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https://github.com/opendds/opendds

OpenDDS is an open source C++ implementation of the Object Management Group (OMG) Data Distribution Service (DDS). OpenDDS also supports Java bindings through JNI.
https://github.com/opendds/opendds

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OpenDDS is an open source C++ implementation of the Object Management Group (OMG) Data Distribution Service (DDS). OpenDDS also supports Java bindings through JNI.

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README 

        
OpenDDS



# OpenDDS



[![Coverity Scan Build Status](https://scan.coverity.com/projects/opendds/badge.svg)](https://scan.coverity.com/projects/opendds)



OpenDDS is an open-source C++ implementation of the Object Management Group's specification "Data Distribution Service for Real-time Systems" (DDS), as well as some other related specifications.

These standards define a set of interfaces and protocols for developing distributed applications based on the publish-subscribe and distributed cache models.

Although OpenDDS is itself developed in C++, Java bindings are provided so that Java applications can use OpenDDS.

OpenDDS also includes support for the DDS Security and XTypes specifications.



OpenDDS is built on the [ACE](https://opendds.readthedocs.io/en/latest-release/devguide/building/dependencies.html#ace-tao) abstraction layer to provide platform portability.

OpenDDS also leverages the capabilities of [TAO](https://opendds.readthedocs.io/en/latest-release/devguide/building/dependencies.html#ace-tao) for IDL compilation and the OpenDDS [DCPS Information Repository](https://opendds.readthedocs.io/en/latest-release/devguide/the_dcps_information_repository.html).



The primary development of OpenDDS was done by

[Object Computing, Incorporated](http://www.objectcomputing.com) in

St. Louis and Phoenix.  It is released under generous license

terms similar to ACE, TAO and MPC.  See the [`LICENSE`](LICENSE) file for

details.



**Table of Contents:**



* [Documentation](#documentation)

* [Support](#support)

* [Features](#features)

* [Dependencies](#dependencies)

  * [ACE/TAO](#acetao)

  * [Perl](#perl)

  * [Optional Dependencies](#optional-dependencies)

* [Supported Platforms](#supported-platforms)

  * [Operating Systems](#operating-systems)

  * [Compilers](#compilers)

* [Building and Installing](#building-and-installing)

* [Quick Start with Docker](#quick-start-with-docker)



## Documentation



- The OpenDDS Developer's Guide is available at https://opendds.readthedocs.io/en/latest-release.



- For developers wanting to contribute to OpenDDS, please read [the development guidelines](https://opendds.readthedocs.io/en/master/internal/dev_guidelines.html).



Other documentation can be found in [`docs` directory](docs).



## Support



For commercial support, please see https://opendds.org/support.html.



Questions concerning OpenDDS should be directed to [GitHub Discussions](https://github.com/OpenDDS/OpenDDS/discussions).



If you wish to file a bug report:



1. [Fork](https://docs.github.com/en/get-started/quickstart/fork-a-repo) OpenDDS on GitHub.

2. Add a [minimum working example](#mwe) that demonstrates the problem.

3. Create a pull request.

4. Fill out the [PROBLEM-REPORT-FORM](PROBLEM-REPORT-FORM) and attach it to the pull request.



### How to make a minimum working example



1. Create a directory `tests/DCPS/MyExample` (`MyExample` is a placeholder.)

2. Add the IDL, code, and configuration files for the example programs.  Be sure to exclude any proprietary information as the submitted example will be public.

3. Add an MPC file that builds the test programs.

4. Add a launcher script `run_test.pl`.  Be sure to document the options.  See `tests/DCPS/HelloWorld/run_test.pl` for inspiration.

5. Add a `README.rst` file that gives a high-level overview of the example and the problem that it illustrates.



It should be possible to build and run the example using `run_test.pl` as in the quickstarts for [Windows](https://opendds.readthedocs.io/en/latest-release/devguide/quickstart/windows.html) and [Linux](https://opendds.readthedocs.io/en/latest-release/devguide/quickstart/linux.html).

If the problem lies in the example, then GitHub's Pull Request interface will allow people to discuss, comment on, and propose changes to get the example working.

If the problem lies in OpenDDS, then the example is a new test case.



