Robotics Service Bus

h1. TCP-based Transport

h2. Prerequisites

# Check that the socket / TCP transport connector is part of your RSB installation (currently only available in Trunk)

# You can do this by calling @rsb_version --verbose@

# Look through the installed connectors and ensure that the socket connector is available as shown in the following console output

<pre>

sericit:server swrede$ rsb_version --verbose

Version: 0.5.0, build 2871 (DATE 2011-10-17 20:57:29 +0200 (Mon, 17 Oct 2011)), abi 2

Default Configuration

rsb::ParticipantConfig[qosSpec = QualityOfServiceSpec[ordering = 10, reliability = 20], errorStrategy = 0, transports = {Transport[name = socket, converters = {}, options = p{ enabled: "1", server: "1" }], Transport[name = spread, converters = {}, options = p{ enabled: "0" }], Transport[name = inprocess, converters = {}, options = p{ enabled: "0" }]}, eventReceivingStrategy = rsb::ParticipantConfig::EventProcessingStrategy[name = parallel, options = p{  }], eventSendingStrategy = rsb::ParticipantConfig::EventProcessingStrategy[name = direct, options = p{  }], options = p{  }]]

Connectors

ConnectorFactory<rsb::transport::InPullConnector>[

	ConnectorInfo[spread, schemas = {spread}, options = {host, port, enabled}]

]

ConnectorFactory<rsb::transport::InPushConnector>[

	ConnectorInfo[inprocess, schemas = {inprocess}, options = {enabled}]

	ConnectorInfo[socket, schemas = {socket}, options = {host, port, server, enabled}]

	ConnectorInfo[spread, schemas = {spread}, options = {host, port, enabled}]

]

ConnectorFactory<rsb::transport::OutConnector>[

	ConnectorInfo[inprocess, schemas = {inprocess}, options = {enabled}]

	ConnectorInfo[socket, schemas = {socket}, options = {enabled}]

	ConnectorInfo[spread, schemas = {spread}, options = {host, maxfragmentsize, port, enabled}]

]

Converters

Repository<std::string>[

	.*               <-> bytearray       : rsb::converter::ByteArrayConverter[wireType = std::string, wireSchema = .*, dataType = bytearray]

	bool             <-> bool            : rsb::converter::BoolConverter[wireType = std::string, wireSchema = bool, dataType = bool]

	portstatechange  <-> portstatechange : rsb::introspection::IntrospectionConverter[wireType = std::string, wireSchema = portstatechange, dataType = portstatechange]

	uint64           <-> unsigned long long: rsb::converter::Uint64Converter[wireType = std::string, wireSchema = uint64, dataType = unsigned long long]

	utf-8-string     <-> std::string     : rsb::converter::StringConverter[wireType = std::string, wireSchema = utf-8-string, dataType = std::string]

	void             <-> void            : rsb::converter::VoidConverter[wireType = std::string, wireSchema = void, dataType = void]

]

</pre>

h2. Usage

*Warning: This is an experimental connector!" (only available in C++)

Processes are configured in server and client modes. Therefore, you currently have to add separate @rsb.conf@ files in the working directory of the separate processes.

The basic client configuration (on a single host) looks as follows:

<pre>

[transport.socket]

enabled = 1

server = 0 

[transport.inprocess]

enabled = 0

[transport.spread]

enabled = 0

</pre>

For the server config just change the server line to @server = 1@.

In order to use this connector for remote communciation, you also have to specify @host@ and if necessary @port@ fields.