RTI Recorder UsersManual
RTI Recorderfor RTI Data Distribution ServiceUser’s ManualVersion 1.5
2007-2010 Real-Time Innovations, Inc.All rights reserved.Printed in U.S.A. First printing.June 2010.TrademarksReal-Time Innovations and RTI are registered trademarks of Real-Time Innovations, Inc.All other trademarks used in this document are the property of their respective owners.Copy and Use RestrictionsNo part of this publication may be reproduced, stored in a retrieval system, or transmitted in anyform (including electronic, mechanical, photocopy, and facsimile) without the prior writtenpermission of Real-Time Innovations, Inc. The software described in this document is furnishedunder and subject to the RTI software license agreement. The software may be used or copied onlyunder the terms of the license agreement.Third-Party Copyright NoticesPortions of this product include software derived from Fnmatch, (c) 1989, 1993, 1994 The Regentsof the University of California. All rights reserved. The Regents and contributors provide thissoftware "as is" without warranty.Technical SupportReal-Time Innovations, Inc.385 Moffett Park DriveSunnyvale, CA 94089Phone:(408) 990-7444Email:support@rti.comWebsite: http://www.rti.com/support
Contents1Welcome to RTI Recorder2Configuring RTI Recorder342.1How to Load the XML Configuration .2-12.2General Format.2-22.2.1 Configuration File Syntax.2-42.2.2 Supported Data Types.2-42.3General Properties .2-72.4Database (Output File) Properties.2-82.5Domain Properties . 2-112.5.1 Recording Large User Data Types.2-122.6TopicGroup Properties .2-132.7RecordGroup Properties .2-172.8Remote Access Properties.2-182.9Domain Type Configuration .2-20Using RTI Recorder3.1Starting RTI Recorder .3-13.2Stopping RTI Recorder.3-2Viewing the Recorded Data4.1Format of the Recorded Data .4-24.1.1 Discovery Data .4-24.1.2 User Data.4-24.1.3 Other Tables .4-3iii
5Exporting Recorded Data6Example Configuration Files7iv6.1How to Record All Topics in a Single Domain . 6-16.2How To Record a Subset of Data from Multiple Domains . 6-26.3How To Record Data to Multiple Files. 6-46.4How To Record Serialized Data . 6-46.5How To Record Using Best-Effort Reliability . 6-56.6How To Enable Remote Access. 6-6Accessing RTI Recorder from a Remote Location7.1Overview . 7-17.2Establishing a Connection with RTI Recorder . 7-27.3Remote Control Messages. 7-47.4Using the Example Remote-Access Application—RTI Recorder Shell . 7-77.4.1 RTI Recorder Shell’s Commands . 7-87.4.2 Running More than One RTI Recorder in the Same Domain . 7-13
1. WelcomeChapter 1Welcome to RTI RecorderRTI Recorder is an RTI Data Distribution Service application that records both RTI DataDistribution Service discovery and topic data.The recorded data is stored in one or more files that can be viewed later. One way toview the data is with the provided SQL command-line tool, sqlite3. For information ondisplaying the recorded data, see Chapter 4: Viewing the Recorded Data.Features Records data from applications in multiple domains. Records entire Topics, or specific Topic fields, based on POSIX file-name matching expressions. Records all data types except bit-fields. Records to multiple files with configurable file-size limits. Optionally overwritesthe oldest file when the maximum number of files has been reached. Records the DDS SampleInfo structure and a timestamp for both discovery dataand user data. Records using either Best Effort or Reliable communications. Optionally records data from only specified partitions. Supports remote operation.This document assumes you have a basic understanding of DDS terms such as DomainParticipants, Publishers, DataWriters, Topics, and Quality of Service (QoS) policies. For anoverview of DDS terms, please see the RTI Data Distribution Service User’s Manual.1-1
Chapter 11-2
2. Configuring RTIRecorderChapter 2Configuring RTI RecorderWhen you start RTI Recorder, you may specify a configuration file in XML format (it isnot required). In that file, you can set properties that control what to record, how torecord, and where to save the recorded data. This chapter describes how to write a configuration file.2.1How to Load the XML ConfigurationRTI Recorder loads its XML configuration from multiple locations. This section presentsthe various approaches, listed in load order.The first three locations only contain QoS Profiles and are inherited from RTI Data Distribution Service (see Chapter 15 in the RTI Data Distribution Service User's Manual). NDDSHOME/resource/qos profiles 4.5x1/xml/NDDS QOS PROFILES.xmlThis file contains the RTI Data Distribution Service default QoS values; it is loadedautomatically if it exists. (First to be loaded.) File in NDDS QOS PROFILESThe files (or XML strings) separated by semicolons referenced in this environment variable are loaded automatically. working directory /USER QOS PROFILES.xmlThis file is loaded automatically if it exists.1. x stands for the version letter of the current release.2-1
