f6\uff0c Fast DDS API<\/span>\u7684\u90e8\u5206\u51fd\u6570\u53ef\u80fd\u4f1a\u88ab\u963b\u585e\u4e00\u6bb5\u4e0d\u786e\u5b9a\u7684\u65f6\u95f4\u3002\u5728\u83b7\u5f97\u63a7\u5236\u6743\u7684\u64cd\u4f5c\u5b8c\u6210\u4e4b\u524d\uff0c\u88ab\u963b\u585e\u7684\u51fd\u6570\u4e0d\u80fd\u7ee7\u7eed\uff0c\u4ece\u800c\u963b\u585e\u8c03\u7528\u7ebf\u7a0b\u3002<\/p>\n<p>\u5b9e\u65f6\u5e94\u7528\u7a0b\u5e8f\u9700\u8981\u53ef\u9884\u6d4b\u7684\u884c\u4e3a\uff0c\u5305\u62ec\u4ece\u8c03\u7528\u51fd\u6570\u5230\u8fd4\u56de\u63a7\u5236\u6743\u7684\u53ef\u9884\u6d4b\u7684\u6700\u957f\u65f6\u95f4\u3002\u4e3a\u4e86\u9075\u5b88\u8fd9\u4e2a\u9650\u5236\uff0c\u9700\u8981\u9650\u5236\u8fd9\u4e9b\u529f\u80fd\u7684\u6700\u5927\u963b\u585e\u65f6\u95f4\u3002\u5982\u679c\u8d85\u8fc7\u963b\u585e\u65f6\u95f4\u9650\u5236\uff0c\u8bf7\u6c42\u7684\u64cd\u4f5c\u5c06\u88ab\u4e2d\u6b62\u5e76\u7ec8\u6b62\u51fd\u6570\uff0c\u5c06\u63a7\u5236\u6743\u8fd4\u56de\u7ed9\u8c03\u7528\u8005\u3002<\/p>\n<p>\u6b64\u673a\u5236\u9700\u8981\u4e24\u4e2a\u6b65\u9aa4\uff1a<\/p>\n<ul class=\"simple\">\n<li><code class=\"docutils literal notranslate\"><span class=\"pre\">-DSTRICT_REALTIME=ON<\/span><\/code>\u5728\u5e94\u7528\u7a0b\u5e8f\u7f16\u8bd1\u671f\u95f4\u8bbe\u7f6e CMake \u9009\u9879\u3002<\/li>\n<li>\u5728QoS\u7b56\u7565\u4e2d\u914d\u7f6e\u51fd\u6570\u7684\u6700\u5927\u963b\u585e\u65f6\u95f4\u53c2\u6570reliability().max_blocking_time\u3002<\/li>\n<\/ul>\n<h3><\/h3>\n<h3>4.\u964d\u4f4e\u5185\u5b58\u5360\u7528<\/h3>\n<p>\u5927\u91cf\u73b0\u4ee3\u7cfb\u7edf\u5bf9\u53ef\u7528\u5185\u5b58\u6709\u4e25\u683c\u7684\u9650\u5236\uff0c\u56e0\u6b64\u5c06\u5185\u5b58\u4f7f\u7528\u91cf\u964d\u81f3\u6700\u4f4e\u81f3\u5173\u91cd\u8981\u3002\u51cf\u5c11DDS\u5e94\u7528\u7a0b\u5e8f\u7684\u5185\u5b58\u6d88\u8017\u53ef\u4ee5\u901a\u8fc7\u591a\u79cd\u65b9\u6cd5\u6765\u5b9e\u73b0\uff0c\u4e3b\u8981\u662f\u901a\u8fc7\u5e94\u7528\u7a0b\u5e8f\u7684\u67b6\u6784\u91cd\u7ec4\uff0c\u4f46\u4e5f\u53ef\u4ee5\u901a\u8fc7\u9650\u5236\u4e2d\u95f4\u4ef6\u4f7f\u7528\u7684\u8d44\u6e90\u4ee5\u53ca\u907f\u514d\u9759\u6001\u5206\u914d\u6765\u5b9e\u73b0\u3002<\/p>\n<h5>4.1.\u9650\u5236\u8d44\u6e90<\/h5>\n<p><span class=\"std std-ref\">ResourceLimitsQosPolicy<\/span>\u63a7\u5236\u7b56\u7565\u53ef\u4ee5\u5bf9\u4f7f\u7528\u7684\u8d44\u6e90\u8fdb\u884c\u9650\u5236\u3002\u5b83\u6839\u636e\u4ee5\u4e0b\u53c2\u6570\u9650\u5236\u6bcf\u4e2a<span class=\"std std-ref\">DataWriter<\/span>\u6216\u00a0<span class=\"std std-ref\">DataReader<\/span>\u5206\u914d\u7684\u5185\u5b58\u91cf\uff1a<\/p>\n<ul>\n<li>max_samples\uff1a\u914d\u7f6e DataWriter \u6216 DataReader \u53ef\u4ee5\u4e0e\u5176\u5173\u8054\u7684\u6240\u6709\u5b9e\u4f8b\u7684\u6700\u5927\u6837\u672c\u6570\uff0c\u5373\u5b83\u8868\u793a\u4e2d\u95f4\u4ef6\u53ef\u4ee5\u4e3a