OpenDDS通讯rtps_discovery对等发现模式的pub和sub匹配的日志

OpenDDS的通讯体系中，提供了丰富的日志输出，通过日志输出可以清晰的看到pub和sub方的主题匹配的过程，是加深对OpenDDS过程了解的一个好方法。
下面的日志，以OpenDDS3.8为基础，增加了部分日志和时间戳输出。
rtps_discovery对等发现模式下，通过单播地址进行发布方和订阅方的匹配过程。

（1）sub方

配置文件

[common]
DCPSGlobalTransportConfig=$file
ORBDebugLevel=0
DCPSDebugLevel=10
DCPSTransportDebugLevel=0
ORBLogFile=sub.log[domain/2]
DiscoveryConfig=fast_rtps[rtps_discovery/fast_rtps]
ResendPeriod=2
InteropMulticastOverride=239.255.0.11SpdpSendAddrs=192.168.102.1:7910
##PB=30000
##DX=0
##D1=0
SedpMulticast=0
SedpLocalAddress=192.168.102.1:
TTL=20[transport/the_rtps_transport]
transport_type=rtps_udp
use_multicast=0
local_address=192.168.179.1:
ttl=20

sub方日志

(13532|6612) NOTICE: using DCPSDebugLevel value from command option (overrides value if it's in config file).
(13532|6612) NOTICE: using DCPSTransportDebugLevel value from command option (overrides value if it's in config file).
(13532|6612) NOTICE: using ORBLogFile value from command option, overriding config file
Configuration InteropMulticastOverride=239.255.0.11
Configuration SedpMulticast=0
Configuration ResendPeriod=2
Configuration SedpLocalAddress=192.168.102.1:
Configuration SpdpSendAddrs=192.168.102.1:7910
Configuration TTL=20
Configuration transport_type=rtps_udp
Configuration use_multicast=0
Configuration local_address=192.168.179.1:
Configuration ttl=20
Configuration DiscoveryConfig=fast_rtps
2018-02-09 17:18:35.997322 (13532|6612) Service_Participant::set_repo_domain: Domain[ 2] = Repo[ fast_rtps].
(13532|6612) NOTICE: StaticDiscovery::parse_topics no [topic] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_datawriterqos no [datawriterqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_datareaderqos no [datareaderqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_publisherqos no [publisherqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_subscriberqos no [subscriberqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_endpoints no [endpoint] sections.
(13532|6612) NOTICE: Service_Participant::intializeScheduling() - no scheduling policy specified, not setting policy.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) WARNING:open_appropriate_socket_type: socket open not successful:errno: 10048
(13532|6612) Spdp::SpdpTransport::open_unicast_socket() - failed to open_appropriate_socket_type unicast socket on port 7910 ACE_SOCK_Dgram::open: address already in use.  Trying next participantId...
2018-02-09 17:18:36.036022 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 488, local[0.0.0.0:7912], port=7912
2018-02-09 17:18:36.036022 (13532|6612) Spdp::SpdpTransport::open_unicast_socket() - opened unicast socket on port 7912
(13532|6612) Spdp::SpdpTransport::SpdpTransport joining group  239.255.0.11:7900
2018-02-09 17:18:36.082822 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 692, local[192.168.102.1:0], port=50699
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) DDS::ParticipantBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c6f0 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c738 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSParticipant) enabled
(13532|6612) DDS::TopicBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c780 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c7c8 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSTopic) enabled
(13532|6612) DDS::PublicationBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c810 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c858 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSPublication) enabled
(13532|6612) DDS::SubscriptionBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c8a0 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c8e8 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSSubscription) enabled
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Ocean::OceanMsgDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c930 with 20 chunks
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c9c0 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 1184, local[192.168.179.1:0], port=50700
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|8344) Spdp::data_received() - add a new participant local <01030050.37c00008.34dc0000.000001c1(b8f0199)> discovered remote <01030050.37c00008.35c40000.000001c1(9314d3ae)> createTime=1518167916, leaseDuration=20s.
(13532|8344) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|8344) ConditionImpl::signal_all()
(13532|8344) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13532|8344) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|8344) ConditionImpl::signal_all()
(13532|8344) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13532|8344) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000003c7(d0dac62e) <--> with remote publication  01030050.37c00008.35c40000.000003c2(382be096).