Chapter 2The next locations are specific to RTI Recorder. RTI Recorder executable location /./././resource/xml/RTI RECORDER.xmlThis file contains the default RTI Recorder configuration; it is loaded if it exists.RTI RECORDER.xml defines a configuration that records all topics on domain0. working directory /USER RECORDER.xmlThis file is loaded automatically if it exists. File specified with the command-line option, -cfgFile (see Table 3.1 on page 32). File specified using the remote command ‘configure’The configure command (see Table 3.1 on page 3-2) allows loading an XML fileremotely. The file loaded using this command replaces the file loaded using the-cfgFile command-line option. (Last to be loaded.)You may use a combination of the above approaches.2.2General FormatThe configuration file uses XML format. The main sections are: General Properties (Section 2.3) Database (Output File) Properties (Section 2.4)—contained in the top-level tag, recorder database Domain Properties (Section 2.5)—contained in the top-level tag, domainname ”String” TopicGroup Properties (Section 2.6)—contained in the top-level tag, topic group RecordGroup Properties (Section 2.7)—contained in the top-level tag, record group Remote Access Properties (Section 2.8)—contained in the top-level tag, remote access Domain Type Configuration (Section 2.9)—contained in the top-level tag, domain type config 2-2
2.2 General FormatLet’s look at a very basic configuration, just to get an idea of its contents. You will learnthe meaning of each line as you read the rest of this chapter. dds !-- This simple configuration records all topics from domain ID 0 -- !-- Create a DDS DomainParticipant in domain 0 with default QoS -- domain name "domain0" domain id 0 /domain id deserialize mode RTIDDS DESERIALIZEMODE ALWAYS /deserialize mode /domain !-- Create a TopicGroup. A TopicGroup is a collection of Topicswhose names match the topic expr. The field expr specifieswhich fields in the Topics to record. Note that a TopicGroup isnot bound to a particular domain yet. In this example, theTopicGroup All means all fields in all Topics -- topic group name "All" topics topic expr * /topic expr /topics field expr * /field expr /topic group !-- Create a RecordGroup. A RecordGroup controls which TopicGroupsare recorded for a set of domains. Each recorded Topic is storedin a table with the format "record group.domain.Topic"In this example, we want to record data from topics in TopicGroup"All" from "domain0." -- record group name "RecordAll" !-- specify which domains to record from -- domain ref element domain0 /element /domain ref !-- specify which topics to record -- topic ref element All /element /topic ref /record group /recorder 2-32. Configuring RTIRecorder recorder name ”example” !-- Specify where to store the recorded data. -- recorder database database name simple config.dat /database name /recorder database
Chapter 2 /dds Example configuration files are provided in the examples directory: simple config.xmlWith this configuration, RTI Recorder will record all fields from all topics in aspecified domain (domain ID 0). advanced config.xmlWith this configuration, RTI Recorder will record: The ‘x’ and ‘y‘ fields from all Topics named Square in domains 0 and 1. The ‘color’ field from all Topics in domains 0 and 1. remote shell.xmlThis configuration file provides a configuration that can be used with the tutorialfound in the RTI Recorder Getting Started Guide to learn about how to modify RTIRecorder while it is running.2.2.1Configuration File SyntaxRTI Recorder follows the same XML syntax rules as RTI Data Distribution Service. Pleasesee the RTI Data Distribution Service User’s Manual for details.2.2.2Supported Data TypesAs you will see in the following sections, each property that can appear in the configuration file uses a specific data type. RTI Recorder converts between the value string in theXML file and the specified type. Table 2.1 lists the supported types and the mappingsused by RTI Recorder.Table 2.1Property Value Data TypesTypeFormatNotescharandoctetcompact formsequences and arraysDDS Boolean2-4yes,1,true,on: TRUEno,0,false,off: FALSEThese values are not case sensitive.
