eprosima / fast-dds-spy

eProsima Fast DDS Spy is a CLI interactive tool that allows to introspect a DDS network in human readable format. Looking for commercial support? Contact [email protected]

Fast-DDS-spy

eProsima Fast DDS Spy is a CLI interactive tool that allows to introspect a DDS network in human readable format. It is possible to query the network about the DomainParticipants connected, their endpoints (DataWriters and DataReaders) and the topics they communicate in. It is also possible to see the user data sent through network topics in a schematic format in run time.

Documentation

You can access the documentation online, which is hosted on Read the Docs.

• Introduction
• Installation Manual
• User Manual
• Developer Manual
• Release Notes

Installation Guide

The instructions for installing the Fast DDS Spy application from sources and its required dependencies on a Linux environment are provided below. These installation instructions are a summarized version of the complete installation guide available online. Instructions for installing Fast DDS Spy on a Windows platform can be found here.

Requirements

eProsima Fast DDS Spy requires the following tools to be installed in the system:

• CMake, g++, pip, wget and git
• Colcon [optional, not required for CMake-only installation]

# apt packages
sudo apt install -y \
    cmake \
    g++ \
    pip \
    wget \
    git \
    libasio-dev \
    libtinyxml2-dev \
    libssl-dev \
    libyaml-cpp-dev

# python packages
pip3 install -U \
    colcon-common-extensions \
    vcstool

Colcon installation

1. Create a Fast-DDS-spy directory and download the .repos file that will be used to install Fast DDS Spy and its dependencies:

   mkdir -p ~/Fast-DDS-spy/src
   cd ~/Fast-DDS-spy
   wget https://raw.githubusercontent.com/eProsima/Fast-DDS-spy/main/fastddsspy.repos
   vcs import src < fastddsspy.repos

2. Build the packages:

   colcon build --packages-up-to fastddsspy_tool

Run an application

To run the Fast DDS Spy application, source the installation environment and execute the executable file that has been installed in <install-path>/fastddsspy_tool/bin/fastddsspy:

# Source installation
source <install-path>/setup.bash

# Execute Fast DDS Spy
fastddsspy_tool
# Use <fastddsspy_tool --help> to see the tool manual

Getting Help

If you need support you can reach us by mail at [email protected] or by phone at [phone].

fast-dds-spy's Issues

fastdds spy tool support new idl topic type

fastdds spy tool only support one topic type - ShapeType. However, i wanna to support my self-defined type to support show command.(fastdds_spy show )

fastddsspy with idl type

IDL include a structure HelloWorld, HelloWorld includes a struct point, point includes a struct timestamp(such as HelloWorld.idl),in this way, fastddsspy will come to Segmentation fault. However, if IDL include a structure HelloWorld, HelloWorld includes a struct point, point don't include any struc (like HelloWorld_OK.idl), fastddsspy will run ok.

HelloWorld_OK.idl
struct point{
short x;};
struct HelloWorld{
point pos;
unsigned long index;};

HelloWorld.idl
struct timestamp{
short h;};
struct point{
timestamp ts;
short x;};
struct HelloWorld{
point pos;
unsigned long index;};

step1:
fastddsgen -typeobjcet HelloWorld.idl

step2:
DomainParticipantQos pqos;
pqos.wire_protocol().builtin.typelookup_config.use_server = true;

eprosima::fastdds::dds::DomainParticipant* participant_;
participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);

eprosima::fastdds::dds::TypeSupport type_;
type_(new HelloWorldPubSubType())
type_.register_type(participant_);
type_->auto_fill_type_object(false);
type_->auto_fill_type_information(true);

step3:
HelloWorld hello_;
hello_.index(0);
hello_.pos().ts().h(10);
hello_.pos().x(10);
writer_->write(&hello_);

Discovery server and fastdds spy

• setting the FASTRTPS_DEFAULT_PROFILES_FILE environmental variable to a configuration pointing to a discovery server.
• fastddsspy only discovers the participants that are the discovery servers themselfs.