Robotics Service Bus

h1. Socket-based Transport

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h2. Usage

*Warning: The socket-based transport is experimental* (and currently only available in C++ and Common Lisp)

h3. Prerequisites

Check that the socket-based transport connector is part of your RSB installation:

* Common Lisp programs display this information in the output of @PROGRAM --help-for=uri@ and in error messages if the transport is not available

* For C++, this can be checked by calling @rsb_version --verbose@

If the transport is available, output similar to the following is produced:

<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[...]

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

[...]

  </pre>

h3. Configuration

When employing the socket-based transport, RSB-using processes are configured in server and client modes (with one server and one or more clients). To configure processes accordingly, there are two possibilities

# Have 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 communication across multiple hosts, the @host@ and if necessary @port@ options have to be specified.

# Using environment variables:

#* For server process:

   @$ export RSB_TRANSPORT_SOCKET_ENABLED=1@ (unless specified in @rsb.conf@)

   @$ export RSB_TRANSPORT_SOCKET_SERVER=1@

#* For client processes:

   @$ export RSB_TRANSPORT_SOCKET_ENABLED=1@ (unless specified in @rsb.conf@)