Validation of interoperability of products compliant with OMG DDS-XTYPES standard. This is considered one of the core DDS Specifications. See http://portals.omg.org/dds/ for an overview of DDS.
The executables in this repository test communication between DDS DataWriters and DDS DataReaders using different "versions" of a data type. The goal is that the compatibility rules are implemented in compliance with the OMG DDS-XTYPES specification.
These tests can be used to validate compliance with OMG DDS-XTYPES each DDS implementation separately. The same executables can also be used to test interoperability between different DDS implementations. E.g. between RTI Connext DDS and TwinOaks CoreDX DDS.
The test uses 25 different "versions" of a data-type. These variations are obtained by adding, removing or reordering different attributes. They are also obtained by declaring different extensibility kinds for the data type (Final, Extensible [the default], and Mutable). These types are declared in the ShapeTypes.idl file or the equivalent ShapeTypes.xml file. The 25 types defined there are:
| Types with default extensibility | Types with final extensibility | Types with extensible extensibility | Types with mutable extensibility | Types with mutable extensibiity specifying explicit ID |
|---|---|---|---|---|
| Shape1Default | Shape1Final | Shape1Extensible | Shape1Mutable | Shape1MutableExplicitID |
| Shape2Default | Shape2Final | Shape2Extensible | Shape2Mutable | Shape2MutableExplicitID |
| Shape3Default | Shape3Final | Shape3Extensible | Shape3Mutable | Shape3MutableExplicitID |
| Shape4Default | Shape4Final | Shape4Extensible | Shape4Mutable | Shape4MutableExplicitID |
| Shape5Default | Shape5Final | Shape5Extensible | Shape5Mutable | Shape5MutableExplicitID |
There are two executables. The first is called Shapes_publisher and can be configured via command-line parameters to publish one of the 25 types. The second is called Shapes_subscriber and can be configured via command-line parameters to subscribe one one of the 25 types.
Regardless of the data-type the DDS Topic name is always the same and is called XTYPESTestTopic. An additional command-line parameter is used to specify the DDS domain_id.
By providing different commmand-line paramaters to the Shapes_publisher and Shapes_subscriber it is possible to test 625 combinations (25 squared) of the type being published combined with the type being subscribed.
In accordance with the OMG DDS-XTYPES specification some of these type combinations are expected to be interoperable whereas others are not. The specification of what should be interoperable along with a brief justification is provided in the compatibility_matrix.xlsx spreadsheet.
The following is an example execution:
ON THE SUBSCRIBER COMPUTER:
dds-xtypes$ ./rti_connext_dds_5.2_linux -sub -domain 0 -type Shape2Extensible
Usage: ./rti_connext_dds_5.2_linux [-pub | -sub] [-domain <domainId>] [-type <typeName>]
Info: Starting subscribing application. Domain: 0, Type: Shape2Extensible
Waiting for data on topic "XTYPESTestTopic", type "Shape2Extensible"
on_subscription_matched: topic "XTYPESTestTopic", type "Shape2Extensible", count: 1, change: 1
Read data for Topic XTYPESTestTopic
color: "BLUE"
x: 1
y: 2
shapesize: 30
angle: 0.000000
Read data for Topic XTYPESTestTopic
color: "BLUE"
x: 2
y: 4
shapesize: 30
angle: 0.000000
....
ON THE PUBLISHER COMPUTER:
dds-xtypes$ ./rti_connext_dds_5.2_linux -pub -domain 0 -type Shape1Extensible
Usage: ./rti_connext_dds_5.2_linux [-pub | -sub] [-domain <domainId>] [-type <typeName>]
Info: Starting publishing application. Domain: 0, Type: Shape1Extensible
Writing Topic "XTYPESTestTopic", type "Shape1Extensible", count 0, data:
color: "BLUE"
x: 0
y: 0
shapesize: 30
Writing Topic "XTYPESTestTopic", type "Shape1Extensible", count 1, data:
color: "BLUE"
x: 1
y: 2
shapesize: 30
Writing Topic "XTYPESTestTopic", type "Shape1Extensible", count 2, data:
color: "BLUE"
x: 2
y: 4
shapesize: 30
....