9cf4b97f1a
* Move the project top-level CMakeLists.txt to the root of the project;
this allows building Cyclone as part of ROS2 without any special
tricks;
* Clean up the build options:
ENABLE_SSL: whether to check for and include OpenSSL support if a
library can be found (default = ON); this used to be
called DDSC_ENABLE_OPENSSL, the old name is deprecated
but still works
BUILD_DOCS: whether to build docs (default = OFF)
BUILD_TESTING: whether to build test (default = OFF)
* Collect all documentation into top-level "docs" directory;
* Move the examples to the top-level directory;
* Remove the unused and somewhat misleading pseudo-default
cyclonedds.xml;
* Remove unused cmake files
Signed-off-by: Erik Boasson <eb@ilities.com>
745 lines
59 KiB
XML
745 lines
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="2.347414" y="28">(in sync)</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="9.514895" y="18">hash </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="8">guid hash table maps all </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="18">(local & proxy) endpoint </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="28">and participant guids to </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="38">the corresponding object. </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="48">Pointers to such objects </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="58">must be derived from the </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="68">guid hash, and may not be </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="78">retained across thread </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="88">liveliness state updates.</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="8">discovery maintains the set of readers that match </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="18">the proxy writer and an array of reader pointers </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="28">that the data from this proxy writer must be </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="38">delivered to. This should be versioned, so </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="48">partition changes are (can be) precise. Currently </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="58">there is no versioning.</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="78">implementation: possibly by using the sequence </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="88">number of the writer data as a version number: </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="98">that allows for a very simple, parallel, garbage </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="108">collector for these sets.</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="8">proxy-writer – reader matches switch between not-in-sync and in-</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="18">sync; the general idea being that the in-sync ones are only relevant to </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="28">heartbeat processing and need not be touched by Data(Frag) </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="38">processing. ("Too new" data always gets stored in the primary reorder </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="48">admin, whereas the not-in-sync ones are generally interested in old </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="58">data and track old data in the secondary reorder admins.)</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="8">"reader" is a DDSI </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="18">reader, which is a </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="28">proxy for a local </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="38">DCPS reader; "proxy </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="48">writer" is a proxy for </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="58">a remote DDSI writer.</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="10.506982" y="8">IN-</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="5.1214844" y="18">SYNC</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="8">not trans. local conn.</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="18">or proxy writer has</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="28">no old msgs</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="1.4763203" y="8">rejects </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="6.033449" y="18">data</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="6.994972" y="8">next-to-be-delivered</tspan>
|
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="4.4505385" y="18">for this conn. matches</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="14.452492" y="38">for proxy-writer</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="38">special case: they have no associated </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="#cbcbcb" x="0" y="18">- proxy writer stores all its reader matches currently in a single tree, </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="#cbcbcb" x="0" y="28">not discriminating between sync/not-in-sync</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="#cbcbcb" x="0" y="38">- all recv processing currently in a single thread</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="#cbcbcb" x="0" y="48">- no QoS changes yet, no versioning of QoS's</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="18">only do groupWrite, and </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="28">not deliver data to an </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="48">well design to that </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="28">information, both for Data and DataFrag sub-messages (the </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" y="28"> </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="38">elements), and for the embedded QoS lists.</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="58">Each </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-style="italic" font-weight="400" fill="black" y="58">rdata</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" y="58"> contains all that is necessary to track it in defragmenting and </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="68">reordering admins, and to link it into the delivery queue. This ensures no </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="78">(heap) memory allocations are necessary to track an arbitrary number of </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="88">messages/fragments in the normal case.</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="108">The deserializer operates from the </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-style="italic" font-weight="400" fill="black" y="108">rdata</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" y="108"> elements, it gets a little bit nasty </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="0" y="118">when a primitive is split over mulitple fragments, but so be it. </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-style="italic" font-weight="400" fill="#929292" y="118">NIY: currently </tspan>
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<tspan font-family="Gill Sans" font-size="9" font-style="italic" font-weight="400" fill="#929292" x="0" y="128">malloc + memcpy</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="6.225588" y="18">writer</tspan>
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<tspan font-family="Gill Sans" font-size="9" font-weight="400" fill="black" x="6.557375" y="28">match</tspan>
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