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And here is the same look, just after starting IDL 7.0.1. There are two processes to pay attention to here: idlopserver.exe and idlde.exe. As you can see, IDL 7 takes considerable more memory resources to run. Without actually doing anything, IDL 7 requires over 110 MBytes of memory, as opposed to about 13 MBytes for IDL 6.4. It was originally introduced to Mac users in Mac OS 9. A Windows version has been available since the introduction of iTunes 7. Idl 7.0 free download. This minor release is API compatible with the previous minor release, but introduces ABI breaks on two of the three public APIs. Methods and attributes have been added on several classes of the DDS-PIM high-level API, so indexes of symbols on dynamic libraries may have changed. Idl.colors: number of color IDL can use (useful for PseudoColor devices). Idl.grdepth: Depth, in bits, of the graphics device in use. Idl.retain: default parameter retain (Backing Store selection → graphics covered by other windows): 0= none, 1= by server, 2= by IDL. Idl.grvisual: type of visual device to use.
1. Plotting in IDL
Using IDL, you can display your scientific analysisresults in a nice graphical presentation whether it be a simple line plot,contour plot, surface plot or some combination of these. In thistutorial, you will learn specifically the following:- How to display data as a line plot with the plot command
- How to overlay other plots with the oplot command
- How to display error bars using the oploterr and errplot commands
- How to annotate a plot with the xyouts command
- How to display data as a surface with the surface and shade_surfcommand
- How to display data as a contour plot with the contour command
- How to display multiple plots using the !P.MULTI system variable
- How to turn your plots into Postscript files
- How to capture the display screen image with the xv display application
All the data we will be using in the course can be found in this directory. Alternatively the data can be downloaded from the webpage: www.astro.cornell.edu/share/astro310.
Now, type the following to restore the variablessaved in the file.
IDL> restore,'jgr_mars.sav' & helpThere should be six 120-element floating point arrays with the followingcontents:
Wavelength in microns for bright region data |
1.1. The 'plot' Command
IDL> plot, x_bright, y_bright, psym=7, $Now we can look at the properties of Fig.1 and see what commands created them. First, we should note thatby prepending a / onto an IDL keyword, we are setting that keyword'svalue equal to one. IDL simply looks to see if such a keyword hasa value or not, a sort of true/false setting.
IDL> xrange=[0.3,3.2], yrange=[0,0.4], /xstyle, /ystyle,$
IDL> xtitle='Wavelength (microns)', $
IDL> ytitle='Reflectance', $
IDL>
Fig. 1 - An example plot
x_bright: It is an array containing the brightregion wavelength data to be plotted on the x-axis.
y_bright: It is an array containing the bright regionreflectance data to be plotted on the y-axis.
psym=7: This sets the data symbol. By setting thisto 7 we select the x to represent the data point. You canselect other numbers to use other symbols: 1=plus sign (+), 2=asterisk(*), 3=dot (.), 4=diamond, 5=triangle, 6=square, 10=histogram style, andetc. When psym is set to a negative number, then the data pointsare connected by lines. A stylistic note: it is nice to representyour data by some sort of symbol so that the person looking at the graphcan tell how often you sampled your data. Lines are often reservedto represent theoretical models or fits to the data.
(xy)range: Setting these equal to a two-element arraycauses the plot ranges to be set to the values in those arrays. Thefirst element in the array is the minimum and the second is the maximum.
/(xy)style: These override the plot command's automaticsetting of the x and y ranges. Setting these without the xrange andyrange specified will force the minimum and maximum of the plot's x- andy-axis ranges be exactly equal to the minimum and maximum values of thex-data and y-data, respectively. These will also force IDL to usethe exact values that your set using the (xy)range keywords.
(xy)title: Set this to a string which becomes the titlefor that axis or for the plot itself. A stylistic note: alwaysindicate the units on your axis.
1.2. The 'oplot' Command
IDL> oplot, x_dark, y_dark, psym=4
x_dark: It is an array containing the dark regionwavelength data to be plotted on the x-axis.Unfortunately, this makes the data points in the longer wavelength regionseem confusing, so let's draw a solid line through the bright region dataset and a dashed line through the dark region data set by typing:IDL> oplot, x_bright, y_bright
y_dark: It is an array containing the dark region reflectancedata to be plotted on the y-axis.
IDL> oplot, x_dark, y_dark, linestyle=2
linestyle=2: By setting this keyword equal to 2, we selecteda dashed line. Other numbers represent other linestyles such as adottedline and a dash-dot line. The linestyle keyword also worksin plot command.