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000004c7(9f9b50e9) <--> with remote publication  01030050.37c00008.35c40000.000004c2(776a7651).
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000200c7(f8734183) <--> with remote publication  01030050.37c00008.35c40000.000200c2(1082673b).
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|13428) Sedp::Task::svc got message from queue type 0
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000003c2(a0b032a1) <--> with remote subscription 01030050.37c00008.35c40000.000003c7(48411419).
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000004c2(eff1a466) <--> with remote subscription 01030050.37c00008.35c40000.000004c7(70082de).
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000200c2(8819b50c) <--> with remote subscription 01030050.37c00008.35c40000.000200c7(60e893b4).
(13532|13428) Sedp::Task::svc done with message
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B5B4 1 heap allocs with 1 outstanding
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B5F0 1 heap allocs with 1 outstanding
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B644 1 heap allocs with 1 outstanding
2018-02-09 17:18:36.114022 (13532|6612) Sedp::write_subscription_data - subscriptions_writer_.write_sample.result=0
(13532|6612) EndpointManager::add_subscription - calling match_endpoints
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCHJData) enabled
(13532|6612) ConditionImpl::signal_all()
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|13444) DataLink::data_received_i: from publication 01030050.37c00008.35c40000.000003c2(382be096) received sample: SAMPLE_DATA (0x00), Length: 124, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x01, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.35c40000.000003c2(382be096) to readerId 01030050.37c00008.34dc0000.000003c7(d0dac62e) (SET_EXCLUDED).
2018-02-09 17:18:36.618222 (13532|13428) Sedp::Task::svc got message from queue type 1
(13532|13428) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13532|13428) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13532|13428) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
2018-02-09 17:18:36.618222 (13532|13428) Sedp::data_received(dwd) - calling match_endpoints new
2018-02-09 17:18:36.618222 (13532|13428) EndpointManager::match - adding reader association
(13532|13428) DataReaderImpl::add_new_association - bit 0 local 01030050.37c00008.34dc0000.00000004(f99a06e7) remote 01030050.37c00008.35c40000.00000003(ff654173)
(13532|13428) WriterInfo::WriterInfo: writer 01030050.37c00008.35c40000.00000003(ff654173) added to reader 01030050.37c00008.34dc0000.00000004(f99a06e7).
(13532|13428) DataReaderImpl::add_association: inserted writer 01030050.37c00008.35c40000.00000003(ff654173).return 1 
(13532|13428) DataReaderImpl::add_association: reader 01030050.37c00008.34dc0000.00000004(f99a06e7) is associated with writer 01030050.37c00008.35c40000.00000003(ff654173).
(13532|13428) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.00000004(f99a06e7) <--> with remote publication  01030050.37c00008.35c40000.00000003(ff654173).
(13532|13428) DataReaderImpl::transport_assoc_done: id_to_handle_map_[ 01030050.37c00008.35c40000.00000003(ff654173)] = 0x4.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x4000.
(13532|13428) ConditionImpl::signal_all() - number of sets: 1, locally: 1.
(13532|13428) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
2018-02-09 17:18:36.633822 (13532|13428) Sedp::write_subscription_data - subscriptions_writer_.write_sample.result=0
(13532|13428) Sedp::Task::svc done with message
2018-02-09 17:18:38.011622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:38.011622 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.011622 (13532|8344) Spdp::data received() - update an existing remote participant <01030050.37c00008.35c40000.000001c1(9314d3ae)> last_seen_.sec=1518167918
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:40.115622 (13532|8344) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7910->0.0.0.0:7912) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21

（2）pub方
配置文件

[common]
DCPSGlobalTransportConfig=$file
ORBDebugLevel=0
DCPSDebugLevel=10
DCPSTransportDebugLevel=0
ORBLogFile=pub.log[domain/2]
DiscoveryConfig=fast_rtps[rtps_discovery/fast_rtps]
ResendPeriod=2
InteropMulticastOverride=239.255.0.12#SpdpSendAddrs=10.1.4.32:7910
SpdpSendAddrs=192.168.102.1:7912
##PB=30000
##DX=0
##D1=0
SedpMulticast=0
SedpLocalAddress=192.168.102.1:
TTL=20[transport/the_rtps_transport]
transport_type=rtps_udp
use_multicast=0
local_address=192.168.179.1:
ttl=20

