文件列表:

.ycm_extra_conf.py (5046, 2022-05-23)
CMakeLists.txt (15696, 2022-05-23)
FASTRPC_LICENSE.txt (11357, 2022-05-23)
LICENSE (11357, 2022-05-23)
Makefile.am.in (712, 2022-05-23)
RPCDDS_LICENSE.txt (11357, 2022-05-23)
RPCREST_LICENSE.txt (11357, 2022-05-23)
classes/ (0, 2022-05-23)
classes/antlr-2.7.7.jar (445288, 2022-05-23)
classes/antlr-4.4.jar (1449164, 2022-05-23)
classes/antxr.jar (279455, 2022-05-23)
classes/stringtemplate-3.2.1.jar (124378, 2022-05-23)
cmake/ (0, 2022-05-23)
cmake/common/ (0, 2022-05-23)
cmake/common/check_configuration.cmake (5265, 2022-05-23)
cmake/common/gtest.cmake (7342, 2022-05-23)
cmake/dev/ (0, 2022-05-23)
cmake/dev/compile_example.cmake (1618, 2022-05-23)
cmake/dev/java_support.cmake (2111, 2022-05-23)
cmake/modules/ (0, 2022-05-23)
cmake/modules/FindRTIDDS.cmake (10372, 2022-05-23)
cmake/packaging/ (0, 2022-05-23)
cmake/packaging/Config.cmake.in (787, 2022-05-23)
colcon.pkg (108, 2022-05-23)
configure_fastrpc.ac (2013, 2022-05-23)
configure_rpcrest.ac (1849, 2022-05-23)
doc/ (0, 2022-05-23)
doc/pdf/ (0, 2022-05-23)
doc/pdf/Fast RPC - Installation Manual.odt (159573, 2022-05-23)
doc/pdf/Fast RPC - User Manual.odt (147931, 2022-05-23)
doc/pdf/RPC over DDS - Installation Manual For FastRTPS.odt (151796, 2022-05-23)
doc/pdf/RPC over DDS - Installation Manual For RTIDDS.odt (153289, 2022-05-23)
doc/pdf/RPC over DDS - Installation Manual.odt (153347, 2022-05-23)
doc/pdf/RPC over DDS - User Manual For FastDDS.odt (160124, 2022-05-23)
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# Introduction This repository contains a set of C++ libraries that provide different [RPC][rpc] communications. * **eProsima Fast RPC** provides a fast RPC communication using a [modified CDR serialization][fastcdr] over TCP. * **eProsima RPC over DDS** provides an RPC communication over an OMG DDS implementation. Currently it supports [**eProsima Fast DDS**][fastdds] and [RTI DDS][rti] implementations. * **eProsima RPC over REST** provides an RPC communication over RESTful paradigma. # Building from sources This section provides the instructions for installing *eProsima RPC* from sources. The following packages will be installed: * `boost_threadpool` is a cross-platform C++ thread pool library. * `foonathan_memory_vendor`, an STL compatible C++ memory allocator [library](https://github.com/foonathan/memory). * `fastcdr`, a C++ library that serializes according to the [standard CDR](https://www.omg.org/cgi-bin/doc?formal/02-06-51) serialization mechanism. * `fastdds`, the core library of *eProsima Fast DDS* library. First of all, the [software requirements](#requirements) and [software dependencies](#dependencies) detailed below need to be met. Afterwards, the user can choose whether to follow either the [colcon installation](#colcon-installation) or the [CMake installation](#cmake-installation) instructions. ## Requirements ### Windows requirements The installation of *eProsima RPC* in a Windows environment from sources requires the following tools to be installed in the system: * [Visual Studio](#visual-studio) * [Chocolatey](#chocolatey) * [CMake and other tools](#cmake-and-other-tools) #### Visual Studio [Visual Studio](https://visualstudio.microsoft.com/) is required to have a C++ compiler in the system. For this purpose, make sure to check the `Desktop development with C++` option during the Visual Studio installation process. If Visual Studio is already installed but the Visual C++ Redistributable packages are not, open Visual Studio and go to `Tools` -> `Get Tools and Features` and in the `Workloads` tab enable `Desktop development with C++`. Finally, click `Modify` at the bottom right. #### Chocolatey Chocolatey is a Windows package manager. It is needed to install some of *eProsima RPC*'s dependencies. Download and install it directly from the [website](https://chocolatey.org/). #### CMake and other tools These packages provide the tools required to install *eProsima RPC* and its dependencies from command line. Download and install [CMake][cmake], [pip3][pip3], [wget][wget] and [git][git] by following the instructions detailed in the respective websites. Once installed, add the path to the executables to the `PATH` from the *Edit the system environment variables* control panel. ## Dependencies *eProsima RPC* has the following dependencies, when installed from sources in a Windows environment: * [Asio and TinyXML2 libraries](#asio-and-tinyxml2-libraries) ### Asio and TinyXML2 libraries Asio is a cross-platform C++ library for network and low-level I/O programming, which provides a consistent asynchronous model. TinyXML2 is a simple, small and efficient C++ XML parser. **Windows** On Windows, they can be downloaded directly from the links below: * [Asio](https://github.com/ros2/choco-packages/releases/download/2020-02-24/asio.1.12.1.nupkg>) * [TinyXML2](https://github.com/ros2/choco-packages/releases/download/2020-02-24/tinyxml2.6.0.0.nupkg) After downloading these packages, open an administrative shell with *PowerShell* and execute the following command: ```cmd choco install -y -s asio tinyxml2 ``` where `` is the folder into which the packages have been downloaded. ## Colcon installation [colcon][colcon] is a command line tool based on [CMake][cmake] aimed at building sets of software packages. This section explains how to use it to compile *eProsima RPC* and its dependencies. **Note:** Run colcon within a Visual Studio prompt. To do so, launch a "Developer Command Prompt" from the search engine. 