OpenDDS之QosXml库编译(Windows + VS2019)

林夕072024-03-06 12:09

目录

1、需求背景

在使用OpenDDS中，需要对不同场景设计出不同的qos方案配置。但是每次写在代码中，后续维护扩展均受限，为此需要使用xml文件配置的方法。其实OpenDDS源码中已经提供了xml配置的方法，但是由于没有编译xml解析库，所以这部分的库就没有生成出来。

2、基础环境

  • VS2019
  • perl Opendds ace+tao 均已完成编译。
  • cmake(3.27)

3、编译xercesc

3.1、下载xercesc

官网链接：http://xerces.apache.org/xerces-c/download.cgi

在Source Distributions 区域找最新的zip下载即可。

3.2、编译xercesc

解压下载好的库后，基本目录结构如下图所示：

我们打开cmake-gui软件。需要填写souce code 和 build binaries 俩个路径。分别为源码路径和编译路径。然后点击【Configure】按钮，在弹出的界面选择VS2019其他默认即可。

然后在下面的CMAKE_INSTALL_PREFIX属性设置安装路径。这里我的DDS路径为D:OpenDDS，所以我安装在了OpenDDS路径下。

再次点击Configure 完成后，点击 Generate按钮。

生成后，点击Open Project按钮，打开工程。

选择Debug-64环境后，打开CMakePredefinedTargets文件夹中找到ALL_BUILD，右击编译。完成后，找到下面的INSTALL工程，右击编译。就会把所编译生成的文件以及头文件输出到你在cmake那块配置的路径中。至此，xercesc的编译就完成了。

4、编译ACE_XML_Utils

ACE_XML_Utils需要xerces库的支持，所以在编译ACE和TAO时并没有生成。

4.1、生成XML_Utils解决方案

注：需要使用VS2019的命令行

在 %OpenDDS%\ACE_wrappers\ace\XML_Utils\路径下执行命令：

perl mwc.pl -type vs2019

在该路径下就会生成ACE_XML_Utils.sln

4.2、编译XML_Utils

点击XML_Utils.sln打开工程。

在属性中需要增加以下配置：

在C/C++常规中增加xerces-c的头文件路径(D:\OpenDDS\xerces-c\include)

在链接器常规中增加xerces-c的库文件路径(D:\OpenDDS\xerces-c\lib)

在链接器输入中增加xerces-c_3D.lib库文件。(Debug是xerces-c_3D.lib，Release是xerces-c_3.lib)

最后编译XML_Utils工程。成功生成。

5、编译QOS_XML_XSC_Handlerd

5.1、生成QOS_XML_XSC_Handlerd解决方案

注：需要使用VS2019的命令行

在 %OpenDDS%\dds\DCPS\QOS_XML_Handler\路径下执行命令：

perl mwc.pl -type vs2019

在该路径下就会生成ACE_XML_Utils.sln

5.2、编译QOS_XML_XSC_Handlerd

点击QOS_XML_XSC_Handlerd.sln打开工程。

在属性中需要增加以下配置：

在C/C++常规中增加xerces-c的头文件路径(D:\OpenDDS\xerces-c\include)

在链接器常规中增加xerces-c的库文件路径(D:\OpenDDS\xerces-c\lib)

在链接器输入中增加xerces-c_3D.lib库文件。(Debug是xerces-c_3D.lib，Release是xerces-c_3.lib)

编译工程，成功生成。

6、测试例子

在%OpenDDS%\tests\DCPS\QoS_XML\dump有xml配置读取的例子。

6.1、生成dump解决方案

注：需要使用VS2019的命令行

在 %OpenDDS%\dds\DCPS\QOS_XML_Handler\路径下执行命令：

perl mwc.pl -type vs2019 -features xerces=1

在该路径下就会生成dump.sln文件

6.2、编译dump

点击dump.sln打开工程。在qos_dump.cpp中就有所有的qos读取示例。

代码如下：

cpp 复制代码 
#include "dds/DCPS/QOS_XML_Handler/QOS_XML_Loader.h"
#include "dds/DdsDcpsC.h"

