Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Replace README image links with permalinks #223

Merged
merged 1 commit into from
Apr 5, 2021
Merged

Replace README image links with permalinks #223

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -13,13 +13,13 @@
*eProsima Micro XRCE-DDS* is a library implementing the [DDS-XRCE protocol](https://www.omg.org/spec/DDS-XRCE/About-DDS-XRCE/) as defined and maintained by the OMG, whose aim is to allow resource constrained devices such as microcontrollers to communicate with the [DDS](https://www.omg.org/spec/DDS/About-DDS/>) world as any other DDS actor would do.
It follows a client/server paradigm and is composed by two libraries, the *Micro XRCE-DDS Client* and the *Micro XRCE-DDS Agent*. The *Micro XRCE-DDS Clients* are lightweight entities meant to be compiled on e**X**tremely **R**esource **C**onstrained **E**nvironments, while the *Micro XRCE-DDS Agent* is a broker which bridges the *Clients* with the DDS world.

<p align="center"> <img src="docs/General.png" alt="Image" width="70%"/> </p>
<p align="center"> <img src="https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/master/docs/General.png?raw=true" alt="General architecture" width="70%"/> </p>

The *Micro XRCE-DDS Clients* request operations to the *Agent* to publish and/or subscribe to topics in the DDS global dataspace. Remote procedure calls, as defined by the [DDS-RPC standard](https://www.omg.org/spec/DDS-RPC/About-DDS-RPC/), are also supported, allowing *Clients* to communicate in the DDS dataspace according to a request/reply paradigm.
The *Agents* process these requests and send back a response with the operation status result and with the requested data, in the case of subscribe/reply operations.
The communication in the DDS world is mediated by a dedicated `ProxyClient` in charge of creating the *DDS Entities* requested by the *Clients*, such as *Participants*, *Topics*, *Publishers*, and *Subscribers*, which can interact with the DDS Global dataspace.

<p align="center"> <img src="docs/Client.png" alt="Image" width="70%"/> </p>
<p align="center"> <img src="https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/master/docs/Client.png?raw=true" alt="Client architecture" width="70%"/> </p>

*eProsima Micro XRCE-DDS* provides the user with a C API to create *Micro XRCE-DDS Clients* applications. The library can be configured at compile-time via a set of CMake flags allowing to enable or disable some profiles before compilation, and to manipulate several parameters controlling some of the library's functionalities, which in turn allow tuning the library size.

Expand Down