日志文件

(13764|15312) NOTICE: using DCPSDebugLevel value from command option (overrides value if it's in config file).
(13764|15312) NOTICE: using DCPSTransportDebugLevel value from command option (overrides value if it's in config file).
(13764|15312) NOTICE: using ORBLogFile value from command option, overriding config file
Configuration InteropMulticastOverride=239.255.0.12
Configuration SedpMulticast=0
Configuration ResendPeriod=2
Configuration SedpLocalAddress=192.168.102.1:
Configuration SpdpSendAddrs=192.168.102.1:7912
Configuration TTL=20
Configuration transport_type=rtps_udp
Configuration use_multicast=0
Configuration local_address=192.168.179.1:
Configuration ttl=20
Configuration DiscoveryConfig=fast_rtps
2018-02-09 17:18:33.928322 (13764|15312) Service_Participant::set_repo_domain: Domain[ 2] = Repo[ fast_rtps].
(13764|15312) NOTICE: StaticDiscovery::parse_topics no [topic] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_datawriterqos no [datawriterqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_datareaderqos no [datareaderqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_publisherqos no [publisherqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_subscriberqos no [subscriberqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_endpoints no [endpoint] sections.
(13764|15312) NOTICE: Service_Participant::intializeScheduling() - no scheduling policy specified, not setting policy.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:33.943922 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 488, local[0.0.0.0:7910], port=7910
2018-02-09 17:18:33.943922 (13764|15312) Spdp::SpdpTransport::open_unicast_socket() - opened unicast socket on port 7910
(13764|15312) Spdp::SpdpTransport::SpdpTransport joining group  239.255.0.12:7900
2018-02-09 17:18:33.990722 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 692, local[192.168.102.1:0], port=50697
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) DDS::ParticipantBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c6f0 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c738 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSParticipant) enabled
(13764|15312) DDS::TopicBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c780 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c7c8 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSTopic) enabled
(13764|15312) DDS::PublicationBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c810 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c858 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSPublication) enabled
(13764|15312) DDS::SubscriptionBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c8a0 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c8e8 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSSubscription) enabled
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific is unbounded data - allocate from heap
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific-mb Cached_Allocator_With_Overflow 5aee60 with 10 chunks
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific-db Cached_Allocator_With_Overflow 5af058 with 1 chunks
(13764|15312) WriteDataContainer sample_list_element_allocator 5af21c with 1 chunks
(13764|15312) WriteDataContainer transport_send_element_allocator 5af258 with 1 chunks
(13764|15312) DataWriterImpl::enable-mb Cached_Allocator_With_Overflow 5af598 with 1 chunks
(13764|15312) DataWriterImpl::enable-db Cached_Allocator_With_Overflow 5af790 with 1 chunks
(13764|15312) DataWriterImpl::enable-header Cached_Allocator_With_Overflow 54c930 with 1 chunks
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:34.006322 (13764|14332) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7912->0.0.0.0:7910) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:34.006322 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 1180, local[192.168.179.1:0], port=50698
(13764|15312) Sedp::write_publication_data - not currently associated, dropping msg.
(13764|15312) EndpointManager::add_publication - calling match_endpoints
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.020422 (13764|14332) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7912->0.0.0.0:7910) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::data_received() - add a new participant local <01030050.37c00008.35c40000.000001c1(9314d3ae)> discovered remote <01030050.37c00008.34dc0000.000001c1(b8f0199)> createTime=1518167916, leaseDuration=20s.
