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Gateway to DDS Networks

A gateway for bridging between iceoryx systems and DDS networks. The gateway enables iceoryx systems running on separate hosts to communicate with each other.

i.e. Data published by a publisher on Host A can be received by a matching subscriber on Host B.

Organization

This module exports the iox-dds-gateway executable which manages a POSH runtime and handles the gateway logic of communication.

The common building blocks logic for this binary are consolidated in the exported library, libiceoryx_dds.

Applications may instead directly embed the gateway by using the exported lib.

Building

The DDS stack used by the gateway is abstracted and needs to made explicit at compile time.

Pre-requisites

  • Bison is installed
  • CMake is installed
sudo apt install cmake bison

CMake Build

You can use the standard iceoryx cmake build approach with an activated -DDDS_STACK=CYCLONE_DDS or -DDDS_STACK=FAST_DDS switch.

cmake -Bbuild -DBUILD_TEST=ON -DDDS_STACK=CYCLONE_DDS # DDDS_STACK=FAST_DDS
cd build
make

Usage

Configuration

In /etc/iceoryx/gateway_config.toml you find the dds gateway configuration. Every service which should be offered or to which you would like to subscribe has to be listed in here.

[[services]]
service     = "Radar"
instance    = "FrontLeft"
event       = "Object"

[[services]]
service     = "larry_robotics"
instance    = "SystemMonitor"
event       = "larry_info"

In this example we would like to offer or subscribe to the two services Radar.FrontLeft.Object from our icedelivery example and to one service larry_robotics.SystemMonitor.larry_info from our larry demonstrator.

Running icedelivery via CycloneDDS

We can use CycloneDDS to run our icedelivery example via a local area network. First we have to adjust the gateway configuration file in /etc/iceoryx/gateway_config.toml and have to add the publisher service description from our example.

[[services]]
service     = "Radar"
instance    = "FrontLeft"
event       = "Object"

Now two connected machines A and B can communicate over a local area network via iceoryx.

Open three terminals on machine A and execute the following commands:

  • Terminal 1: ./build/iox-roudi
  • Terminal 2: ./build/iceoryx_dds/iox-dds-gateway to send all samples from the publisher to DDS
  • Terminal 3: ./build/iceoryx_examples/icedelivery/iox-cpp-publisher

Open another three terminals on machine B and execute the commands:

  • Terminal 1: ./build/iox-roudi
  • Terminal 2: ./build/iceoryx_dds/iox-dds-gateway to receive all samples from the publisher via DDS
  • Terminal 3: ./build/iceoryx_examples/icedelivery/iox-cpp-subscriber

Running with shared libraries

Before running, you may need to add the install directory to the library load path if it is not standard (so that the runtime dependencies can be found). i.e.

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$INSTALL_DIR/lib

Then, simply run the gateway executables as desired.

e.g.

$INSTALL_DIR/bin/iox-dds-gateway