The dashed line doesn't look good either, so let's just use a solid lineinstead:IDL> oplot, x_dark, y_darkNotice that you could have used psym = -7 and psym = -4 inthe plot and the first oplot commands, respectively, to achievethe same thing. The result is shown in Fig.2.
Fig. 2 - An example plot with an additional plot overlaid
1.3. Plotting Error Bars
IDL> oploterr, x_bright, y_bright, y_bright_err
y_bright_err: It is an array containing the errorin the bright region reflectance data.The result is the short vertical lines through the bright region data,which tells us that the errors are small and that the dips and bumps arereal features (please ask Prof. Bell about the details).
Next, use the errplot command to display theerrors in the dark region reflectance data by typing;
IDL> errplot, x_dark, y_dark - y_dark_err, y_dark+ y_dark_erry_dark_err: It is an array containing the error in thedark region reflectance data.
Note how the syntax for the errplot command is different from thatfor the oploterr command. Also, notice how their error barslook different. Instead of the simple vertical lines in the caseof oploterr, the error bars resulting from the errplot commandare vertical lines with tiny horizontal lines at their both ends. The resulting plot is shown in Fig. 3. Pleaserefer to the IDL online help (which you can access by typing '?'at the IDL command line) for more details.Fig. 3 - An example plot with the error bars plotted
1.4. The 'xyouts' Command
| IDL> oplot, [0.45, 0.65], [0.38, 0.38] | ; draws a line through the x's |
| IDL> xyouts, 0.7, 0.377, 'Bright region data' | ; writes 'Bright region data' |
| IDL> oplot, [0.5, 0.6], [0.36, 0.36], psym=4 | ; plots two diamonds for dark region data |
| IDL> oplot, [0.45, 0.65], [0.36, 0.36] | ; draws a line through the diamonds |
| IDL> xyouts, 0.7, 0.357, 'Dark region data' | ; writes 'Dark region data' |
| IDL> oplot, [0.5, 0.5], [0.33, 0.35] | ; draws a vertical line |
| IDL> oplot, [0.6, 0.6], [0.33, 0.35] | ; draws a second vertical line |
| IDL> oplot, [0.58, 0.62], [0.35, 0.35] | ; draws a tiny bar above the vertical line |
| IDL> oplot, [0.58, 0.62], [0.33, 0.33] | ; draws a tiny bar below the vertical line |
| IDL> xyouts, 0.7, 0.337, 'Error bars' | ; writes 'Error bars' |
Fig. 4 - An example plot with a legend
Please refer to the IDL online help for details on many keywords youcan use with the xyouts command.
EXERCISE: Using the samedata, please try to reproduce Fig. 5 using a batchfile. Create a batch file called plot_example.batchcontaining all the commands we used above. Then, you can copy thisto another file called plot_exercise.batch to modify for this exercise,instead of typing endlessly at the command line. Please save thesefiles because we will use them later on. Note that the wavelengthsare in nanometers (10 -9) instead of microns (10 -6)and that the xrange has changed. Hint: create new variablescorresponding to x_bright and x_dark in new units. Can you tell whaterror plotting command was used? Looking at this plot, why does Marsappear reddish?Fig. 5 - Exercise plot
2. The 'surface' and 'shade_surf' Commands
Any two-dimensional data array can be displayed as asurface in IDL with a single surface or shade_surf command. The surface procedure draws a wire-mesh representation of a two-dimensionalarray in three dimensional space, and the shade_surf procedure createsa shaded-surface representation of a regular or nearly-regular griddedsurface. The two commands are similar and share many of the samegraphics keywords.We need some data to play with, and conveniently,it is provided for you again in our class directory. The star.savfile in the /Volumes/Shared/astro310 directory contains an IDL variable named image,which is a 100 x 100 array. Please type the following to obtain thisarray:
IDL> restore, '/Volumes/Shared/astro310/star.sav' & help, imageThen, IDL tells you that the image is a two-dimensional integerarray. This is a raw image of the star, BS4030 also known as 35 Leo,in 2.36 µm taken on January 11, 1994 using the IRTF's original NSFCAM instrument(Fig. 6). [Note: This instrument has since been replaced with a newer, larger-formatnear-IR array camera called NSFCAM2.]
