1. OpenDDS簡(jiǎn)介

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OpenDDS是OMG數(shù)據(jù)分發(fā)服務(wù)(DDS)的一種開源實(shí)現(xiàn)，它遵循實(shí)時(shí)系統(tǒng)v1.2的DDS規(guī)范(OMG Document formal/07-01-01)和實(shí)時(shí)公布/訂閱互操作性通信協(xié)議v2.1的DDS-RTPS規(guī)范(OMG Document formal/2010-11-01)。OpenDDS由OCI公司設(shè)計(jì)和維護(hù)，可從http://www.opendds.org/的OpenDDS社區(qū)門戶中獲得幫助

2. Perl安裝編譯

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1> 下載Perl:https://www.perl.org/get.html#unix_like
2> 解壓縮

tar -xvzf perl-5.32.0.tar.gz

3> 編譯安裝

tar -xvzf perl-5.32.0.tar.gz
./Configure
make
sudo make install 
make clean

3. ACE+TAO下載(FULL版本)

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1> 下載ACE+TAO:https://download.dre.vanderbilt.edu/
2> 解壓縮：

sudo tar -zxvf ACE+TAO-6.5.10.tar.gz -C /opt

4. OpenDDS下載

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1> 下載OpenDDS:http://download.ociweb.com/OpenDDS/
2> 解壓縮：

sudo tar -zxvf OpenDDS-3.14.tar.gz -C /opt

5. 修改目錄權(quán)限

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cd /opt
sudo chmod 777 -R ACE_wrappers/
sudo chmod 777 -R OpenDDS-3.14/

6. 設(shè)置環(huán)境變量

1> 打開編輯bashrc

vim ~/.bashrc

2> 修改bashrc內(nèi)容，在bashrc末尾添加

# ACE+TAO+DDS Environment
export ACE_ROOT=/opt/ACE_wrappers
export TAO_ROOT=$ACE_ROOT/TAO
export DDS_ROOT=/opt/OpenDDS-3.14
export PATH=$ACE_ROOT/bin:$DDS_ROOT/bin:$PATH
export LD_LIBRARY_PATH=$ACE_ROOT/lib:$DDS_ROOT/lib:$LD_LIBRARY_PATH

3> 使bashrc生效

source ~/.bashrc

8. 新增ace/config.h頭文件

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1> 新建ace/config.h頭文件

vi $ACE_ROOT/ace/config.h

2> 復(fù)制以下內(nèi)容到ace/config.h頭文件中

#include "ace/config-linux.h"

9. 新增platform_macros.GNU文件

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1> 新建platform_macros.GNU文件

vi $ACE_ROOT/include/makeinclude/platform_macros.GNU

2> 復(fù)制以下內(nèi)容到platform_macros.GNU文件

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

10. 編譯

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1> 編譯ACE

$ cd $ACE_ROOT
$ make clean 
$ make

2> 編譯TAO

$ cd $TAO_ROOT
$ make clean 
$ make

3> 編譯OpenDDS

$ cd $DDS_ROOT
$ make clean 
$ make

11. 檢測(cè)安裝是否成功

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1> 執(zhí)行腳本run_test.pl

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

2> 觀察腳本運(yùn)行輸出(test PASSED表示環(huán)境正常)

>>> /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-LenovoCommand Line: /opt/OpenDDS-3.13.2/bin/./DCPSInfoRepo  -NOBITS -o repo.ior  -ORBuseimr 1 -ORBInitRef ImplRepoService=file://imr.iorWorking Directory: Activation Mode: NORMALNumber of retries: 0Not 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    = Reviewsubject_id = 99from       = Comic Book Guycount      = 0text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 1text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 2text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 3text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 4text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 5text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 6text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 7text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 8text       = Worst. Movie. Ever.
SampleInfo.sample_rank = 0
Message: subject    = Reviewsubject_id = 99from       = Comic Book Guycount      = 9text       = 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.