OpenDDS的通訊體系中，提供了豐富的日志輸出，通過日志輸出可以清晰的看到pub和sub方的主題匹配的過程，是加深對OpenDDS過程了解的一個好方法。
下面的日志，以OpenDDS3.8為基礎，增加了部分日志和時間戳輸出。
rtps_discovery對等發現模式下，通過單播地址進行發布方和訂閱方的匹配過程。

（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

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