Fig. 6 - BS4030 (35 Leo)
Now, make a wire-mesh surface plot by simply typing:
IDL> surface, imageThis is lacking in details like title and axis labels, and the values onthe axes are hard to read, so type the following to produce the displayshown in Fig. 7:
IDL> surface, image, charsize=2, $
IDL> xtitle='Pixels in x-direction (RA)', $
IDL> ytitle='Pixels in y-direction (Dec)', $
IDL> ztitle='Digital number', $
IDL>
charsize: This keyword is used to set the sizeof characters. A charsize of 1.0 is normal. The maintitle is written with a character size of 1.25 times this parameter.Note that RA and Dec in axis labels are not units but tosay that the pixel numbers shown on the axes can be converted to RightAscension (RA) and Declination (Dec) with some calculations if given enoughinformation.
Fig. 7 - An example of a surface plot
This surface plot shows the default orientation ofthe three axes, but we can customize the orientation using the azand ax keywords. Let's display this same surface with 30°clockwise rotation about the z-axis and then 40° rotation aboutthe x-axis towards us, the view, by using the following command. The resulting display is shown in Fig. 8. Pleaserefer to the IDL online help for more details on these and other keywordsaccepted by the surface command.
IDL> surface, image, charsize=2, az=-30, ax=40, $
IDL> xtitle='Pixels in x-direction (RA)', $
IDL> ytitle='Pixels in y-direction (Dec)', $
IDL> ztitle='Digital number', $
IDL>
az: This keyword specifies the counterclockwiseangle of rotation about the z-axis. In IDL, the order of rotationis always az first, then ax.
ax: This keyword specifies the angle of rotation, aboutthe x-axis, in degrees towards the viewer. The ax and azkeyword parameters default to +30 degrees if omitted.
Fig. 8 - An example of a rotated surface plot
Now, try the shade_surf command, by simplyreplacing the word 'surface' in the above commands with 'shade_surf.' The example shown in Fig. 9 is the result of thefollowing command:
IDL> shade_surf, image, charsize=2, $
IDL> xtitle='Pixels in x-direction (RA)', $
IDL> ytitle='Pixels in y-direction (Dec)', $
IDL> ztitle='Digital number', $
IDL>
Fig. 9 - An example of a shade_surf plot
Please refer to the IDL online help for more information on the surfaceand shade_surf commands and their keywords.
3. The 'contour' Command
It is just as easy to produce contour plots using thecontourcommand. Using various keywords, it is possible to specify contourlevels, labeling, colors, line styles, and other options, so please readthrough more detailed information available on the IDL online help. The contour command draws contours by searching for each contourline and then following the line until it reaches a boundary or closes. Both line contours and filled contour plots can be created. Although,outline and fill contours cannot be drawn at the same time, you can goaround this problem by first creating the filled contour plot, then addingthe outline contours by calling the contour command a second timewith the overplot keyword, as shown in the example below.Using the same data, the image, let's makea contour plot with levels at 200, 400, 600, 800, and 1000 (shown in Fig.10). Type the following commands:IDL> contour, image, /fill, charsize=1.5, $
IDL> levels=[200, 400, 600, 800, 1000], $
IDL> xtitle='Pixels in x-direction (RA)', $
IDL> ytitle='Pixels in y-direction (Dec)', $
IDL>
IDL> contour, image, /overplot, $
IDL> levels=[200, 400, 600, 800, 1000], $
IDL> c_charsize=1.2
/fill: Set this keyword to produce a filled contour plot. The contours are filled with solid or line-filled polygons. Usingother keywords, you can specify colors (or shades of grey in our blackto white color scheme) or specify attributes for lines.
levels: A contour is drawn at each level specified inlevels. Notice that you could have used levels=(findgen(5)+1)*200 instead.
/overplot: Set this keyword to make a contour 'overplot'. That is, the current graphics screen is not erased, no axes are drawn andthe previously established scaling remains in effect. You must explicitlyspecify either the values of the contour levels or the number of levels(via the nlevels keyword) when using this option.
c_charsize: This specifies the size of the charactersused to annotate contour labels. Normally, contour labels are drawn at3/4 of the size used for the axis labels.
Fig. 10 - An example of a contour plot
4. Multiple Plots
We are going to place six plots in one window withtwo across and three down by setting the !P.MULTI equal to [0, 2, 3] asshown in Fig. 11, but first, we will reopen thedisplay window with bigger/longer size for better viewing using the windowcommand. Please see the IDL online help for more information. For the plotting commands, Use the batch files you created in §1 andthe plotting commands studied above. [Note: Although we use capitalizedletters for the system variables, it is not necessary.] Type thefollowing commands:
IDL> window, xsize=600, ysize=900Always remember to set !P.MULTI back to [0, 1, 1] when you're done, otherwiseyour next display will have places for six plots. Equivalently, youcan just type !P.MULTI = 0. In the plotting commands above,some details were omitted to avoid messy display, and the charsize valueswere determine after few trials.