DataReader \u6216 DataWriter \u5b58\u50a8\u7684\u6700\u5927\u6837\u672c\u6570\u3002<\/li>\n<li>max_instances\uff1a\u914d\u7f6e DataWriter \u6216 DataReader \u53ef\u4ee5\u7ba1\u7406\u7684\u6700\u5927\u5b9e\u4f8b\u6570\u3002<\/li>\n<li>max_samples_per_instance\uff1a\u63a7\u5236 DataWriter \u6216 DataReader \u7684\u5355\u5b9e\u4f8b\u4e2d\u7684\u6700\u5927\u6837\u672c\u6570\u3002<\/li>\n<li>allocated_samples\uff1a\u8bf4\u660e\u5c06\u5728\u521d\u59cb\u5316\u65f6\u5206\u914d\u7684\u6837\u672c\u6570\u3002<\/li>\n<\/ul>\n<p>\u6240\u6709\u8fd9\u4e9b\u53c2\u6570\u90fd\u53ef\u4ee5\u6839\u636e\u9700\u8981\u964d\u4f4e\uff0c\u4ee5\u51cf\u5c11\u5185\u5b58\u6d88\u8017\uff0c\u5c06\u8d44\u6e90\u9650\u5236\u4e3a\u5e94\u7528\u7a0b\u5e8f\u7684\u9700\u8981\u3002<\/p>\n<h5>4.2.\u8bbe\u7f6e\u52a8\u6001\u5206\u914d<\/h5>\n<p>\u9ed8\u8ba4\u60c5\u51b5\u4e0b<span class=\"std std-ref\">MemoryManagementPolicy<\/span>\u8bbe\u7f6e\u4e3a<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">PREALLOCATED_MEMORY_MODE<\/span><\/code>\u9884\u5206\u914d\u5185\u5b58\u6a21\u5f0f\uff0c\u8fd9\u610f\u5473\u7740\u914d\u7f6e\u7684<span class=\"std std-ref\">ResourceLimitsQosPolicy<\/span><a class=\"reference internal\" title=\"eprosima::fastrtps::rtps::MemoryManagementPolicy::PREALLOCATED_MEMORY_MODE\" href=\"https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/api_reference\/rtps\/resources\/MemoryManagementPolicy.html#_CPPv4N8eprosima8fastrtps4rtps22MemoryManagementPolicy24PREALLOCATED_MEMORY_MODEE\"><code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><\/code><\/a>\u6240\u9700\u7684\u5185\u5b58\u91cf\u5c06\u5728\u521d\u59cb\u5316\u65f6\u5206\u914d\u3002<\/p>\n<p>\u4f7f\u7528<span class=\"std std-ref\">RTPSEndpointQos<\/span>\u7684\u52a8\u6001\u8bbe\u7f6e\u5c06\u9632\u6b62\u4e0d\u5fc5\u8981\u7684\u5206\u914d\u3002<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">DYNAMIC_RESERVE_MEMORY_MODE<\/span><\/code>\u52a8\u6001\u6301\u6709\u6a21\u5f0f\u4ee5\u66f4\u9ad8\u7684\u5206\u914d\u8ba1\u6570\u4e3a\u4ee3\u4ef7\u5b9e\u73b0\u4e86\u6700\u4f4e\u7684\u5360\u7528\u7a7a\u95f4\uff0c\u5728\u8fd9\u79cd\u6a21\u5f0f\u4e0b\uff0c\u5185\u5b58\u5728\u9700\u8981\u65f6\u5206\u914d\uff0c\u5e76\u5728\u505c\u6b62\u4f7f\u7528\u65f6\u7acb\u5373\u91ca\u653e\u3002\u4e3a\u4e86\u4ee5\u8f83\u5c0f\u7684\u5185\u5b58\u6210\u672c\u83b7\u5f97\u66f4\u9ad8\u7684\u786e\u5b9a\u6027\uff0c<code class=\"xref cpp cpp-enumerator docutils literal notranslate\"><span class=\"pre\">DYNAMIC_REUSABLE_MEMORY_MODE<\/span><\/code>\u52a8\u6001\u590d\u7528\u6a21\u5f0f\u4e00\u65e6\u5206\u914d\u4e86\u66f4\u591a\u5185\u5b58\uff0c\u5b83\u5c31\u4e0d\u4f1a\u88ab\u91ca\u653e\u5e76\u91cd\u65b0\u7528\u4e8e\u672a\u6765\u7684\u6d88\u606f\u3002<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">RTPSEndpointQos endpoint; \r\nendpoint.history_memory_policy = eprosima::fastrtps::rtps::DYNAMIC_REUSABLE_MEMORY_MODE;<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>5.