OpenDDS学习笔记（4）：OpenDDS在Linux环境编译

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一、编译前准备

1.1 环境

• Linux：Ubuntu 16.04LTS
• Perl：V5.22.1
• Make：GNU Make V4.1
• gcc：V5.4.0

1.2 下载ACE+TAO与OpenDDS

ACE+TAO下载地址：http://download.dre.vanderbilt.edu/
OpenDDS下载地址：http://download.ociweb.com/OpenDDS/

下载时注意：

• ACE+TAO下载选择FULL版本。
  FULL版本：包含所有GNU make预生成makefile的源代码；
  Sources only版本：仅包含源代码，需要使用MPC生成makefile。
• Linux下选择*.tar.gz格式，Windows下选择*.zip格式。

1.3 解压安装ACE+TAO与OpenDDS

将ACE+TAO与OpenDDS解压至/opt目录下

sudo tar -zxvf ACE+TAO-6.5.5.tar.gz -C /opt
sudo tar -zxvf OpenDDS-3.13.2.tar.gz -C /opt

解压完毕后，在/opt目录下已存在ACE_wrappers和OpenDDS-3.13.2两个文件夹，修改其权限
（不修改权限会在编译时出现Permission denied的情况）

cd /opt
sudo chmod 777 -R ACE_wrappers/
sudo chmod 777 -R OpenDDS-3.13.2/

1.4 设置相关环境变量

在/etc/profile文件尾添加如下环境变量，重启生效

# ACE+TAO+DDS Environment
export ACE_ROOT=/opt/ACE_wrappers
export TAO_ROOT=$ACE_ROOT/TAO
export DDS_ROOT=/opt/OpenDDS-3.13.2
export PATH=$ACE_ROOT/bin:$DDS_ROOT/bin:$PATH
export LD_LIBRARY_PATH=$ACE_ROOT/lib:$DDS_ROOT/lib:$LD_LIBRARY_PATH

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二、编译

2.1 设置config.h

新建$ACE_ROOT/ace/config.h，文件内容为

#include “ace/config-linux.h”

2.2 设置Platform_macros.GNU

新建$ACE_ROOT/include/makeinclude/platform_macros.GNU，文件内容为

include $(ACE_ROOT)/include/makeinclude/platform_linux.GNU

2.3 编译

编译顺序为：ACE -> TAO -> DDS，编译时间长。

• ACE编译

cd $ACE_ROOT
make clean
make

• TAO编译

cd $TAO_ROOT
make clean
make

• DDS编译

cd $TAO_ROOT
./configure
make clean
make

2.4 运行测试脚本

编译完成后，运行测试脚本测试OpenDDS环境是否搭建成功。
到$DDS_ROOT/examples/DCPS/Messenger_Imr目录，运行run_test.pl。

cd $DDS_ROOT/example/DCPS/Messenger_Imr
perl ./run_test.pl

结果如下

>>> /opt/ACE_wrappers/TAO/orbsvcs/ImplRepo_Service/tao_imr_locator -o imr.ior  -orbendpoint iiop://:10098
>>> /opt/ACE_wrappers/TAO/orbsvcs/ImplRepo_Service/tao_imr_activator -o activator.ior -ORBInitRef ImplRepoService=file://imr.ior  -orbendpoint iiop://:10066
>>> /opt/OpenDDS-3.13.2/bin/DCPSInfoRepo  -NOBITS -o repo.ior  -ORBuseimr 1 -ORBInitRef ImplRepoService=file://imr.ior
>>> /opt/ACE_wrappers/bin/tao_imr -ORBInitRef ImplRepoService=file://imr.ior shutdown InfoRepo
Successfully shut down server <InfoRepo>
>>> /opt/ACE_wrappers/bin/tao_imr -ORBInitRef ImplRepoService=file://imr.ior update InfoRepo -l Fan-Lenovo -c "/opt/OpenDDS-3.13.2/bin/./DCPSInfoRepo  -NOBITS -o repo.ior  -ORBuseimr 1 -ORBInitRef ImplRepoService=file://imr.ior"
(486|140412808431424) ImR: Successfully registered <InfoRepo>
>>> /opt/ACE_wrappers/bin/tao_imr -ORBInitRef ImplRepoService=file://imr.ior list -v
Server <InfoRepo>
  Activator: Fan-Lenovo
  Command Line: /opt/OpenDDS-3.13.2/bin/./DCPSInfoRepo  -NOBITS -o repo.ior  -ORBuseimr 1 -ORBInitRef ImplRepoService=file://imr.ior
  Working Directory: 
  Activation Mode: NORMAL
  Number of retries: 0
  Not currently running

/opt/OpenDDS-3.13.2/examples/DCPS/Messenger_Imr/publisher   -DCPSConfigFile pub.ini -orbendpoint iiop://:10109
/opt/OpenDDS-3.13.2/examples/DCPS/Messenger_Imr/subscriber   -DCPSConfigFile sub.ini
(488|139645218817856) Writer::start 
(488|139645109663488) Writer::svc begins.
DataReaderListenerImpl::on_subscription_matched
(488|139645109663488) 14:52:25.926322 Writer::svc starting to write.
DataReaderListenerImpl::on_liveliness_changed
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 0
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 1
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 2
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 3
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 4
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 5
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 6
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 7
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 8
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Review
         subject_id = 99
         from       = Comic Book Guy
         count      = 9
         text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
DataReaderListenerImpl::on_liveliness_changed
DataReaderListenerImpl::on_subscription_matched
(488|139645109663488) Writer::svc finished.
(488|139645218817856) Writer::end 
>>> /opt/ACE_wrappers/bin/tao_imr -ORBInitRef ImplRepoService=file://imr.ior shutdown InfoRepo
Successfully shut down server <InfoRepo>
test PASSED.

运行结果显示test PASSED，测试成功。

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三、参考来源

【1】http://blog.sina.com.cn/s/blog_6f83fdb40101i62i.html
【2】https://blog.csdn.net/wyc12306/article/details/79665454
【3】https://www.cnblogs.com/joeywang/p/3719815.html