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1. OpenDDS简介

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OpenDDS是OMG数据分发服务(DDS)的一种开源实现，它遵循实时系统v1.2的DDS规范(OMG Document formal/07-01-01)和实时公布/订阅互操作性通信协议v2.1的DDS-RTPS规范(OMG Document formal/2010-11-01)。OpenDDS由OCI公司设计和维护，可从http://www.opendds.org/的OpenDDS社区门户中获得帮助

2. Perl安装编译

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1> 下载Perl:https://www.perl.org/get.html#unix_like
2> 解压缩

tar -xvzf perl-5.32.0.tar.gz

3> 编译安装

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

3. ACE+TAO下载(FULL版本)

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1> 下载ACE+TAO:https://download.dre.vanderbilt.edu/
2> 解压缩：

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

4. OpenDDS下载

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1> 下载OpenDDS:http://download.ociweb.com/OpenDDS/
2> 解压缩：

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

5. 修改目录权限

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

6. 设置环境变量

1> 打开编辑bashrc

vim ~/.bashrc

2> 修改bashrc内容，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头文件

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1> 新建ace/config.h头文件

vi $ACE_ROOT/ace/config.h

2> 复制以下内容到ace/config.h头文件中

#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> 复制以下内容到platform_macros.GNU文件

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

10. 编译

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1> 编译ACE

$ cd $ACE_ROOT
$ make clean 
$ make

2> 编译TAO

$ cd $TAO_ROOT
$ make clean 
$ make

3> 编译OpenDDS

$ cd $DDS_ROOT
$ make clean 
$ make

11. 检测安装是否成功

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1> 执行脚本run_test.pl

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

2> 观察脚本运行输出(test PASSED表示环境正常)

>>> /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.