int ACE_TMAIN (int, ACE_TCHAR *[])
{
  int retval = 0;
  try
    {
      OpenDDS::DCPS::QOS_XML_Loader xml_loader;
      DDS::ReturnCode_t const retcode = xml_loader.init (ACE_TEXT ("qos#TestProfile"));
      if (retcode == DDS::RETCODE_OK)
        {
          DDS::ReturnCode_t retcode_qos;
          ::DDS::DataWriterQos dw_qos;
          retcode_qos = xml_loader.get_datawriter_qos (
                                dw_qos,
                                ACE_TEXT("qos#TestProfile"),
                                ACE_TEXT("TopicName"));
          if (retcode_qos != DDS::RETCODE_OK)
            {
              ACE_ERROR ((LM_ERROR, "MAIN - "
                "get_datawriter_qos return an error. Retcode <%d>\n",
                retcode_qos));
              ++retval;
            }
          if (dw_qos.history.kind != ::DDS::KEEP_ALL_HISTORY_QOS)
            {
              ACE_ERROR ((LM_ERROR, "MAIN - "
                "get_datawriter_qos return an invalid history kind.\n"));
              ++retval;
            }
          if (dw_qos.history.depth != 5)
            {
              ACE_ERROR ((LM_ERROR, "MAIN - "
                "get_datawriter_qos return an invalid history depth.\n"));
              ++retval;
            }

          ::DDS::DataReaderQos dr_qos;
          retcode_qos = xml_loader.get_datareader_qos (
                                dr_qos,
                                ACE_TEXT("qos#TestProfile"),
                                ACE_TEXT("TopicName"));
          if (retcode_qos != DDS::RETCODE_OK)
            {
              ACE_ERROR ((LM_ERROR, "MAIN - "
                "get_datareader_qos return an error. Retcode <%d>\n",
                retcode_qos));
              ++retval;
            }

          if (dr_qos.type_consistency.ignore_sequence_bounds != true)
          {
            ACE_ERROR ((LM_ERROR, "PARSEXML - "
                  "get_datareader_qos returned an invalid type type_consistency ignore_sequence_bounds.\n"));
            ++retval;
          }
          if (dr_qos.type_consistency.ignore_string_bounds != true)
          {
            ACE_ERROR ((LM_ERROR, "PARSEXML - "
                  "get_datareader_qos return an invalid type type_consistency ignore_string_bounds.\n"));
            ++retval;
          }
          if (dr_qos.type_consistency.ignore_member_names != true)
          {
            ACE_ERROR ((LM_ERROR, "PARSEXML - "
                  "get_datareader_qos return an invalid type type_consistency ignore_member_names.\n"));
            ++retval;
          }
          if (dr_qos.type_consistency.prevent_type_widening != true)
          {
            ACE_ERROR ((LM_ERROR, "PARSEXML - "
                  "get_datareader_qos return an invalid type type_consistency prevent_type_widening.\n"));
            ++retval;
          }
          if (dr_qos.type_consistency.force_type_validation != true)
          {
            ACE_ERROR ((LM_ERROR, "PARSEXML - "
                  "get_datareader_qos return an invalid type type_consistency force_type_validation.\n"));
            ++retval;
          }
          if (dr_qos.representation.value.length() != 2)
          {
            ACE_ERROR ((LM_ERROR, "PARSEXML - "
                  "get_datareader_qos return an invalid length %d for data_representation.\n",
                  dr_qos.representation.value.length()));
            ++retval;
          }

          ::DDS::TopicQos tp_qos;
          retcode_qos = xml_loader.get_topic_qos (
                                tp_qos,
                                ACE_TEXT("qos#TestProfile"),
                                ACE_TEXT("TopicName"));
          if (retcode_qos != DDS::RETCODE_OK)
            {
              ACE_ERROR ((LM_ERROR, "MAIN - "
                "get_topic_qos return an error. Retcode <%d>\n",
                retcode_qos));
              ++retval;
            }

          if (tp_qos.durability_service.history_kind != DDS::KEEP_LAST_HISTORY_QOS)
          {
            ACE_ERROR ((LM_ERROR, "PARSEXML - "
                  "get_topic_qos returned an invalid type durability_service history_kind.\n"));
            ++retval;
          }

          ::DDS::PublisherQos pub_qos;
          retcode_qos = xml_loader.get_publisher_qos (
                                pub_qos,
                                ACE_TEXT("qos#TestProfile"));
          if (retcode_qos != DDS::RETCODE_OK)
            {
              ACE_ERROR ((LM_ERROR, "MAIN - "
                "get_publisher_qos return an error. Retcode <%d>\n",
                retcode_qos));
              ++retval;
            }

          ::DDS::SubscriberQos sub_qos;
          retcode_qos = xml_loader.get_subscriber_qos (
                                sub_qos,
                                ACE_TEXT("qos#TestProfile"));
          if (retcode_qos != DDS::RETCODE_OK)
            {
              ACE_ERROR ((LM_ERROR, "MAIN - "
                "get_subscriber_qos return an error. Retcode <%d>\n",
                retcode_qos));
              ++retval;
            }