(13764|14332) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|14332) ConditionImpl::signal_all()
(13764|14332) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13764|14332) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|14332) ConditionImpl::signal_all()
(13764|14332) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13764|14332) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000003c7(48411419) <--> with remote publication  01030050.37c00008.34dc0000.000003c2(a0b032a1).
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000004c7(70082de) <--> with remote publication  01030050.37c00008.34dc0000.000004c2(eff1a466).
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000200c7(60e893b4) <--> with remote publication  01030050.37c00008.34dc0000.000200c2(8819b50c).
2018-02-09 17:18:36.114022 (13764|9740) Sedp::Task::svc got message from queue type 0
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000003c2(382be096) <--> with remote subscription 01030050.37c00008.34dc0000.000003c7(d0dac62e).
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000004c2(776a7651) <--> with remote subscription 01030050.37c00008.34dc0000.000004c7(9f9b50e9).
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::data received() - update an existing remote participant <01030050.37c00008.34dc0000.000001c1(b8f0199)> last_seen_.sec=1518167916
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000200c2(1082673b) <--> with remote subscription 01030050.37c00008.34dc0000.000200c7(f8734183).
2018-02-09 17:18:36.114022 (13764|9740) Sedp::write_publication_data - publications_writer_.write_sample. result=0
(13764|9740) Sedp::Task::svc done with message
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 132, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x03, Timestamp: 1518167916.633822000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 01030050.37c00008.35c40000.000004c7(70082de) (SET_EXCLUDED).
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 132, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x03, Timestamp: 1518167916.633822000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 01030050.37c00008.35c40000.000004c7(70082de) (SET_EXCLUDED).
2018-02-09 17:18:36.821022 (13764|9740) Sedp::Task::svc got message from queue type 2
(13764|9740) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
2018-02-09 17:18:36.821022 (13764|9740) Sedp::data_received(drd) - calling match_endpoints new
2018-02-09 17:18:36.821022 (13764|9740) EndpointManager::match - adding writer association
2018-02-09 17:18:36.821022 (13764|9740) DataWriterImpl::add_new_association - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::add_association(): adding subscription to publication 01030050.37c00008.35c40000.00000003(ff654173) with priority 0.
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.00000003(ff654173) <--> with remote subscription 01030050.37c00008.34dc0000.00000004(f99a06e7).
(13764|9740) DataWriterImpl::transport_assoc_done:  writer 01030050.37c00008.35c40000.00000003(ff654173) succeeded in associating with reader 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::transport_assoc_done: marked remote reader 01030050.37c00008.34dc0000.00000004(f99a06e7) as pending.
(13764|9740) Sedp::Task::svc done with message
2018-02-09 17:18:36.821022 (13764|9740) Sedp::Task::svc got message from queue type 2
(13764|9740) DataWriterImpl::association_complete - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::association_complete_i - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::association_complete_i: id_to_handle_map_01030050.37c00008.34dc0000.00000004(f99a06e7) = 0x4.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x2000.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|9740) Sedp::Task::svc done with message
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.120822 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:38.120822 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.120822 (13764|14332) Spdp::data received() - update an existing remote participant <01030050.37c00008.34dc0000.000001c1(b8f0199)> last_seen_.sec=1518167918

