详细描述

Transport configuration for the ddsr:// RTI Connext DDS backend.

DdsrConf configures the RTI Connext DDS transport, a commercial-grade DDS implementation widely used in safety-critical and real-time embedded systems. It presents the same VLink API as DdsConf (Fast-DDS) but delegates to RTI Connext internally.

Supported Node Types: ddsr:// supports all six node types: kPublisher, kSubscriber, kServer, kClient, kSetter, and kGetter.

URL Format: ddsr://<topic>[?domain=<N>&depth=<N>&qos=<name>]

ddsr://<topic>[?domain=<N>&part=<v>&topic=<v>&pub=<v>&sub=<v>&writer=<v>&reader=<v>]

Component	Description
`topic`	RTI DDS topic name; formed from `host` + `"/"` + `path`
`domain`	DDS Domain ID (?domain=, default from `VLINK_DDS_DOMAIN` env var)
`depth`	History depth (?depth=, default 0)
`qos`	Named QoS profile registered via `register_qos()` (?qos=)
`qos_ext`	Extended QoS map: `part`, `topic`, `pub`, `sub`, `writer`, `reader`

注解: This header is compiled only when VLINK_SUPPORT_DDSR is defined.; qos and qos_ext are mutually exclusive.; Response topics for RPC are automatically registered with a "___resp" suffix.