IDL> !P.MULTI = [0, 2, 3]
IDL> @plot_example.batch ; This makes the first plot.
IDL> @plot_exercise.batch ; This draws the second plot.
IDL> for n=0,599 do xyouts, n, 900 * 2/3, '-', /device
IDL> ; The above command draws a line to separate the Mars data
IDL> ; from the star BS4030 data using the for-loop and xyouts.
IDL> contour, image, /fill, charsize=2, $
IDL> levels=[200, 400, 600, 800, 1000], $
IDL> xtitle='Pixels in x-direction (RA)', $
IDL> ytitle='Pixels in y-direction (Dec)', $
IDL>
IDL> contour, image, /overplot, $
IDL> levels=[200, 400, 600, 800, 1000]
IDL> ; The third plot is the contour plot of the star.
IDL> surface, image, charsize=2 ; This displays the fourthplot.
IDL> surface, image, az=-30, ax=40, charsize=2
IDL> ; The fifth plot is the rotated surface plot.
IDL> shade_surf, image, charsize=2
IDL> ; The final sixth plot is the shaded surface plot of the star.
IDL> !P.MULTI = [0, 1, 1]
Fig. 11 - An example of multiple plots
5. Turning Your Plots into Postscript Files
In this section, you will learn how to create a PostScriptfile using the set_plot and device commands. CreatingPostScript output in IDL involves three steps:(1) Configure the PS device: So far, we'vebeen using the graphics window on the screen, but there are several othergraphics devices accessible in IDL (see Table 5.1 on p. 194in your IDL text book). The default graphics device is the screendisplay, in our case, it is the X device (for X-windows). Hence,you need to first start the PS device using the set_plot command,and then use the device command to configure the details such asthe size and location of the plots on the PS device. The system variable!D.NAMEstores the current graphic device name.As a first example, create a plot with the default page orientation andsize by typing:
(2) Render the graphics: This means issuing theplotting commands like you did before using the X device, but the resultwill be different. For one thing, instead of the white and grey renderingson a black background in the display screen, the PostScript output willshow the reverse (like what you see on this tutorial pages). Thereare other differences. For an example, the charsize keyworddoes not work when using the PS device.
(3) Close the device: When finished, close the PSdevice and return to using the X device.
IDL> entry_device = !D.NAME & help, entry_deviceNotice that the second and the third commands correspond to the step (1),the fourth command corresponds to the step (2), and the fifth and sixthcommands belong to the step (3). Now you can use Acrobat or Photoshop(both in the Applications folder) to view your Postscript file.
IDL> set_plot, 'PS'
IDL> device, filename='plot_example.ps'
IDL> @plot_example.batch
IDL> device, /close_file
IDL> set_plot, entry_device
If you want to change the size and location of theplot in the PostScript file, then you need to use several keywords in thedevicecommand. As an example, produce a bigger plot using the followingcommands:
IDL> set_plot, 'PS'Notice how this output is bigger than the previous one. For moredetailed information on the set_plot and device commands,please refer to p. 355-362 in your text book, 'Practical IDLProgramming' and the IDL online help.
IDL> device, xsize=7, ysize=9, $
IDL> xoffset=0.5, yoffset=1.0, /inches, $
IDL> filename='plot_example.ps'
IDL> @plot_example.batch
IDL> device, /close_file
IDL> set_plot, entry_device
6. Using XV's Grab
If creating PostScript files in IDL seems difficult,you will be happy to know that there are several alternatives:(a) On any Mac computer you can 'grab' a portion of the screen and automaticallysave it as a PNG file by holding down the apple-shift-4 keys simultaneously. Acursor will pop up and you can then drag over the part of the screen that youwant to grab/save. You can then read the file into Photoshop or some other imageprocessing application and convert it to a Postscript, JPEG, or whatever you like.
(b) In the Utilities folder within your computer's Applications folder, thereis an application called 'Grab'. Fire it up and you can grab and save all or partof the screen that way.
(c) For the more adventurous, or for use on a non-Mac but X11 based operatingsystem, xv's Grab button lets you grab any rectangular portion of an X windows-generated screen window and turn itinto an image. Hence, you use can use this to take a 'picture' ofthe IDL display screen and save that image to a file in a format that youselect from the list which includes GIF, TIFF, JPEG, PostScript, and etc.