2.2 General FormatTable 2.1Property Value Data TypesTypeDDS LongDDS UnsignedLongNotesA string.Legal values are those listed Enum values are not case sensitive.for the property in the onlineThe legal constants are those defined for the DDS C(HTML) documentation forAPI.the RTI Data Distribution Service C API.-2147483648 - 21474836470x80000000 - 0x7fffffffA 32-bit signed integer.You may include the following unit designations:KB — 2 10kB — 10 3MB — 10 6GB — 10 9KiB — 2 10MiB — 2 20GiB — 2 30For example, 100 kB is a legal value, meaning 100,000.0 - 42949672960 - 0xffffffffA 32-bit unsigned integer.You may include the following unit designations:KB — 2 10kB — 10 3MB — 10 6GB — 10 9KiB — 2 10MiB — 2 20GiB — 2 30For example, 100 kB is a legal value, meaning 100,000.2-52. Configuring RTIRecorderDDS EnumFormat
Chapter 2Table 2.1Property Value Data TypesTypeDDS QosPolicyFormatSee the RTI Data DistributionService online (HTML) C APIdocumentation for the structure of each QoS policy, andthe RTI Data Distribution Service User’s Manual’s chapter onConfiguring QoS with XML.NotesEach field in each QoS policy structure has a corresponding tag. The tag is the same as the field name inthe DDS C API.For enumerations, the legal constants are thosedefined for the DDS C API.For example: subscriber qos presentation access scope DDS TOPIC PRESENTATION QOS /access scope /presentation partition name element rti /element /name /partition /subscriber qos The above configuration will set (a) the PresentationQoSpolicy’saccess scopefieldtoDDS TOPIC PRESENTATION QOS and (b) thePartition QoS policy’s name field to “rti”. (name is asequence of strings, which requires using the element tag, also described in this table.)FileSize64 bit integerYou may include the following unit designations:kB — 10 3MB — 10 6GB — 10 9KB — 2 10TB — 10 12KiB — 2 10MiB — 2 20GiB — 2 30TiB — 2 40For example, 100 kB is a legal value, meaning 100,000.StringUTF-8 character stringAll leading and trailing spaces are ignored betweentwo tags.2-6
2.3 General Properties2.3General PropertiesTable 2.2 describes optional properties that control RTI Recorder’s main module.General PropertiesPropertySyntaxauto start auto start DDS Boolean /auto start verbosity verbosity DDS Long /verbosity DescriptionWhether or not RTI Recorder should start recording data when it isstarted. This option is mostly useful if RTI Recorder is usually controlledremotely.Default: TrueThe verbosity is a bit-map that specifies what type of logging informationshould be printed.The verbosity may be:0: silent (both RTI Data Distribution Service and RTI Recorder)1: errors (both RTI Data Distribution Service and RTI Recorder) (default)2: warnings (RTI Recorder only)3: warnings (both RTI Data Distribution Service and RTI Recorder)4: information (RTI Recorder only)5: tracing (RTI Recorder only)6: tracing (both RTI Data Distribution Service and RTI Recorder)2-72. Configuring RTIRecorderTable 2.2
Chapter 22.4Database (Output File) PropertiesTable 2.3 describes the Database properties. All database properties are optional exceptdatabase name. All database properties must be specified within recorder database and /recorder database tags.Table 2.3Database PropertiesPropertySyntaxDescriptiondatabase name database name String /database name Required.The name of the fileset used to store recorded data.RTI Recorder appends a set number and a segment numberto the filename.Default: undefinedExample: database name myfile /database name flushperiod flush period DDS Long /flush period Specifies how often (in seconds) to flush data to disk.Note: increasing this value causes RTI Recorder to use additional memory.Default: 1 secondMinimum: 1 secondmax filesegmentsSpecifies how many file segments may be created.Each time the max file size limit is reached for a filesegment, a new file is created if this number of segments has max file segments not been exceeded.DDS Long /max file segments Default: 1Example: max file segments 100 /max file segments max filesizeSpecifies the maximum size for a file segment.RTI Recorder records data to one or more files. This propertyspecifies the maximum file-size. Note that this is not anabsolute value, but a threshold value. As soon as the threshold is exceeded, no more data is written to file.Default: 2 GB Maximum: as imposed by the operating systemExample: max file size 1 GB /max file size 2-8 max file size FileSize /max file size