1. Install the ROS 2 development tools ([colcon][colcon] and [vcstool][vcstool]) by executing the following command: ```cmd pip3 install -U colcon-common-extensions vcstool ``` and add the path to the `vcs` executable to the `PATH` from the *Edit the system environment variables* control panel. **Note:** If this fails due to an Environment Error, add the :code:`--user` flag to the :code:`pip3` installation command. 2. Create a `RPC` directory and download the repos file that will be used to install *eProsima RPC* and its dependencies: ```cmd mkdir ~\RPC cd ~\RPC wget https://raw.githubusercontent.com/eProsima/RPC/master/rpc.repos -output rpc.repos mkdir src vcs import src --input rpc.repos ``` Finally, use [colcon][colcon] to compile all software: - Building *eProsima RPC over DDS* use next command: ```cmd colcon build --cmake-args -DNO_TLS=ON -DRPCPROTO=rpcdds ``` ### Run an application When running an instance of an application using *eProsima RPC*, the colcon overlay built in the dedicated `RPC` directory must be sourced. There are two possibilities: * Every time a new shell is opened, prepare the environment locally by typing the command: ``` setup.bat ``` * Add the sourcing of the colcon overlay permanently, by opening the *Edit the system environment variables* control panel, and adding `~/RPC/install/setup.bat` to the `PATH`. ## CMake installation This section explains how to compile *eProsima RPC* with [CMake][cmake], either [locally][#local-installation] or [globally](#global-installation). ### Local installation 1. Open a command prompt, and create a `RPC` directory where to download and build *eProsima RPC* and its dependencies: ```cmd mkdir ~\RPC ``` 1. Clone the following dependencies and compile them using [CMake][make]. * [boost_threadpool](https://github.com/eProsima/boost_threadpool) ```cmd cd ~\RPC git clone https://github.com/eProsima/boost_threadpool.git cd boost_threadpool mkdir build && cd build cmake -DCMAKE_INSTALL_PREFIX=~/RPC/install .. cmake --build . --target install ``` * RPC depends on [Foonathan memory](https://github.com/foonathan/memory). To ease the dependency management, *eProsima* provides a vendor package [Foonathan memory vendor](https://github.com/eProsima/foonathan_memory_vendor), which downloads and builds a specific revision of *Foonathan memory* if the library is not found in the system. ```cmd cd ~\RPC git clone https://github.com/eProsima/foonathan_memory_vendor.git cd foonathan_memory_vendor mkdir build && cd build cmake -DCMAKE_INSTALL_PREFIX=~/RPC/install .. cmake --build . --target install ``` * [Fast CDR][fastcdr] ```cmd cd ~\RPC git clone https://github.com/eProsima/Fast-CDR.git cd Fast-CDR mkdir build && cd build cmake -DCMAKE_INSTALL_PREFIX=~/RPC/install .. cmake --build . --target install ``` * [Fast DDS](fastdds) ```cmd cd ~\RPC git clone https://github.com/eProsima/Fast-DDS.git cd Fast-DDS mkdir build && cd build cmake -DNO_TLS=ON -DCMAKE_INSTALL_PREFIX=~/RPC/install .. cmake --build . --target install ``` 1. Once all dependencies are installed, install *eProsima RPC*: - Building *eProsima RPC over DDS* use next commands: ```cmd cd ~\RPC [git](git) clone https://github.com/eProsima/RPC.git cd RPC mkdir build && cd build cmake -DRPCPROTO=rpcdds -DCMAKE_INSTALL_PREFIX=~/RPC/install .. cmake --build . --target install ``` ### Global installation To install *eProsima RPC* system-wide instead of locally, remove the `CMAKE_INSTALL_PREFIX` flags that appear in the configuration steps. ### Run an application When running an instance of an application using *eProsima RPC*, it must be linked with the library where the packages have been installed. This can be done by opening the *Edit system environment variables* control panel and adding to the `PATH` the *RPC*, *Fast DDS* and *Fast CDR* installation directories: * *RPC*: C:\\Program Files\\rpc * *Fast DDS*: C:\\Program Files\\fastrtps * *Fast CDR*: C:\\Program Files\\fastcdr [eprosima]: http://www.eprosima.com [fastcdr]: http://www.github.com/eProsima/Fast-CDR [fastdds]: http://www.github.com/eProsima/Fast-DDS [rti]: http://www.rti.com [rpc]: https://en.wikipedia.org/wiki/Remote_procedure_call [colcon]: https://colcon.readthedocs.io/en/released/ [cmake]: http://www.cmake.org [pip3]: https://docs.python.org/3/installing/index.html [wget]: https://www.gnu.org/software/wget/ [git]: https://git-scm.com/ [vcstool]: https://pypi.org/project/vcstool/

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