To understand, how this works, try the followingsteps:
- Start the xv program from inside an X11 terminal window: Do this by typing 'xv' at the command line. Note that you need to be in an X11 terminal window (xterm), not a terminal window opened using the 'Terminal' application program (yes, confusing).
- Bring up the xv controls window: With the cursor positioned anywhere on the xv window, click theright button on your mouse. You should see the xvcontrols window, and the Grab button is located near lower rightcorner.
- Click on the Grab button: This brings up thexvgrab window. Read the instructions on it.
- Grab: Click on the Grab button on the xvgrab window, and using your middle mouse button, capture a rectangularimage anywhere you choose (of course, this includes your IDL display window). Notice how the resulting image exactly corresponds to whatever area yougrabbed.
- Save: Click the Save button on the xvcontrols window to bring up the xv save window. Choosethe format you desire and type in the file name at the bottom, and witha click on the Ok button, you are done.
This minor release is API compatible with the previous minor release, but introduces ABI breaks ontwo of the three public APIs:
Methods and attributes have been added on several classes of the DDS-PIM high-level API, so indexes ofsymbols on dynamic libraries may have changed.
Methods and attributes have been added on several classes of the RTPS low-level API, so indexes ofsymbols on dynamic libraries may have changed.
Old Fast-RTPS high-level API remains ABI compatible.
Users of the RTPS low-level API should also be aware of the following API deprecations:
History::reserve_Cache has been deprecated
Methods RTPSWriter::new_change or RTPSReader::reserveCache should be used instead
History::release_Cache has been deprecated
Methods RTPSWriter::release_change or RTPSReader::releaseCache should be used instead
This release adds the following features:
Support persistence for large data
Added support for on_requested_incompatible_qos and on_offered_incompatible_qos
SKIP_DEFAULT_XML environment variable
Added FORCE value to THIRDPARTY cmake options
New log consumer (StdOutErrConsumer)
Added methods to get qos defined in XML Profile
Support for persistence on TRANSIENT_LOCAL
It also includes the following improvements:
Internal refactor for intra-process performance boost
Allow usage of foonathan/memory library built without debug tool
Large data support on performance tests
Reduced flakiness of several tests
Some important bugfixes are also included:
Fixed behavior of several DDS API methods
Fixed interoperability issues with RTI connext
Fixed DLL export of some methods
Avoid redefinition of compiler defined macros
Fixed some intra-process related segmentation faults and deadlocks
Fixed large data payload protection issues on intra-process
Fixed C++17 and VS 2019 warnings
Fixed linker problems on some platforms
Fixed transient local retransmission after participant drop
Fixed assertion failure on persistent writers
Note
If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDLfiles using fastrtpsgen.If you are upgrading from a version older than 1.10.0, regenerating the code is recommended.
Version 2.0.2¶
This release includes the following improvements:
Improve QNX support
Security improvements
Fast DDS Quality Declaration (QL 2)
Large traffic reduction when using Discovery Server (up to 85-90% for large deployments)
Configuration of Clients of Discovery Server using an environment variable
A CLI for Fast DDS:
This can be used to launch a discovery server
Clean SHM directories with one command
Shared memory transport enabled by default
Solved edge-case interoperability issue with CycloneDDS
Add package.xml
Note
If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDLfiles using fastrtpsgen.If you are upgrading from a version older than 1.10.0, regenerating the code is recommended.
Version 2.0.1¶
Apple Download
This release includes the following bug fixes:
Fixed sending GAPs to late joiners
Fixed asserting liveliness on data reception
Avoid calling
OpenSSL_add_all_algorithms()when not required
Other improvements:
Fixing warnings
PRs in merge order:#1295,#1300,#1304,#1290,#1307.
Note
If you are upgrading from a version older than 1.7.0, it is required to regenerate generated source from IDLfiles using fastrtpsgen.If you are upgrading from a version older than 1.10.0, regenerating the code is recommended.
Version 2.0.0¶
This release has the following API breaks:
eClock API, which was deprecated on v1.9.1, has been removed
eprosima::fastrtps::rtps::RTPSDomain::createParticipant methods now have an additional first argument domain_id
Data member domainId has been removed from eprosima::fastrtps::rtps::RTPSParticipantAttributes and added toeprosima::fastrtps::ParticipantAttributes
Users should also be aware of the following deprecation announcement:
All classes inside the namespace eprosima::fastrtps should be considered deprecated.Equivalent functionality is offered through namespace eprosima::fastdds.
