is a user application executed from command line and configured through a YAML configuration file.
depends on fastrtps
and fastcdr
libraries. In order to correctly execute the Router, make sure that fastrtps
and fastcdr
are properly sourced.
source <path-to-fastdds-installation>/install/setup.bash
Note
If Fast DDS has been installed in the system, these libraries would be sourced by default.
The application supports several input arguments:
Command | Option | Long option | Value | Default Value |
---|---|---|---|---|
user_manual_user_interface_help_argument |
-h |
--help |
||
user_manual_user_interface_configuration_file_argument |
-c |
--config-path |
Readable File Path | ./DDS_ROUTER_CONFIGURATION.yaml |
user_manual_user_interface_reload_time_argument |
-r |
--reload-time |
Unsigned Integer | 0 |
user_manual_user_interface_debug_argument |
-d |
--debug |
It shows the usage information of the application.
Usage: Fast DDS Router
Connect different DDS networks via DDS through LAN or WAN.
It will build a communication bridge between the different Participants included in the provided configuration file.
To stop the execution gracefully use SIGINT (C^) or SIGTERM (kill) signals.
General options:
-h --help Print this help message.
-c --config-path Path to the Configuration File (yaml format) [Default: ./DDS_ROUTER_CONFIGURATION.yaml].
-r --reload-time Time period in seconds to reload configuration file. This is needed when File Watcher
functionality is not available (e.g. config file is a symbolic link).
Value 0 does not reload file. [Default: 0].
-d --debug Activate debug Logs (be aware that some logs may require specific CMAKE compilation options).
Please refer to user_manual_user_interface_configuration_file
for more information on how to build this configuration file.
Set the user_manual_user_interface_reload_timer
in seconds.
Activate INFO
and DEBUG
logs for the execution. For this argument to work, the must have been compiled with CMake option CMAKE_BUILD_TYPE=Debug
, or compiled with CMake option LOG_INFO=ON
.
Note
If this option is enabled and Fast DDS has been compiled in debug mode, it will print the logs of the DDS Router and Fast DDS mixed. In order to skip Fast DDS logs, compile fastrtps
library with CMake option -DLOG_NO_INFO=ON
or CMAKE_BUILD_TYPE
different to Debug
.
A requires one and only one YAML configuration file as the operation of this application is configured via this YAML configuration file. Please refer to user_manual_configuration
for more information on how to build this configuration file.
This YAML configuration file must be passed as argument to the when executed. If no configuration file is provided as argument, the will attempt to load a file named DDS_ROUTER_CONFIGURATION.yaml
that must be in the same directory where the application is executed. If no configuration file is passed as argument, and the default configuration file does not exist in the current directory, the application will fail.
The topics that the is routing could be changed at runtime. Including topics in configuration's allowlist
will create new Writers <DataWriter>
and Readers <DataReader>
for each Participant in the Router. Removing a topic from allowlist
will disable this topic, and so it will stop routing data in such topic. Be aware that disabling a topic does not eliminate the entities of that topic. So, if a topic has been active before, the Writers and Readers will still be present in the and will still receive data.
There exist two methods to reload the list of allowed topics, an active and a passive one. Both methods work over the same configuration file with which the has been initialized.
A File Watcher is a process that runs in the background and watches for changes in the configuration file. Every time the file is changed, the OS sends a notification, and the File Watcher listens such notification and interacts with the in order to reload the topics. This event occurs every time the configuration file is saved.
FileWatcher is used in every execution by default. However, this method does not work properly in specific scenarios where the file being watched is not a real file but a link (e.g. Kubernetes executions).
A timer could be set in order to periodically reload the configuration file. The configuration file will be automatically reloaded according to the specified time period.
In order to stop a application, use one of the following OS signals:
Send an interruption SIGINT | ^C
signal (signal value 2) to the process. Press Ctrl + C
in the terminal where the process is running.
Send an interruption SIGTERM
signal (signal value 15) to the process. Write command kill <pid>
in a different terminal, where <pid>
is the id of the process running the . Use ps
or top
programs to check the process ids.