          ::DDS::DomainParticipantQos dp_qos;
          retcode_qos = xml_loader.get_participant_qos (
                                dp_qos,
                                ACE_TEXT("qos#TestProfile"));
          if (retcode_qos != DDS::RETCODE_OK)
            {
              ACE_ERROR ((LM_ERROR, "MAIN - "
                "get_participant_qos return an error. Retcode <%d>\n",
                retcode_qos));
              ++retval;
            }
        }
      else
        {
          ACE_ERROR ((LM_ERROR, "MAIN - Init return an error. Retcode <%d>\n",
            retcode));
          ++retval;
        }
    }
  catch (const CORBA::Exception& ex)
    {
      ex._tao_print_exception ("QOS_Dump::main\n");
      return -1;
    }
  catch (...)
    {
      ACE_ERROR ((LM_ERROR, ACE_TEXT ("Unexpected exception\n")));
      return 1;
    }

  return retval;
}

6.3、OpenDDS的xml格式

xml 复制代码 
<?xml version="1.0" encoding="UTF-8"?>
<dds xmlns="http://www.omg.org/dds"
     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
     xsi:schemaLocation="http://www.omg.org/dds dds_qos.xsd">
  <qos_profile name="TestProfile">
    <datareader_qos>
          <representation>
            <value>
              <element>XCDR_DATA_REPRESENTATION</element>
              <element>XCDR2_DATA_REPRESENTATION</element>
            </value>
          </representation>
          <type_consistency>
            <kind>ALLOW_TYPE_COERCION</kind>
            <ignore_sequence_bounds>true</ignore_sequence_bounds>
            <ignore_string_bounds>true</ignore_string_bounds>
            <ignore_member_names>true</ignore_member_names>
            <prevent_type_widening>true</prevent_type_widening>
            <force_type_validation>true</force_type_validation>
          </type_consistency>
          <durability>
                 <kind>VOLATILE_DURABILITY_QOS</kind>
          </durability>
          <deadline>
               <period>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </period>
          </deadline>
          <latency_budget>
               <duration>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </duration>
          </latency_budget>
          <liveliness>
               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
               <lease_duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </lease_duration>
          </liveliness>
          <reliability>
               <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
               <max_blocking_time>
                    <sec>0</sec>
                    <nanosec>100000000</nanosec>
               </max_blocking_time>
          </reliability>
          <destination_order>
                <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
          </destination_order>
          <history>
               <kind>KEEP_LAST_HISTORY_QOS</kind>
               <depth>1</depth>
          </history>
          <resource_limits>
               <max_samples>LENGTH_UNLIMITED</max_samples>
               <max_instances>LENGTH_UNLIMITED</max_instances>
               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
          </resource_limits>
          <!--user_data>
               <value></value>
          </user_data-->
          <ownership>
               <kind>SHARED_OWNERSHIP_QOS</kind>
          </ownership>
          <time_based_filter>
               <minimum_separation>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </minimum_separation>
          </time_based_filter>
          <reader_data_lifecycle>
               <autopurge_nowriter_samples_delay>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </autopurge_nowriter_samples_delay>
               <autopurge_disposed_samples_delay>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </autopurge_disposed_samples_delay>
          </reader_data_lifecycle>
     </datareader_qos>
    <datawriter_qos>
          <durability>
               <kind>VOLATILE_DURABILITY_QOS</kind>
          </durability>
          <durability_service>
               <service_cleanup_delay>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </service_cleanup_delay>
               <history_kind>KEEP_LAST_HISTORY_QOS</history_kind>
               <history_depth>1</history_depth>
               <max_samples>LENGTH_UNLIMITED</max_samples>
               <max_instances>LENGTH_UNLIMITED</max_instances>
               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
          </durability_service>
          <deadline>
               <period>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </period>
          </deadline>
          <latency_budget>
               <duration>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </duration>
          </latency_budget>
          <liveliness>
               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
               <lease_duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </lease_duration>
          </liveliness>
          <reliability>
               <kind>RELIABLE_RELIABILITY_QOS</kind>
               <max_blocking_time>
                    <sec>0</sec>
                    <nanosec>100000000</nanosec>
               </max_blocking_time>
         </reliability>
         <destination_order>
              <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
          </destination_order>
          <history>
               <kind>KEEP_ALL_HISTORY_QOS</kind>
               <depth>5</depth>
          </history>
          <resource_limits>
