详细描述

Transport configuration for the ddst:// TravoDDS backend.

DdstConf configures the TravoDDS transport. TravoDDS is a domestic (open-source, https://gitee.com/agiros/travodds) DDS implementation; its API surface exposed by VLink is identical to DdsConf (Fast-DDS), but the underlying runtime is provided by TravoDDS.

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

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

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

Component	Description
`topic`	TravoDDS 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`

Global QoS File: vlink::DdstConf::load_global_qos_file("/etc/vlink/ddst_profile.xml");

注解: This header is compiled only when VLINK_SUPPORT_DDST is defined.; qos and qos_ext are mutually exclusive; setting both causes is_valid() to return false.; Response topics for RPC are stored with a "___resp" suffix.