Namespaces beneath eprosima::fastrtps are not included in this deprecation, i.e.eprosima::fastrtps::rtps can still be used)
This release adds the following features:
Added support for register/unregister/dispose instance
Added DDS compliant API. This new API exposes all the functionality of the Publisher-Subscriber Fast RTPS APIadhering to the Data Distribution Service (DDS) version 1.4 specification
Added Security Logging Plugin (contributed by Cannonical Ltd.)
Bump to FastCDR v1.0.14
It also includes the following bug fixes and improvements:
Support for OpenSSL 1.1.1d and higher
Support for latest versions of gtest
Support for FreeBSD
Fault tolerance improvements to Shared Memory transport
Fixed segfault when no network interfaces are detected
Correctly ignoring length of PID_SENTINEL on parameter list
Improved traffic on PDP simple mode
Reduced CPU and memory usage
Version 1.10.0¶
This release adds the following features:
New built-in Shared Memory Transport
Transport API refactored to support locator iterators
Added subscriber API to retrieve info of first non-taken sample
Added parameters to fully avoid dynamic allocations
History of built-in endpoints can be configured
Bump to FastCDR v1.0.13.
Bump to Fast-RTPS-Gen v1.0.4.
Require CMake 3.5 but use policies from 3.13
It also includes the following bug fixes and improvements:
Fixed alignment on parameter lists
Fixed error sending more than 256 fragments.
Fix handling of STRICT_REALTIME.
Fixed submessage_size calculation on last data_frag.
Solved an issue when recreating a publishing participant with the same GUID.
Solved an issue where a publisher could block on write for a long time when a newsubscriber (late joiner) is matched, if the publisher had already sent a large numberof messages.
Correctly handling the case where lifespan expires at the same time on several samples.
Solved some issues regarding liveliness on writers with no readers.
Correctly removing changes from histories on keyed topics.
Not reusing cache change when sample does not fit.
Fixed custom wait_until methods when time is in the past.
Several data races and ABBA locks fixed.
Reduced CPU and memory usage.
Reduced flakiness of liveliness tests.
Allow for more use cases on performance tests.
Several bug fixes on discovery server:
Fixed local host communications.
Correctly trimming server history.
Fixed backup server operation.
Fixed timing issues.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.If you are upgrading from a version older than 1.10.0, regenerating the code is recommended.
Version 1.9.4¶
This release adds the following features:
Intra-process delivery mechanism is now active by default.
Synchronous writers are now allowed to send fragments.
New memory mode DYNAMIC_RESERVE on history pool.
Performance tests can now be run on Windows and Mac.
XML profiles for requester and replier.
It also includes the following bug fixes and improvements:
Bump to FastCDR v1.0.12.
Bump to Fast-RTPS-Gen v1.0.3.
Fixed deadlock between PDP and StatefulReader.
Improved CPU usage and allocations on timed events management.
Performance improvements on reliable writers.
Fixing bugs when Intra-process delivery is activated.
Reducing dynamic allocations and memory footprint.
Improvements and fixes on performance tests.
Other minor bug fixes and improvements.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.
Version 1.9.3¶
This release adds the following features:
Participant discovery filtering flags.
Intra-process delivery mechanism opt-in.
It also includes the following bug fixes and improvements:
Bump to Fast-RTPS-Gen v1.0.2.
Bring back compatibility with XTypes 1.1 on PID_TYPE_CONSISTENCY.
Ensure correct alignment when reading a parameter list.
Add CHECK_DOCUMENTATION cmake option.
EntityId_t and GuidPrefix_t have now their own header files.
Fix potential race conditions and deadlocks.
Improve the case where check_acked_status is called between reader matching process and its acknack reception.
RTPSMessageGroup_t instances now use the thread-local storage.
FragmentedChangePitStop manager removed.
Remove the data fragments vector on CacheChange_t.
Downloads winx dvd ripper for mac. Only call find_package for TinyXML2 if third-party options are off
Allow XMLProfileManager methods to not show error log messages if a profile is not found.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.
Version 1.9.2¶
This release includes the following feature:
Multiple initial PDP announcements.
Flag to avoid builtin multicast.
It also adds the following bug fixes and improvements:
Bump to Fast-RTPS-Gen v1.0.1.
Bump to IDL-Parser v1.0.1.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.
Version 1.9.1¶
This release includes the following features:
Fast-RTPS-Gen is now an independent project.
Header eClock.h is now marked as deprecated.
It also adds the following bug fixes and improvements:
Bump to FastCDR v1.0.11.
Installation from sources documentation fixed.
Fixed assertion on WriterProxy.
Fixed potential fall through while parsing Parameters.