2.4 Database (Output File) PropertiesTable 2.3Database PropertiesProperty overwrite DDS Boolean /overwrite DescriptionSpecifies whether or not RTI Recorder should delete all existing file segments in the fileset before it starts recording.This is useful if you want to reuse a data-file name betweenrecording sessions, but do not want to keep any old data.True: if the file segments already exist, they are deleted; otherwise, the file segments are created as needed.False: if the file segments already exist, RTI Recorder exits;otherwise, the file segments are created as needed.Example: name test /name max file segments 4 /max file segments overwrite yes /overwrite In this case, RTI Recorder will delete test 0 0, test 0 1, andtest 0 2 before starting to record to test 0 0.Default:Falsepathseparatorrollover path separator DDS Char /path separator Specifies the path separator character that RTI Recorder willuse when creating table and column names.For instance, table names follows the "TopicName RecordGroupName DomainName" convention and fields in Topicsuses to navigate hierarchical types, such as a b c.' ' is used as the default path separator instead of the moreconventional. ',' because does not require quotes whenused in SQLite SQL statements.For example, to use ' ' as the path separator: path separator /path separator Note: this property cannot be empty. rollover DDS Boolean /rollover Specifies whether or not RTI Recorder should overwrite existing file segments in the fileset once the file size limit(max file size) has been reached for the last file segment.True: RTI Recorder overwrites existing file segments asneeded (starting with the first one).False: RTI Recorder stops recording data.Default: False2-92. Configuring RTIRecorderoverwriteSyntax
Chapter 2Table 2.3Database PropertiesPropertySyntaxDescriptionsegmentnumber segment number DDS Long /segment number Specifies the first segment to use in the fileset.If the segment number is 0, that is the first segment number in the fileset.Default: -1. The next available segment number will be used,starting at 0.Note: the set number is determined first, then the segmentnumber.setnumber set number DDS Long /set number Specifies the set number to use in the fileset.If the set number is 0, that specific fileset number is used.In this case, the overwrite property takes effect.Default: -1. The next available set number will be used, starting at 0.RTI Recorder stores data in a set of SQL database files. (Note, however, that you do notneed to install any database software to use RTI Recorder.)A fileset is a named collection of file segments which belong to the same recording session. Each of these file segments contains discovery and user-data, and the format isdetermined by SQLite.RTI Recorder uses a fixed file-naming scheme:name set-number segment-numberWhere: name is the base filename for the fileset, specified in the configuration file withthe name property. set-number is an integer identifying the fileset, specified in configuration file withthe set-number property. segment-number is an integer identifying the file-segment within the fileset. Thefirst segment number to use, and the maximum number of segments are specified in the configuration file with the segment number and max file segments properties, respectively.For example: mydata 5 3 means this file belongs to fileset 5 and is the 3rd segment inthat fileset.The maximum size of a file segment, whether to overwrite existing files, and whether tooverwrite the oldest file can all be set in the configuration file.2-10
2.5 Domain Properties2.5Domain PropertiesTable 2.4 describes the Domain properties. All Domain properties are optional.Domain PropertiesPropertydeserialize modeSyntax deserialize mode DDS Enum /deserialize mode DescriptionDetermines how topic data is stored in a database (serialized or deserialized).The following values are allowed: RTIDDS DESERIALIZEMODE AUTOMATIC—deserialize data if possible, otherwise store data inserialized format. RTIDDS DESERIALIZEMODE NEVER—Do not deserialize the data; store data in serializedformat.RTIDDS DESERIALIZEMODE ALWAYS—Only store data if it can be deserialized first.Default: RTIDDS DESERIALIZEMODE NEVERSee Recording Large User Data Types (Section 2.5.1).domain id domain id DDS Long /domain id Sets the domain ID.Default: 0participant qos participant qos DDS QosPolicy /participant qos Configures the DomainParticipant’s QoS policies.Default: default DomainParticipant QoS settingsSee the RTI Data Distribution Service User’s Manual fordetails. (See the chapter on Configuring QoS with XML.)Domain properties must be specified inside domain name ”String” and /domain tags. If you want to use a RecordGroup (Section 2.7), you must assign a domain namewith these tags, even if you do not specify any domain properties (because the domainname is needed in the RecordGroup’s domain ref property).You may specify more than one Domain. Each one must have a unique name, with itsown domain name ”String” and /domain tags.Note: Transports are configured through the Property QoS under the participant qostag.2-112. Configuring RTIRecorderTable 2.4
