Configuring RTI Recording and Replay Services for use with Connext DDS Cert

Background

A number of useful tools are included with a Connext DDS Professional installation; two of these are RTI Recording Service and RTI Replay Service.

• Recording Service can be configured to record DDS traffic (including discovery traffic) to a SQLite database.
• Replay Service can play this recording back, simulating the original data source.

In the most common case, DDS applications (including Recording and Replay Services) use dynamic discovery, allowing applications to "automatically" find and match with each other. However, most safety-certified systems use static discovery configurations that-- while requiring more pre-configuration-- allow for a more deterministic system.

This example demonstrates how to configure Recording Service, Replay Service, and simple DDS applications to work together in a static discovery configuration. This example is based on Connext DDS Micro 2.4.12 because it similar in functionality to Connext DDS Cert.

Micro applications

Building this project results in three Micro-based applications:

• location_publisher_1
• location_publisher_2
• location_subscriber

All three applications interact with the "Object Location" Topic, which is of type Pose (defined in Pose.idl.)

Prepare the Micro environment

Linux

$ export RTIMEHOME=/path/to/rti_connext_dds_micro-2.4.12
$ export RTIMEARCH=x64Linux5gcc9.3.0
$ export PATH=$RTIMEHOME/rtiddsgen/scripts:$RTIMEHOME/lib/$RTIMEARCH:$PATH

Windows

• Add the equivalent to that shown above for Linux in the Windows System Environment Variables section.

Generate type support files

Linux

$ $RTIMEHOME/rtiddsgen/scripts/rtiddsgen -micro -language C -update typefiles ./Pose.idl

Windows

> %RTIMEHOME%\rtiddsgen\scripts\rtiddsgen -micro -language C -create typefiles Pose.idl

Build the Micro example applications

Linux

$ cd your/project/directory
$ $RTIMEHOME/resource/scripts/rtime-make --config Release --build --name $RTIMEARCH --target Linux --source-dir . -G "Unix Makefiles" --delete

Windows

> cd your\project\directory 
> %RTIMEHOME%\resource\scripts\rtime-make --config Release --build --name x64Win64VS2017 --target Windows --source-dir . -G "Visual Studio 15 2017 Win64" --delete

Running Recording Service

$NDDSHOME/bin/rtirecordingservice -cfgName UserRecordingServiceJson -cfgFile ~/work/dpse_recording_service/cfg/DPSE_RecordingService.xml

Running Replay Service

(From the same directory where the Recording was made.)

$NDDSHOME/bin/rtireplayservice -cfgName UserReplayServiceJson -cfgFile ~/work/dpse_recording_service/cfg/DPSE_ReplayService.xml