Removed deprecated guards causing compilation errors in some 32 bits platforms.
addTOCDRMessage method is now exported in the DLL, fixing issues related with Parameters’ constructors.
Improve windows performance by avoiding usage of _Cnd_timedwait method.
Fixed reported communication issues by sending multicast through localhost too.
Fixed potential race conditions and deadlocks.
Eliminating use of acceptMsgDirectTo.
Discovery Server framework reconnect/recreate strategy.
Removed unused folders.
Restored subscriber API.
SequenceNumber_t improvements.
Added STRICT_REALTIME cmake option.
SubscriberHistory improvements.
Assertion of participant liveliness by receiving RTPS messages from the remote participant.
Fixed error while setting next deadline event in create_new_change_with_params.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.
Version 1.9.0¶
Mac Windows Download
This release includes the following features:
Partial implementation of allocation QoS.
Implementation of Discovery Server.
Implementation of non-blocking calls.
It also adds the following bug fixes and improvements:
Added sliding window to BitmapRange.
Modified default behavior for unknown writers.
A Flush() method was added to the logger to ensure all info is logged.
A test for loading Duration_t from XML was added.
Optimized WLP when removing local writers.
Some liveliness tests were updated so that they are more stable on Windows.
A fix was added to CMakeLists.txt for installing static libraries.
A fix was added to performance tests so that they can run on the RT kernel.
Fix for race condition on built-in protocols creation.
Fix for setting nullptr in a fixed_string.
Fix for v1.8.1 not building with -DBUILD_JAVA=ON.
Fix for GAP messages not being sent in some cases.
Fix for coverity report.
Several memory issues fixes.
fastrtps.repos file was updated.
Documentation for building with Colcon was added.
Change CMake configuration directory if INSTALLER_PLATFORM is set.
IDL sub-module updated to current version.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.
Version 1.8.4¶
This release adds the following feature:
XML profiles for requester and replier
It also has the following important bug fixes:
Solved an issue when recreating a publishing participant with the same GUID (either on purpose or by chance)
Solved an issue where a publisher could block on write for a long time when, after a large number of sampleshave been sent, a new subscriber is matched.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen
Version 1.8.3¶
This release adds the following bug fixes and improvements:
Fix serialization of TypeConsistencyEnforcementQosPolicy.
Bump to Fast-RTPS-Gen v1.0.2.
Bump to IDL-Parser v1.0.1.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen
Version 1.8.2¶
This release includes the following features:
Modified unknown writers default behavior.
Multiple initial PDP announcements.
Flag to avoid builtin multicast.
STRICT_REALTIME compilation flag.
It also adds the following bug fixes and improvements:
Fix for setting nullptr in a fixed string.
Fix for not sending GAP in several cases.
Solve Coverity report issues.
Fix issue of fastrtpsgen failing to open IDL.g4 file.
Fix unnamed lock in AESGCMGMAC_KeyFactory.cpp.
Improve XMLProfiles example.
Multicast is now sent through localhost too.
BitmapRange now implements sliding window.
Improve SequenceNumber_t struct. Mechanical keyboard for macheavenlyboard.
Participant’s liveliness is now asserted when receiving any RTPS message.
Fix leak on RemoteParticipantLeaseDuration.
Modified default values to improve behavior in Wi-Fi scenarios.
SubscriberHistory improvements.
Removed use of acceptMsgDirectTo.
WLP improvements.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen
Version 1.8.1¶
This release includes the following features:
Implementation of LivelinessQosPolicy QoS.
It also adds the following bug fixes and improvements:
Fix for get_change on history, which was causing issues during discovery.
Fix for announcement of participant state, which was sending ParticipantBuiltinData twice.
Fix for closing multicast UDP channel.
Fix for race conditions in SubscriberHistory, UDPTransportInterface and StatefulReader.
Fix for lroundl error on Windows in Time_t.
CDR & IDL submodules update.
Use of java 1.8 or greater for fastrtpsgen.jar generation.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.
Version 1.8.0¶
This release included the following features:
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Implementation of IDL 4.2.
Implementation of DeadlineQosPolicy QoS.
Implementation of LifespanQosPolicy QoS.
Implementation of DisablePositiveACKsQosPolicy QoS.
Secure sockets on TCP transport (TLS over TCP).
It also adds the following improvements and bug fixes:
Real-time improvements: non-blocking write calls for best-effort writers, addition of fixed size strings,fixed size bitmaps, resource limited vectors, etc.
Duration parameters now use nanoseconds.
Configuration of participant mutation tries.
Automatic calculation of the port when a value of 0 is received on the endpoint custom locators.