\u96f6\u62f7\u8d1d\u901a\u4fe1<\/h3>\n<p>\u96f6\u62f7\u8d1d\u901a\u4fe1\u5141\u8bb8\u5728\u540c\u4e00\u53f0\u673a\u5668\u4e0a\u7684\u5e94\u7528\u7a0b\u5e8f\u4e4b\u95f4\u4f20\u8f93\u6570\u636e\uff0c\u800c\u65e0\u9700\u5c06\u6570\u636e\u590d\u5236\u5230\u5185\u5b58\u4e2d\uff0c\u4ece\u800c\u8282\u7701\u65f6\u95f4\u548c\u8d44\u6e90\u3002\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e00\u70b9\uff0c\u5b83\u4f7f\u7528<span class=\"std std-ref\">DataWriter<\/span>\u00a0\u548c<span class=\"std std-ref\">DataReader<\/span>\u4e4b\u95f4\u7684\u6570\u636e\u5171\u4eab\u4f20\u9012\uff0c\u4ee5\u53ca\u5e94\u7528\u7a0b\u5e8f\u548c<em>DDS<\/em>\u4e4b\u95f4\u7684\u6570\u636e\u7f13\u51b2\u533a\u501f\u7528\u3002<\/p>\n<h5>5.1.\u6982\u8ff0<\/h5>\n<p>Data-Sharing\u4f7f\u7528\u5171\u4eab\u5185\u5b58\u5728 DataWriter \u548c DataReader \u4e4b\u95f4\u63d0\u4f9b\u901a\u4fe1\u901a\u9053\u3002\u56e0\u6b64\uff0c\u5b83\u4e0d\u9700\u8981\u590d\u5236\u6837\u672c\u6570\u636e\u6765\u4f20\u8f93\u5b83\u3002<\/p>\n<p><span class=\"std std-ref\">DataWriter \u6837\u672c<\/span>\u501f\u7528 \u662f\u4e00\u4e2a<em>DDS<\/em>\u6269\u5c55\uff0c\u5b83\u5141\u8bb8\u5e94\u7528\u7a0b\u5e8f\u4e3a DataWriter\u00a0 \u53d1\u5e03\u7684\u6837\u672c\u501f\u7528\u7f13\u51b2\u533a\u3002\u6837\u672c\u53ef\u4ee5\u76f4\u63a5\u5728\u8fd9\u4e2a\u7f13\u51b2\u533a\u4e0a\u6784\u5efa\uff0c\u4e4b\u540e\u65e0\u9700\u5c06\u5176\u590d\u5236\u5230 DataWriter \u4e2d\u3002\u8fd9\u53ef\u4ee5\u9632\u6b62\u5728\u53d1\u5e03\u5e94\u7528\u7a0b\u5e8f\u548c DataWriter \u4e4b\u95f4\u590d\u5236\u6570\u636e\u3002\u5982\u679c\u4f7f\u7528Data-Sharing\uff0c\u5219\u501f\u51fa\u7684\u6570\u636e\u7f13\u51b2\u533a\u5c06\u4f4d\u4e8e\u5171\u4eab\u5185\u5b58\u672c\u8eab\u4e2d\u3002<\/p>\n<p><span class=\"std std-ref\">DataReader<\/span>\u8bfb\u53d6\u6570\u636e\u4e5f\u53ef\u4ee5\u901a\u8fc7<span class=\"std std-ref\">\u7684\u501f\u7528\u7f13\u51b2\u533a<\/span>\u6765\u5b8c\u6210\u3002\u5e94\u7528\u7a0b\u5e8f\u83b7\u53d6\u63a5\u6536\u5230\u7684\u6837\u672c\u4f5c\u4e3a\u5bf9\u63a5\u6536\u961f\u5217\u672c\u8eab\u7684\u5f15\u7528\u3002\u8fd9\u53ef\u4ee5\u9632\u6b62\u5c06\u6570\u636e\u4ece DataReader \u590d\u5236\u5230\u63a5\u6536\u5e94\u7528\u7a0b\u5e8f\u3002\u540c\u6837\uff0c\u5982\u679c\u4f7f\u7528Data-Sharing\uff0c\u5219\u501f\u51fa\u7684\u6570\u636e\u5c06\u5728\u5171\u4eab\u5185\u5b58\u4e2d\uff0c\u5e76\u4e14\u786e\u5b9e\u4e0e DataWriter \u5386\u53f2\u8bb0\u5f55\u4e2d\u4f7f\u7528\u7684\u5185\u5b58\u7f13\u51b2\u533a\u76f8\u540c\u3002<\/p>\n<p>\u7ed3\u5408\u8fd9\u4e09\u4e2a\u7279\u6027\uff0c\u6211\u4eec\u53ef\u4ee5\u5b9e\u73b0\u53d1\u5e03\u5e94\u7528\u548c\u8ba2\u9605\u5e94\u7528\u4e4b\u95f4\u7684\u96f6\u62f7\u8d1d\u901a\u4fe1\u3002<\/p>\n<h5>5.2.