## Features



This release of OpenDDS is based on the DDS Specification [formal/2015-04-10

(version 1.4)](https://www.omg.org/spec/DDS/1.4).  It features the following

transport protocols:



* TCP/IP

* UDP/IP

* IP multicast

* RTPS over UDP/IP (unicast and multicast)

* Shared memory



RTPS (Interoperability) features are based on the [DDS-RTPS Specification

formal/2019-04-03 (version 2.3)](https://www.omg.org/spec/DDSI-RTPS/2.3).  See

the OpenDDS Developer's Guide and the file [docs/design/RTPS](docs/design/RTPS)

for more details on RTPS.



See the [Developer's Guide](https://opendds.readthedocs.io/en/latest-release/devguide/introduction.html#specifications) for

information on OpenDDS compliance with the DDS specification. If you would like

to contribute a feature or sponsor the developers to add a feature please see

the Support section above for contact information.



## Dependencies



These are just the required dependencies. For a complete detailed list of

dependencies, including optional ones, see

https://opendds.readthedocs.io/en/latest-release/devguide/building/dependencies.html.



### ACE/TAO



OpenDDS requires TAO for both IDL compilation as well as interaction with the

DCPSInfoRepo. ACE is also required, but it is always included with TAO. If you

will be using the `configure` script for OpenDDS, you do not need to download TAO

first -- the `configure` script will download it for you.



### Perl



Perl is used for the configure script, running the automated tests and examples

included in this source tree, and generating Makefiles or Visual Studio project

files.



On Windows we recommend the use of [Strawberry Perl](https://strawberryperl.com).



## Supported Platforms



### Operating Systems



This release of OpenDDS has been tested under the following platforms:



Linux family:

* Red Hat EL and CentOS 6.6, 6.8, 6.9 (x86\_64)

* Red Hat EL and CentOS 7.2, 7.3, 7.4 (x86\_64)

* Red Hat EL 8.0 (x86\_64)

* Fedora 24 and 31 (x86\_64)

* Debian 9.4 (i686)

* Ubuntu 22.04 LTS (x86\_64)

* openSUSE 42.1 (x86\_64)

* Yocto 3.4.4 (ARMv8)



Windows family:

* Windows 7 (32-bit, 64-bit)

* Windows Server 2012 R2 (64-bit)

* Windows 10 (64-bit)



Embedded/Mobile/IoT:

* LynxOS-178 (OpenDDS Safety Profile)

* VxWorks 6.9, 7, 21.03 (see below)

* [Linux on Raspberry Pi](https://opendds.readthedocs.io/en/latest-release/devguide/quickstart/pi.html)

* [Android 9.0 "Pie" (API Level 28) NDK r18b](https://opendds.readthedocs.io/en/latest-release/devguide/building/android.html)



We have built OpenDDS for VxWorks 6.9, 7, and 21.03 and have run basic

system and performance tests (but not the entire regression test suite).

Please see the [OpenDDS Support page](https://opendds.org/support.html)

for more information on support for ACE, TAO, and OpenDDS on VxWorks.

Download VxWorks RPM packages for ACE, TAO, and OpenDDS [here](https://objectcomputing.com/products/opendds/vxworks).



### Compilers



This release of OpenDDS has been tested using the following compilers:



* Microsoft Visual C++ 10 with SP1 (Visual Studio 2010)

* Microsoft Visual C++ 11 (Visual Studio 2012) - Update 4

* Microsoft Visual C++ 12 (Visual Studio 2013) - Update 5

* Microsoft Visual C++ 14 (Visual Studio 2015) - Update 3

* Microsoft Visual C++ 14.1 (Visual Studio 2017) cl 19.16.27048

* Microsoft Visual C++ 14.2 (Visual Studio 2019) cl 19.29.30146

* gcc 4.4.7, 4.8.5

* gcc 6.2.1, 6.3.0

* gcc 7.2.0, 7.3.0, 7.5.0

* gcc 8.2.0, 8.2.1

* gcc 9.3.1

* gcc 12.2.0

* Ubuntu clang 14.0.6

* Ubuntu clang 15.0.0



## Building and Installing



For building and installation instructions see

https://opendds.readthedocs.io/en/latest-release/devguide/building/index.html



## Quick Start with Docker



See the [Docker Quick

Start](https://opendds.readthedocs.io/en/latest-release/devguide/quickstart/docker.html) for

how to use the pre-built docker image.