Non-local addresses are now filtered from whitelists.
Optimization of check for acked status for stateful writers.
Linked libs are now not exposed when the target is a shared lib.
Limitation on the domain ID has been added.
UDP non-blocking send is now optional and configurable via XML.
Fix for non-deterministic tests.
Fix for ReaderProxy history being reloaded incorrectly in some cases.
Fix for RTPS domain hostid being potentially not unique.
Fix for participants with different lease expiration times failing to reconnect.
Known issues
When using TPC transport, sometimes callbacks are not invoked when removing a participant due to a bug in ASIO.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.
Version 1.7.2¶
This release fixes an important bug:
Allocation limits on subscribers with a KEEP_LAST QoS was taken from resource limits configurationand didn’t take history depth into account.
It also has the following improvements:
Vendor FindThreads.cmake from CMake 3.14 release candidate to help with sanitizers.
Fixed format of gradle file.
Some other minor bugs and performance improvements.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen. Free ice creamanne 28 online, free games for girls.
Version 1.7.1¶
This release included the following features:
LogFileConsumer added to the logging system.
Handle FASTRTPS_DEFAULT_PROFILES_FILE environment variable indicating the default profiles XML file.
XML parser made more restrictive and with better error messages.
It also fixes some important bugs:* Fixed discovery issues related to the selected network interfaces on Windows.* Improved discovery times.* Workaround ASIO issue with multicast on QNX systems.* Improved TCP transport performance.* Improved handling of key-only data submessages.
Some other minor bugs and performance improvements.
KNOWN ISSUES
Allocation limits on subscribers with a KEEP_LAST QoS is taken from resource limits configurationand doesn’t take history depth into account.
Note: If you are upgrading from a version older than 1.7.0, it is required to regenerate generated sourcefrom IDL files using fastrtpsgen.
Version 1.7.0¶
This release included the following features:
TCP Transport.
Dynamic Topic Types.
Security 1.1 compliance.
Also bug fixing, allocation and performance improvements.
Note: If you are upgrading from an older version, it is required to regenerate generated source from IDL filesusing fastrtpsgen.
Version 1.6.0¶
This release included the following features:
Persistence.
Security access control plugin API and builtin Access control plugin: DDS:Access:Permissions plugin.
Also bug fixing.
Note: If you are upgrading from an older version than 1.4.0, it is advisable to regenerate generated source from IDLfiles using fastrtpsgen.
Version 1.5.0¶
This release included the following features:
Configuration of Fast RTPS entities through XML profiles.
Added heartbeat piggyback support.
Also bug fixing.
Note: If you are upgrading from an older version than 1.4.0, it is advisable to regenerate generated source from IDLfiles using fastrtpsgen.
Version 1.4.0¶
This release included the following:
Added secure communications.
Removed all Boost dependencies. Fast RTPS is not using Boost libraries anymore.
Added compatibility with Android.
Bug fixing.
Note: After upgrading to this release, it is advisable to regenerate generated source from IDL files usingfastrtpsgen.
Version 1.3.1¶
This release included the following:
New examples that illustrate how to tweak Fast RTPS towards different applications.
Improved support for embedded Linux.
Bug fixing.
Version 1.3.0¶
Mac Os Download
This release introduced several new features:
Unbound Arrays support: Now you can send variable size data arrays.
Extended Fragmentation Configuration: It allows you to setup a Message/Fragment max size different to the standard64Kb limit.
Improved logging system: Get even more introspection about the status of your communications system.
Static Discovery: Use XML to map your network and keep discovery traffic to a minimum.
Stability and performance improvements: A new iteration of our built-in performance tests will make benchmarkingeasier for you.
ReadTheDocs Support: We improved our documentation format and now our installation and user manuals are availableonline on ReadTheDocs.
Version 1.2.0¶
This release introduced two important new features:
Flow Controllers: A mechanism to control how you use the available bandwidth avoiding data bursts.The controllers allow you to specify the maximum amount of data to be sent in a specific period of time.This is very useful when you are sending large messages requiring fragmentation.
Discovery Listeners: Now the user can subscribe to the discovery information to know the entities present in thenetwork (Topics, Publishers & Subscribers) dynamically without prior knowledge of the system.This enables the creation of generic tools to inspect your system.
But there is more:
Idl 7.0 Mac Download Brown Search Browser
Full ROS 2 Support: Fast RTPS is used by ROS 2, the upcoming release of the Robot Operating System (ROS).
Better documentation: More content and examples.
Improved performance.
Bug fixing.