\u5b9e\u73b0<\/h5>\n<p>\u542f\u7528\u96f6\u62f7\u8d1d\u7684\u6b65\u9aa4\uff1a<\/p>\n<p>A\u3001\u5728 IDL \u6587\u4ef6\u4e2d\u5b9a\u4e49\u4e00\u4e2a\u666e\u901a\u7684\u6709\u754c\u7c7b\u578b\uff0c\u5e76\u751f\u6210\u76f8\u5e94\u7684\u6e90\u4ee3\u7801<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">struct LoanableHelloWorld {\r\n  unsigned long index;\r\n  char message[256]; \r\n};<\/code><\/pre>\n<p>B\u3001DataWriter \u7279\u6b8a\u5904\u7406<\/p>\n<p>DataWriter\u542f\u7528DataSharing\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">    \/\/ \u6253\u5f00data_sharing\u7684writer\r\n    DataWriterQos wqos = publisher_-&gt;get_default_datawriter_qos();\r\n    wqos.history().depth = 10;\r\n    wqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;\r\n    wqos<span style=\"color: #ff0000;\">.data_sharing().automatic()<\/span>;\r\n\r\n    writer_ = publisher_-&gt;create_datawriter(topic_, wqos, &amp;listener_);<\/code><\/pre>\n<p>\u4f7f\u7528loan_sample()\u501f\u7528\u7f13\u51b2\u533a\u5b58\u50a8pub\u6570\u636e\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">    void* sample = nullptr;   \/\/ \u501f\u7528\u7f13\u51b2\u533a\u5b58\u50a8pub\u6570\u636e\r\n    if (ReturnCode_t::RETCODE_OK == <span style=\"color: #ff0000;\">writer_-&gt;loan_sample(sample)<\/span>){\r\n        std::cout &lt;&lt; \"Preparing sample at address \" &lt;&lt; sample &lt;&lt; std::endl;\r\n        <span style=\"color: #ff0000;\">LoanableHelloWorld* data = static_cast&lt;LoanableHelloWorld*&gt;(sample)<\/span>;\r\n        data-&gt;index() = msgsent + 1;\r\n        memcpy(data-&gt;message().data(), \"LoanableHelloWorld \", 20);\r\n        writer_-&gt;write(sample);   \/\/ write\u540e\u5f52\u8fd8\u7f13\u51b2\u533a\u7684\u6301\u6709\u6743\u3002\u5982\u679cloan_sample()\u540e\u4e0dwrite\uff0c\u9700\u8981\u4f7f\u7528discard_loan()\u91ca\u653e\u7f13\u51b2\u533a\r\n    }<\/code><\/pre>\n<p>C\u3001DataReader \u7279\u6b8a\u5904\u7406\uff1a<\/p>\n<p>DataReader \u542f\u7528 DataSharing\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">    \/\/CREATE THE READER\r\n    DataReaderQos rqos = subscriber_-&gt;get_default_datareader_qos();\r\n    rqos.history().depth = 10;\r\n    rqos.reliability().kind = RELIABLE_RELIABILITY_QOS;\r\n    rqos.durability().kind = TRANSIENT_LOCAL_DURABILITY_QOS;\r\n    rqos<span style=\"color: #ff0000;\">.data_sharing().automatic()<\/span>;\r\n\r\n    reader_ = subscriber_-&gt;create_datareader(topic_, rqos, &amp;listener_);<\/code><\/pre>\n<p>DataReader \u901a\u8fc7\u63a5\u6536\u961f\u5217\u83b7\u5f97\u6837\u672c\u6570\u636e\u7684\u5f15\u7528\uff0c\u4f7f\u7528\u5b8c\u6bd5\u540e\u5f52\u8fd8\u6301\u6709\u6743\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">void LoanableHelloWorldSubscriber::SubListener::on_data_available(DataReader* reader)\r\n{\r\n    FASTDDS_CONST_SEQUENCE(DataSeq, LoanableHelloWorld);\r\n\r\n    DataSeq data;\r\n    SampleInfoSeq infos;\r\n    while (ReturnCode_t::RETCODE_OK == reader-&gt;take(data, infos))\r\n    {\r\n        for (LoanableCollection::size_type i = 0; i &lt; infos.length(); ++i)\r\n        {\r\n            if (infos[i].valid_data)\r\n            {\r\n                \/\/ \u901a\u8fc7\u63a5\u6536\u961f\u5217\u83b7\u5f97\u6837\u672c\u6570\u636e\u7684\u5f15\u7528\r\n                const LoanableHelloWorld&amp; sample = data[i];\r\n\r\n                std::cout &lt;&lt; \"Sample received (count=\" &lt;&lt; samples &lt;&lt; \") at address \" &lt;&lt; &amp;sample\r\n                          &lt;&lt; (reader-&gt;is_sample_valid(&amp;sample, &amp;infos[i]) ? \" is valid\" : \" was replaced\" ) &lt;&lt; std::endl\r\n                          &lt;&lt; \"  index=\" &lt;&lt; sample.index() &lt;&lt; std::endl\r\n                          &lt;&lt; \"  message=\" &lt;&lt; sample.message().data() &lt;&lt; std::endl;\r\n            }\r\n        }\r\n        \/\/ \u5f52\u8fd8\u7f13\u51b2\u533a\u6301\u6709\u6743\r\n        reader-&gt;return_loan(data, infos);\r\n    }\r\n}<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h3>6.\u6027\u80fd\u6307\u6807\u7edf\u8ba1<\/h3>\n<p>\u6253\u5f00dds\u7f16\u8bd1\u7edf\u8ba1\u6a21\u5757\u9009\u9879\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">cd ~\/project\/Fast-DDS\r\nvim src\/fastrtps\/CMakeLists.txt\r\n    option(<span style=\"color: #ff0000;\">FASTDDS_STATISTICS<\/span> \"Enable Fast DDS Statistics Module\" <span style=\"color: #ff0000;\">ON<\/span>)\r\n\r\ncolcon build<\/code><\/pre>\n<p>\u914d\u7f6e\u8981\u7edf\u8ba1\u7684Topic\u7c7b\u578b\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\"># \u7edf\u8ba1DataWriters\u65f6\u5ef6\r\nexport <span style=\"color: #ff0000;\">FASTDDS_STATISTICS<\/span>=\"HISTORY_LATENCY_TOPIC;NETWORK_LATENCY_TOPIC\"<\/code><\/pre>\n<p>\u76d1\u63a7\u7edf\u8ba1\u6570\u636e\u7684\u5e94\u7528\u793a\u4f8b\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">cd ~\/project\/FastDDS\r\nvim fastrtps.repos\r\n    fastdds_statistics_backend:\r\n        type: git\r\n        url: https:\/\/github.com\/eProsima\/Fast-DDS-statistics-backend.git\r\n        version: main\r\n\r\n# download code\r\nvcs import src &lt; fastrtps.repos\r\n\r\n# build\r\ncolcon build --cmake-target install\r\nor\r\ncd src\/fastdds_statistics_backend\/build\r\ncmake ..