               <max_samples>LENGTH_UNLIMITED</max_samples>
               <max_instances>LENGTH_UNLIMITED</max_instances>
               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
          </resource_limits>
          <transport_priority>
               <value>0</value>
          </transport_priority>
          <lifespan>
               <duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </duration>
          </lifespan>
          <!--user_data>
               <value></value>
         </user_data-->
         <ownership>
              <kind>SHARED_OWNERSHIP_QOS</kind>
          </ownership>
          <ownership_strength>
               <value>0</value>
          </ownership_strength>
          <writer_data_lifecycle>
               <autodispose_unregistered_instances>true</autodispose_unregistered_instances>
          </writer_data_lifecycle>
     </datawriter_qos>
     <domainparticipant_qos>
          <!--user_data>
               <value></value>
          </user_data-->
          <entity_factory>
               <autoenable_created_entities>true</autoenable_created_entities>
          </entity_factory>
     </domainparticipant_qos>
     <subscriber_qos>
          <presentation>
               <access_scope>INSTANCE_PRESENTATION_QOS</access_scope>
               <coherent_access>false</coherent_access>
               <ordered_access>false</ordered_access>
          </presentation>
          <partition>
               <name>
                 <element>ABC</element>
                 <element>DEF</element>
                 <element>GHI</element>
                 <element>JKL</element>
                 <element>MNO</element>
                 <element>PQR</element>
                 <element>STU</element>
                 <element>VW</element>
                 <element>XYZ</element>
              </name>
          </partition>
          <!--group_data>
               <value></value>
          </group_data-->
          <entity_factory>
               <autoenable_created_entities>true</autoenable_created_entities>
          </entity_factory>
     </subscriber_qos>
     <publisher_qos>
          <presentation>
               <access_scope>INSTANCE_PRESENTATION_QOS</access_scope>
               <coherent_access>false</coherent_access>
               <ordered_access>false</ordered_access>
          </presentation>
          <partition>
               <name>
                 <element>XYZ</element>
                 <element>VW</element>
                 <element>STU</element>
                 <element>PQR</element>
                 <element>MNO</element>
                 <element>JKL</element>
                 <element>GHI</element>
                 <element>DEF</element>
                 <element>ABC</element>
              </name>
          </partition>
          <!--group_data>
               <value></value>
          </group_data-->
          <entity_factory>
               <autoenable_created_entities>true</autoenable_created_entities>
          </entity_factory>
     </publisher_qos>
     <topic_qos>
          <!--topic_data>
               <value></value>
          </topic_data-->
          <durability>
               <kind>VOLATILE_DURABILITY_QOS</kind>
          </durability>
          <durability_service>
               <service_cleanup_delay>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </service_cleanup_delay>
               <history_kind>KEEP_LAST_HISTORY_QOS</history_kind>
               <history_depth>1</history_depth>
               <max_samples>LENGTH_UNLIMITED</max_samples>
               <max_instances>LENGTH_UNLIMITED</max_instances>
               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
          </durability_service>
          <deadline>
               <period>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </period>
          </deadline>
          <latency_budget>
               <duration>
                    <sec>0</sec>
                    <nanosec>0</nanosec>
               </duration>
          </latency_budget>
          <liveliness>
               <kind>AUTOMATIC_LIVELINESS_QOS</kind>
               <lease_duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </lease_duration>
          </liveliness>
          <reliability>
               <kind>BEST_EFFORT_RELIABILITY_QOS</kind>
               <max_blocking_time>
                    <sec>0</sec>
                    <nanosec>100000000</nanosec>
                    </max_blocking_time>
          </reliability>
          <destination_order>
               <kind>BY_RECEPTION_TIMESTAMP_DESTINATIONORDER_QOS</kind>
          </destination_order>
          <history>
               <kind>KEEP_LAST_HISTORY_QOS</kind>
               <depth>1</depth>
          </history>
          <resource_limits>
               <max_samples>LENGTH_UNLIMITED</max_samples>
               <max_instances>LENGTH_UNLIMITED</max_instances>
               <max_samples_per_instance>LENGTH_UNLIMITED</max_samples_per_instance>
          </resource_limits>
          <transport_priority>
               <value>0</value>
          </transport_priority>
          <lifespan>
               <duration>
                    <sec>DURATION_INFINITE_SEC</sec>
                    <nanosec>DURATION_INFINITE_NSEC</nanosec>
               </duration>
          </lifespan>
          <ownership>
               <kind>SHARED_OWNERSHIP_QOS</kind>
          </ownership>
     </topic_qos>
  </qos_profile>
</dds>
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