eProsima Micro XRCE-DDS is a library implementing the DDS-XRCE protocol as defined and maintained by the OMG, whose aim is to allow resource constrained devices such as microcontrollers to communicate with the 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 eXtremely Resource Constrained Environments, while the Micro XRCE-DDS Agent is a broker which bridges the Clients with the DDS world.
The Micro XRCE-DDS Clients request operations to the Agent to publish and/or subscribe to topics in the DDS global dataspace. Remote procedure calls, as defined by the DDS-RPC standard, are also supported, allowing Clients to communicate in the DDS dataspace according to a request/reply paradigm. The Agents process these requests and send back a response with the operation status result and with the requested data, in the case of subscribe/reply operations.
eProsima Micro XRCE-DDS provides the user with a C API to create Micro XRCE-DDS Clients applications. The library can be configured at compile-time via a set of CMake flags allowing to enable or disable some profiles before compilation, and to manipulate several parameters controlling some of the library's functionalities, which in turn allow tuning the library size.
The Micro XRCE-DDS Agent receives messages containing request operations from the Clients, 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.
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.
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