\r\nsudo cmake --build . --target install\r\n\r\n# example\r\ncd src\/fastdds_statistics_backend\/examples\/cpp\/HelloWorldExample\/build\r\ncmake ..\r\ncmake --build .\r\n\r\n\r\n# \u7edf\u8ba1pub\/sub\u7684\u901a\u4fe1\u7684\u5ef6\u8fdf\u548c\u541e\u5410\u91cf\r\n.\/HelloWorldExample publisher\r\n.\/HelloWorldExample subcriber\r\n.\/HelloWorldExample monitor\r\n\r\nFast DDS Latency of HelloWorld topic: [ 206.079 \u03bcs]\r\nPublication throughput of Participant Participant_pub: [ 229.257 B\/s]\r\n\r\n<\/code><\/pre>\n<p>\u76d1\u63a7\u7684\u5b9e\u73b0\u903b\u8f91\uff1a<\/p>\n<pre class=\"pure-highlightjs\"><code class=\"\">#include &lt;fastdds_statistics_backend\/StatisticsBackend.hpp&gt;\r\n\r\nusing namespace eprosima::statistics_backend;\r\n\r\n...\r\n\r\n# \u521d\u59cb\u5316\u76d1\u63a7\r\nmonitor_id_ = StatisticsBackend::init_monitor(domain);\r\nif (!monitor_id_.is_valid()){\r\n        std::cout &lt;&lt; \"Error creating monitor\" &lt;&lt; std::endl;\r\n        return 1;\r\n}\r\nStatisticsBackend::set_physical_listener(&amp;physical_listener_);\r\n\r\n...\r\n\r\n# \u83b7\u53d6\u8981\u76d1\u63a7\u7684topicid\r\n    std::vector&lt;StatisticsData&gt; latency_data{};\r\n\r\n    std::vector&lt;EntityId&gt; topics = StatisticsBackend::get_entities(EntityKind::TOPIC);\r\n    EntityId helloworld_topic_id = -1;\r\n    Info topic_info;\r\n    for (auto topic_id : topics)\r\n    {\r\n        topic_info = StatisticsBackend::get_info(topic_id);\r\n        if (topic_info[\"name\"] == \"HelloWorldTopic\" &amp;&amp; topic_info[\"data_type\"] == \"HelloWorld\")\r\n        {\r\n            helloworld_topic_id = topic_id;\r\n        }\r\n    }\r\n\r\n    if (helloworld_topic_id &lt; 0)\r\n    {\r\n        return latency_data;\r\n    }\r\n\r\n# \u901a\u8fc7topic id\u83b7\u5f97\u5bf9\u5e94\u7684DataWriter\u548cDataReader\r\n    std::vector&lt;EntityId&gt; topic_datawriters = StatisticsBackend::get_entities(EntityKind::DATAWRITER, helloworld_topic_id);\r\n    std::vector&lt;EntityId&gt; topic_datareaders = StatisticsBackend::get_entities(EntityKind::DATAREADER, helloworld_topic_id);\r\n\r\n# \u83b7\u5f97\u6307\u5b9aDataWriters\u548cDataReaders\u95f4\u7684\u4f20\u8f93\u65f6\u5ef6\u7edf\u8ba1\u6570\u636e\r\nstd::vector&lt;StatisticsData&gt; latency_data{};\r\nstd::chrono::system_clock::time_point now = std::chrono::system_clock::now();\r\nlatency_data = StatisticsBackend::get_data(\r\n        DataKind::FASTDDS_LATENCY,                                   \/\/ DataKind\r\n        topic_datawriters,                                           \/\/ Source entities\r\n        topic_datareaders,                                           \/\/ Target entities\r\n        1,                                                           \/\/ Number of bins\r\n        now - std::chrono::seconds(5),                               \/\/ t_from\r\n        now,                                                         \/\/ t_to\r\n        StatisticKind::MEAN);                                        \/\/ Statistic\r\n\r\n    for (auto latency : latency_data){\r\n        std::cout &lt;&lt; \"Fast DDS Latency of HelloWorld topic: [\"\r\n                  &lt;&lt; timestamp_to_string(latency.first) &lt;&lt; \", \" &lt;&lt; latency.second \/ 1000 &lt;&lt; \" \u03bcs]\" &lt;&lt; std::endl;\r\n    }<\/code><\/pre>\n<p>&nbsp;<\/p>\n<h1>\u4e09\u3001\u603b\u7ed3<\/h1>\n<p>\u8fd9\u6b21\u6211\u4eec\u5bf9FastDDS\u7684\u4f20\u8f93\u3001\u81ea\u53d1\u73b0\u4ee5\u53ca\u9ad8\u5b9e\u65f6\u3001\u5927\u6587\u4ef6\u7b49\u7279\u6b8a\u5e94\u7528\u573a\u666f\u7684\u5b9e\u73b0\u673a\u5236\u8fdb\u884c\u4e86\u4e86\u89e3\uff0c\u4f46\u8fd8\u4e0d\u591f\u6df1\u5165\uff0c\u672c\u6587\u5148\u5230\u8fd9\u91cc\uff0c\u540e\u7eed\u518d\u9488\u5bf9\u67d0\u4e2a\u5177\u4f53\u7684\u70b9\u8fdb\u884c\u6df1\u5165\u5c55\u5f00\u5206\u6790\u548c\u8bb2\u89e3\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>yan 22.9.3<\/p>\n<p>&nbsp;<\/p>\n<p>\u53c2\u8003\uff1a<\/p>\n<p><a href=\"https:\/\/cloud.tencent.com\/developer\/article\/2030877\" target=\"_blank\" rel=\"noopener\">\u4ec0\u4e48\u662f\u7ec4\u64ad\uff1f\u7ec4\u64ad\u548c\u5355\u64ad\/\u5e7f\u64ad\u7684\u533a\u522b\u662f\u4ec0\u4e48\uff1f<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e0a\u4e00\u6b21\u6211\u4eec\u5bf9DDS\u6709\u4e86\u57fa\u7840\u7684\u4e86\u89e3\uff0c\u8fd9\u4e00\u6b21\u6211\u4eec\u5bf9FastDDS\u5173\u952e\u7279\u6027\u548c\u5178\u578b\u573a\u666f\u7684\u5b9e\u73b0\u673a\u5236\u8fdb\u884c\u8fdb\u4e00\u6b65\u7684\u4e86\u89e3\u3002 \u4e00 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1227],"tags":[1228],"_links":{"self":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6809"}],"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=6809"}],"version-history":[{"count":3,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6809\/revisions"}],"predecessor-version":[{"id":6867,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=\/wp\/v2\/posts\/6809\/revisions\/6867"}],"wp:attachment":[{"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6809"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=6809"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/yanjingang.com\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6809"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}