本文来自互联网用户投稿，该文观点仅代表作者本人，不代表本站立场。本站仅提供信息存储空间服务，不拥有所有权，不承担相关法律责任。如若转载，请注明出处：http://www.mzph.cn/news/448274.shtml

如若内容造成侵权/违法违规/事实不符，请联系多彩编程网进行投诉反馈email:809451989@qq.com，一经查实，立即删除！

相关文章

Developing Web Applications with Apache, MySQL, memcached, and Perl

Developing Web Applications with Apache, MySQL, memcached, and Perl

Developing Web Applications with Apache, MySQL, memcached, and Perl转载于:https://www.cnblogs.com/gavinhughhu/archive/2009/11/02/1594290.html
阅读更多...
awk 中 {print $1} 什么意思

awk 中 {print $1} 什么意思

前些天发现了一个巨牛的人工智能学习网站&#xff0c;通俗易懂&#xff0c;风趣幽默&#xff0c;忍不住分享一下给大家。点击跳转到教程。 举个例子 echo "aa bb cc" | awk -F {print $1} 结果就是aa&#xff0c;意思是把字符串按空格分割&#xff0c;取第一个。aw…
阅读更多...
有驾照不等于会开车，教你开车技巧27招

有驾照不等于会开车，教你开车技巧27招

当今有车的人真的是越来越多了&#xff0c;不要以为自己有驾照就是会开车了哦&#xff0c;其实开车还是有很多技巧的。下面就跟小编看下学会那些招数才真算会开车吧。 1、上车先看车 上车前绕车转一圈&#xff0c;看车的外况、轮胎、车底下有没有漏油漏水。一个星期还得揭开盖子…
阅读更多...
OpenDDS通讯中rtps_discovery对等发现的基本配置和说明

OpenDDS通讯中rtps_discovery对等发现的基本配置和说明

OpenDDS的对等发现模式中&#xff0c;可以采用组播或单播方式进行发现和基于主题的DataReader和DataWriter的匹配&#xff0c;下面是一个简单的配置样例&#xff1a; [common] DCPSGlobalTransportConfig$file ORBDebugLevel0 DCPSDebugLevel3 DCPSTransportDebugLevel0 ORBLo…
阅读更多...
用户使用协议

用户使用协议

知乎协议&#xff08;草案&#xff09; 欢迎您来到知乎。 请您仔细阅读以下条款&#xff0c;如果您对本协议的任何条款表示异议&#xff0c;您可以选择不进入知乎。当您注册成功&#xff0c;无论是进入知乎&#xff0c;还是在知乎上发布任何内容&#xff08;即「内容」&#xf…
阅读更多...
解决： bash: unzip: command not found、linux 安装 zip 命令

解决： bash: unzip: command not found、linux 安装 zip 命令

前些天发现了一个巨牛的人工智能学习网站&#xff0c;通俗易懂&#xff0c;风趣幽默&#xff0c;忍不住分享一下给大家。点击跳转到教程。 1. 执行解压命令报错&#xff1a; bash: unzip: command not found 2. 安装 zip&#xff1a; yum install -y unzip zip 3. 重试成功…
阅读更多...
基于OpenDDS开发发布订阅HelloMsg程序的过程（Windows）

基于OpenDDS开发发布订阅HelloMsg程序的过程（Windows）

基于OpenDDS的应用开发&#xff0c;主要分两个部分的工作&#xff1a; &#xff08;1&#xff09;定义自己的IDL文件&#xff0c;并编译成消息数据类型通讯动态库&#xff1b; &#xff08;2&#xff09;分别编写pub和sub程序&#xff0c;运行 具体步骤&#xff0c;有以下几…
阅读更多...
面试后的总结

面试后的总结

面试中的收获&#xff1a; 优点&#xff1a; 1. 设计用例考虑较为全面。 2. 自动化&#xff0c;性能都有涉猎&#xff0c;但不深入。 3. 对业务理解较深入。 缺点&#xff1a; 1. 接口自动化停留在初级阶段。 2. UI自动化了解较少。 3. 性能压测缺少数据清洗等步骤。 4. 算法还…
阅读更多...
怎样正确使用车灯？

怎样正确使用车灯？

当我们被对面来车明晃晃的远光灯照得意识模糊时&#xff0c;当你快速接近一辆摩托车却发现那是一辆坏了一盏尾灯的卡车时&#xff0c;或是当你前方的小车忽然亮起倒车灯却在往前行驶&#xff0c;最后意识到那只是因为刹车灯与倒车灯线路颠倒时&#xff0c;你就会发现在人们都认…
阅读更多...
如何配置DDS以使用多个网络接口？How do I configure DDS to work with multiple network interfaces?

如何配置DDS以使用多个网络接口？How do I configure DDS to work with multiple network interfaces?

最近在使用OpenDDS的时候遇到一个问题&#xff1a;存在多个虚拟网卡时&#xff0c;发布&#xff08;订阅&#xff09;端重新连接时会阻塞几分钟&#xff0c;在外网找到一篇与此相关的文章。 You cannot specify which NICs DDS will use to send data. You can restrict the NI…
阅读更多...
oracle赋予一个用户查询另一个用户中所有表

oracle赋予一个用户查询另一个用户中所有表

说明&#xff1a;让用户selame能够查询用户ame中的所有表&#xff08;不能添加和删除&#xff09;1.创建用户selamecreate user selame identified by Password;2.设置用户selame系统权限grant connect,resource to selame; 3.设置用户selame对象权限 grant select any table t…
阅读更多...
使用可靠多播与OPENDDS进行数据分发