Chapter 2For example, the following creates a Domain named “mydomain” using domain ID 68.The data will be recorded in serialized format. The DomainParticipant will use defaultQoS settings, except for the Discovery QoS policy’s accept unknown peers field: domain name "mydomain" domain id 68 /domain id deserialize mode RTIDDS DESERIALZEMODE NEVER /deserialize mode participant qos discovery accept unknown peers false /accept unknown peers /discovery participant qos /domain 2.5.1Recording Large User Data TypesWhen RTI Recorder records serialized user data, each primitive type in the topic’s datastructure will have its own column in the table. The maximum number of columns isapproximately 1,950.Therefore, if you have a data-type that would require more than 1,950 columns, youmust set the deserialize mode property to RTIDDS DESERIALIZEMODE NEVER.(Disregarding this limit will cause recording to fail.)Note: each primitive type is considered a column. For example, the following would require3,000 columns:long Array[3000];As another example, the followingy[0].x.a,y[0].x.b,y[1].x.a,y[1].x.b, etc.struct X {long a;long b;};struct Y {X x;};struct Z {Y y[10];}2-12wouldrequireseparatecolumnsfor
2.6 TopicGroup Properties2.6TopicGroup PropertiesA TopicGroup is an optional logical collection of Topics. If you are not going to have aRecordGroup in the configuration file, you do not need a TopicGroup. (See Section 2.7.) field expr shared table topicsTable 2.5TopicGroup PropertiesPropertyautodetectreliabilitycompactchar arraycompactoctet arraycompactcharsequenceSyntaxDescription auto detect reliability DDS Boolean /auto detect reliability If set to true, use the same reliability as the Publisher ofthe matched Topic.Default: false. compact char array DDS Boolean /compact char array Store array of char in a single column. The default (true)saves the most space. While it is possible to storeindividual elements in separate columns, it is notrecommended as the number of columns stored canbecome very large.Default: true. compact octet array DDS Boolean /compact octet array Store array of octet in a single column. The default (true)saves the most space. While it is possible to storeindividual elements in separate columns, it is notrecommended as the number of columns stored canbecome very large.Default: true. compact char sequence DDS Boolean /compact char sequence Store sequence of char in a single column. The default(true) saves the most space. While it is possible to storeindividual elements in separate columns, it is notrecommended as the number of columns stored canbecome very large.Default: true.2-132. Configuring RTIRecorderTable 2.5 describes the TopicGroup properties. The following properties are required:
Chapter 2Table 2.5TopicGroup PropertiesPropertySyntaxDescription compact octet sequence DDS Boolean /compact octet sequence Store sequence of octet in a single column. The default(true) saves the most space. While it is possible to storeindividual elements in separate columns, it is notrecommended as the number of columns stored canbecome very large.Default: true.datareaderqos datareader qos DDS DataReaderQos /datareader qos Specifies the QoS settings for all DataReaders created forthis TopicGroup. A DataReader is created for each discovered Topic that matches topic expr. All the DataReadersfor the TopicGroup will use the same set of QoS policies.You can specify all of the QoS policies with thedatareader qos property. See the RTI Data DistributionService User’s Manual for more information. (See the chapter on Configuring QoS with XML.)See the RTI Data Distribution Service User’s Manual fordetails. (See the chapter on Configuring QoS with XML.)field expr field expr POSIX fn expressions /field expr Required.A list of comma-separated POSIX expressions that specifywhich fields in the Topics to record. (The Topics are specified with topics , see Table 2.6.)This parameter is ignored when recording serialized data.compactoctetsequence2-14
2.6 TopicGroup PropertiesTable 2.5TopicGroup PropertiesPropertySyntaxDescription shared table DDS Boolean /shared table topics topics POSIX fn expressions /topics Required.Specifies a topic expression and any exemptions to thatexpression. See Table 2.6.Table 2.6Topics PropertiesPropertyexemptiontopic exprSyntaxDescription exemption POSIX fn expressions /exemption Specifies a comma-separated list of expressions thatshould not be recorded.Default: nothing is exempt. topic expr POSIX fn expression /topic expr Required.A POSIX expression that specifies the names of the Topicsto be included in the TopicGroup.The syntax and semantics are the same as for Partitionmatching.Default: null.2-152. Configuring RTIRecordershared tableRequired.Specifies whether the tables of recorded data are sharedor exclusive.RTI Recorder stores Topic data in tables; those tables canbe Shared or Exclusive. An Exclusive table means thateach Topic recorded in a RecordGroup is stored in its owntable. The name of the table follows the convention:TopicName RecordGroupName DomainName(The ' ' separator can be changed with the pathseparator database property.)Thus, two topics with the same name but from twodifferent TopicGroups are stored in separate tables.A shared table means that Topics with the same name arestored in the same table, regardless of where it wasrecorded from. In this case the table has an additional column, 'table prefix', which stores the table prefix in theform: RecordGroupName DomainName.Default: False (exclusive).
