SPSP, SEDP, and transport processes by logging observations of RTPS discovery patterns

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Add [common] to the configuration file
dcpsglobaltransportconfig= $file
dcpsdebuglevel=10
Dcpstransportdebuglevel=5
Orblogfile=opendds.log.log
The pub or sub runtime produces a partial log of the Opendds.log,rtps end-to-end discovery pattern process as follows:
(1) Basic configuration output tracking

Configuration sedpmulticast=0 Configuration resendperiod=2 Configuration sedplocaladdress=192.168.2.9: #SEDP地址绑定, when multiple network adapters are applicable Configuration spdpsendaddrs=192.168.2.4:7410 #SPDP单播地址, suitable for cross network segment or network segment group Configuration ttl=20 Configuration TRANSPORT_TYPE=RTPS_UDP Configuration use_multicast=0 Configuration local_address=192.168.2.9: #数据Transport地址绑定, when multiple network adapters are applicable Configuration ttl=20 Configuration Discoveryconfig=fast_rtps

(2) SPDP log information

(8908|12480) Service_participant::get_discovery:returning repository for domain 0, repo Fast_rtps. (8908|12480) Spdp::spdptransport::open_unicast_socket ()-Opened unicast socket on port 7410 #本地SPDP的单播地址, bind the port outward (multicast address or Unicast address list) send information (8908|12480) Spdp::spdptransport::spdptransport joining group 239.255.0.1:7400 #SPDP加入本地组播地址成功

(3) SEDP log information

(8908|12480) Transportimpl::configure () Transport_type:rtps_udp Name_opendds__sedptransportinst_0103005056c0000122cc00000 Queue_messages_per_pool:10 Queue_initial_pools:5 max_packet_size:2147481599 Max_samples_per_packet:10 optimum_packet_size:4096 Thread_per_connection:false datalink_release_delay:10000 Datalink_control_chunks:32 local_address:192.168.2.9:65238 #SEDP绑定的本地IP和端口 Use_multicast:false multicast_group_address:239.255.0.2:7401 #SEDP加入的本地组播地址 Multicast_interface: Nak_depth:32 nak_response_delay:200 heartbeat_period:1000 heartbeat_response_delay:500 handshake_timeout:10000

(iv) Log information of the transport layer

(8908|12480) Transportimpl::configure () Transport_type:rtps_udp NameThe_rtps_transport Queue_messages_per_pool:10 Queue_initial_pools:5 max_packet_size:2147481599 Max_samples_per_packet:10 optimum_packet_size:4096 Thread_per_connection:false datalink_release_delay:10000 Datalink_control_chunks:32 local_address:192.168.2.9:65239 #传输层绑定的本地地址和port Use_multicast:false multicast_group_address:239.255.0.2:7401 #Transport鞥加入的本地组播地址 Multicast_interface: Nak_depth:32 nak_response_delay:200 heartbeat_period:1000 heartbeat_response_delay:500 handshake_timeout:30000

The above is SPDP, SEDP, transport operation of the basic information output, detailed theme matching (Domainid, Topicname, TypeName), will be given in detail in the future.

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