使用可靠多播与OPENDDS进行数据分发

介绍 也许应用程序设计人员在创建分布式系统时面临的最关键决策之一是如何在感兴趣的各方之间交换数据。通常&#xff0c;这涉及选择一个或多个通信协议并确定向每个端点分派数据的最有效手段。实现较低级别的通信软件可能是耗时的&#xff0c;昂贵的并且容易出错。很多时候&a…
阅读更多...
考试 驾校

考试 驾校

您的孩子在车里安全么&#xff1f;儿童座椅那点事儿 儿童安全座椅用最最普通的话来解释就是一种系于汽车座位上,供小童乘坐,有束缚设备,并能在发生车祸时,束缚着小童以保障小童安全的座椅。 儿童安全座椅在欧美发达国家已经得到了普遍使用&#xff0c;这些国家基本上都制定了相…
阅读更多...
margin为负值的几种情况

margin为负值的几种情况

1、margin-top为负值像素 margin-top为负值像素&#xff0c;偏移值相对于自身&#xff0c;其后元素受影响&#xff0c;见如下代码&#xff1a; 1 <!DOCTYPE html>2 <html lang"zh">3 <head>4 <meta charset"UTF-8" />5 &l…
阅读更多...
事件EVENT，WaitForSingleObject()，WaitForMultipleObjecct()和SignalObjectAndWait() 的使用（上）

事件EVENT，WaitForSingleObject()，WaitForMultipleObjecct()和SignalObjectAndWait() 的使用（上）

用户模式的线程同步机制效率高&#xff0c;如果需要考虑线程同步问题&#xff0c;应该首先考虑用户模式的线程同步方法。但是&#xff0c;用户模式的线程同步有限制&#xff0c;对于多个进程之间的线程同步&#xff0c;用户模式的线程同步方法无能为力。这时&#xff0c;只能考…
阅读更多...
axios 中文文档、使用说明

axios 中文文档、使用说明

以下内容全文转自 Axios 文档&#xff1a;https://www.kancloud.cn/yunye/axios/234845 ##Axios Axios 是一个基于 promise 的 HTTP 库&#xff0c;可以用在浏览器和 node.js 中。 Features 从浏览器中创建 XMLHttpRequests从 node.js 创建 http 请求支持 Promise API拦截请…
阅读更多...
汽车熄火是什么原因？

汽车熄火是什么原因？

汽车熄火是什么原因&#xff1f; 近来看见很多车主被车子熄火所困扰&#xff0c;驾校一点通帮助您从以下也许可以找出原因。 1、自动档车型&#xff1a; 自动档的车型不会轻易出现熄火的现象&#xff0c;而手动档的车型由于驾驶水平不高&#xff0c;可能会经常出现熄火的现象。…
阅读更多...
数据库 -- 02

数据库 -- 02

引擎介绍 1.什么是引擎 MySQL中的数据用各种不同的技术存储在文件&#xff08;或者内存&#xff09;中。这些技术中的每一种技术都使用不同的存储机制、索引技巧、锁定水平并且最终提供广泛的不同的功能和能力。通过选择不同的技术&…
阅读更多...
事件EVENT，WaitForSingleObject()，WaitForMultipleObjecct()和SignalObjectAndWait() 的使用（下）

事件EVENT，WaitForSingleObject()，WaitForMultipleObjecct()和SignalObjectAndWait() 的使用（下）

注意&#xff1a;当WaitForMultipleObjects等待多个内核对象的时候&#xff0c;如果它的bWaitAll 参数设置为false。其返回值减去WAIT_OBJECT_0 就是参数lpHandles数组的序号。如果同时有多个内核对象被触发&#xff0c;这个函数返回的只是其中序号最小的那个。 如果bWaitAll …
阅读更多...
设置 shell 脚本中 echo 显示内容带颜色

设置 shell 脚本中 echo 显示内容带颜色

前些天发现了一个巨牛的人工智能学习网站&#xff0c;通俗易懂&#xff0c;风趣幽默&#xff0c;忍不住分享一下给大家。点击跳转到教程。 shell脚本中echo显示内容带颜色显示,echo显示带颜色&#xff0c;需要使用参数 -e 格式如下&#xff1a; echo -e "\033[字背景颜…
阅读更多...
最新文章

Copyright @ 2022~2023