Chapter 2TopicGroup properties must be specified inside topic group name ”String” and /topic group tags.For example, the following creates a TopicGroup called AllTopics, which will include alldiscovered Topics. From those Topics, all fields will be recorded. This example does notspecify the optional datareader qos property, so it will use default DataReader QoS settings: topic group name "AllTopics" topics topic expr * /topic expr /topics field expr * /field expr /topic group This next example creates a TopicGroup called ColorsOfSquares that will only includeTopics named “Square.” For the recorded Topics, only the “color” field will be recorded.The DataReaders for the matching Topics will have default QoS settings, except that theReliability QoS’s kind will be DDS RELIABLE RELIABILITY QOS: topic group name "ColorsOfSquares" topics topic expr Square /topic expr /topics field expr color /field expr datareader qos reliability kind DDS RELIABLE RELIABILITY QOS /kind /reliability /datareader qos /topic group The following example creates a TopicGroup called AllMinusCircleAndSquare that willinclude all Topics except “Circle” and “Square.” For the recorded Topics, all fields willbe recorded: topic group name "AllMinusCircleAndSquare" topics topic expr * /topic expr exemption Circle, Square /exemption /topics field expr * /field expr /topic group Note: Topics are never removed from a TopicGroup. The resources used to createDataReaders for discovered Topics are not released if/when the Topics are deleted.2-16
2.7 RecordGroup PropertiesNote: RTI Recorder will ignore Topics published with a type that conflicts with analready discovered type.RecordGroup PropertiesA RecordGroup is a binding between a TopicGroup and a Domain. It controls whichTopicGroup members are recorded for each Domain. Any Topic that is part of a TopicGroup in the RecordGroup is recorded from the specified Domains.RecordGroups are optional. If you do not create one, RTI Recorder will not record any data.This is useful if you want to start RTI Recorder in “stand-by” mode—then you can useremote access (see Section 2.8) to switch to a different configuration file (one that doeshave a RecordGroup) and start recording.Table 2.7 describes the RecordGroup properties. The following properties are required: domain ref topic refTable 2.7RecordGroup PropertiesPropertySyntaxDescriptiondomain ref domain ref StringSequence /domain ref Required.Specifies a sequence of references to domains.Default: null.topic ref topic ref StringSequence /topic ref Required.Specifies a sequence of references to TopicGroups.Default: null. subscriber qos subscriber qos DDS SubscriberQos /subscriber qos Configures the Subscriber used by the RecordGroup.Default: default Subscriber QoS settingsSee the RTI Data Distribution Service User’s Manual for details.(See the chapter on Configuring QoS with XML.)RecordGroup properties must be specified inside record group name “String” and /record group tags. The name that you assign (“String”) will be used in the tablen
overview of DDS terms, please see the RTI Data Distribution Service User’s Manual. Chapter 1 1-2. 2-1 2. Configuring RTI Recorder . This configuration file provides a configur ation that can be used with the tutorial found in the RTI Recorder Getting Started Guide to learn about how to modify RTI
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