Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Update README #238

Merged
merged 1 commit into from
Apr 5, 2021
Merged

Update README #238

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 11 additions & 6 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,16 +10,21 @@

<a href="http://www.eprosima.com"><img src="https://encrypted-tbn3.gstatic.com/images?q=tbn:ANd9GcSd0PDlVz1U_7MgdTe0FRIWD0Jc9_YH-gGi0ZpLkr-qgCI6ZEoJZ5GBqQ" align="left" hspace="8" vspace="2" width="100" height="100" ></a>

*The Micro XRCE-DDS Agent* acts as a server to bridge the DDS dataspace network with *Micro XRCE-DDS Client* applications.
*eProsima Micro XRCE-DDS* is a library implementing the [DDS-XRCE protocol](https://www.omg.org/spec/DDS-XRCE/About-DDS-XRCE/) as defined and maintained by the OMG, whose aim is to allow resource constrained devices such as microcontrollers to communicate with the [DDS](https://www.omg.org/spec/DDS/About-DDS/) world as any other DDS actor would do.
It follows a client/server paradigm and is composed by two libraries, the *Micro XRCE-DDS Client* and the *Micro XRCE-DDS Agent*. The *Micro XRCE-DDS Clients* are lightweight entities meant to be compiled on e**X**tremely **R**esource **C**onstrained **E**nvironments, while the *Micro XRCE-DDS Agent* is a broker which bridges the *Clients* with the DDS world.

The *Micro XRCE-DDS Agents* receive messages containing request operations from the *Clients* to publish and subscribe to topics in the DDS global dataspace. Remote procedure calls, as defined by the DDS-RPC standard, are also supported, allowing to communicate according to a request/reply paradigm.
The *Agents* then process these XRCE requests and send back a response with the operation status result and with the requested data, in the case of subscribe/reply operations.
<p align="center"> <img src="https://github.com/eProsima/Micro-XRCE-DDS-Agent/blob/master/docs/General.png?raw=true" alt="General architecture" width="70%"/> </p>

*Agents* keep track of the *Clients* by means of a dedicated *ProxyClient* entity that acts on behalf of the latter.
This is made possible by the creation of *DDS Entities* on the *Agent* as a result of *Clients*' operations, such as *Participants*, *Topics*, *Publishers*, and *Subscribers*, which can interact with the DDS Global dataspace.
The *Micro XRCE-DDS Agent* receives messages containing request operations from the *Clients* to publish and subscribe to topics in the DDS global dataspace. Remote procedure calls, as defined by the [DDS-RPC standard](https://www.omg.org/spec/DDS-RPC/About-DDS-RPC/), are also supported, allowing to communicate according to a request/reply paradigm.
The *Agent* then processes these requests and sends back a response with the operation status result and with the requested data, in the case of subscribe/reply operations.

*Agents* keep track of the *Clients* by means of a dedicated `ProxyClient` entity that acts on behalf of the latter.
This is made possible by the creation of *DDS Entities* on the *Agent* as a result of *Clients*' operations, such as *Participants*, *Topics*, *Publishers*, and *Subscribers*, which can interact with the DDS global dataspace.

<p align="center"> <img src="https://github.com/eProsima/Micro-XRCE-DDS-Agent/blob/master/docs/Agent.png?raw=true" alt="Agent architecture" width="80%"/> </p>

The communication between a *Micro XRCE-DDS Client* and a *Micro XRCE-DDS Agent* is achieved by means of several kinds of built-in transports: **UDPv4**, **UDPv6**, **TCPv4**, **TCPv6** and **Serial** communication. In addition, there is the possibility for the user to generate its own **Custom** transport.
You can use an *Agent* with these transports by means of the standalone executable generated when building the project, which comes with a built-in CLI tool to select one of the transports listed above.
An *Agent* using any of these built-in transports can be launched by means of the standalone executable generated when building the project, which comes with a built-in CLI tool to select among the transports listed above.

This built-in *Agent* can also be installed and launched using the provided [Snap package](https://snapcraft.io/micro-xrce-dds-agent) or the provided [Docker image](https://hub.docker.com/r/eprosima/micro-xrce-dds-agent/).

Expand Down