OpenDDS通讯rtps_discovery对等发现模式的pub和sub匹配的日志

OpenDDS的通讯体系中，提供了丰富的日志输出，通过日志输出可以清晰的看到pub和sub方的主题匹配的过程，是加深对OpenDDS过程了解的一个好方法。
下面的日志，以OpenDDS3.8为基础，增加了部分日志和时间戳输出。
rtps_discovery对等发现模式下，通过单播地址进行发布方和订阅方的匹配过程。

（1）sub方

配置文件

[common]
DCPSGlobalTransportConfig=$file
ORBDebugLevel=0
DCPSDebugLevel=10
DCPSTransportDebugLevel=0
ORBLogFile=sub.log

[domain/2]
DiscoveryConfig=fast_rtps

[rtps_discovery/fast_rtps]
ResendPeriod=2
InteropMulticastOverride=239.255.0.11

SpdpSendAddrs=192.168.102.1:7910
##PB=30000
##DX=0
##D1=0
SedpMulticast=0
SedpLocalAddress=192.168.102.1:
TTL=20

[transport/the_rtps_transport]
transport_type=rtps_udp
use_multicast=0
local_address=192.168.179.1:
ttl=20

sub方日志

(13532|6612) NOTICE: using DCPSDebugLevel value from command option (overrides value if it's in config file).
(13532|6612) NOTICE: using DCPSTransportDebugLevel value from command option (overrides value if it's in config file).
(13532|6612) NOTICE: using ORBLogFile value from command option, overriding config file
Configuration InteropMulticastOverride=239.255.0.11
Configuration SedpMulticast=0
Configuration ResendPeriod=2
Configuration SedpLocalAddress=192.168.102.1:
Configuration SpdpSendAddrs=192.168.102.1:7910
Configuration TTL=20
Configuration transport_type=rtps_udp
Configuration use_multicast=0
Configuration local_address=192.168.179.1:
Configuration ttl=20
Configuration DiscoveryConfig=fast_rtps
2018-02-09 17:18:35.997322 (13532|6612) Service_Participant::set_repo_domain: Domain[ 2] = Repo[ fast_rtps].
(13532|6612) NOTICE: StaticDiscovery::parse_topics no [topic] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_datawriterqos no [datawriterqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_datareaderqos no [datareaderqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_publisherqos no [publisherqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_subscriberqos no [subscriberqos] sections.
(13532|6612) NOTICE: StaticDiscovery::parse_endpoints no [endpoint] sections.
(13532|6612) NOTICE: Service_Participant::intializeScheduling() - no scheduling policy specified, not setting policy.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) WARNING:open_appropriate_socket_type: socket open not successful:errno: 10048
(13532|6612) Spdp::SpdpTransport::open_unicast_socket() - failed to open_appropriate_socket_type unicast socket on port 7910 ACE_SOCK_Dgram::open: address already in use.  Trying next participantId...
2018-02-09 17:18:36.036022 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 488, local[0.0.0.0:7912], port=7912
2018-02-09 17:18:36.036022 (13532|6612) Spdp::SpdpTransport::open_unicast_socket() - opened unicast socket on port 7912
(13532|6612) Spdp::SpdpTransport::SpdpTransport joining group  239.255.0.11:7900
2018-02-09 17:18:36.082822 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 692, local[192.168.102.1:0], port=50699
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) DDS::ParticipantBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c6f0 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c738 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSParticipant) enabled
(13532|6612) DDS::TopicBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c780 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c7c8 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSTopic) enabled
(13532|6612) DDS::PublicationBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c810 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c858 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSPublication) enabled
(13532|6612) DDS::SubscriptionBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c8a0 with 20 chunks
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c8e8 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSSubscription) enabled
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) Ocean::OceanMsgDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 1f0c930 with 20 chunks
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
(13532|6612) DataReaderImpl::enable Cached_Allocator_With_Overflow 1f0c9c0 with 20 chunks
(13532|6612) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|6612) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 1184, local[192.168.179.1:0], port=50700
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|8344) Spdp::data_received() - add a new participant local <01030050.37c00008.34dc0000.000001c1(b8f0199)> discovered remote <01030050.37c00008.35c40000.000001c1(9314d3ae)> createTime=1518167916, leaseDuration=20s.
(13532|8344) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|8344) ConditionImpl::signal_all()
(13532|8344) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13532|8344) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|8344) ConditionImpl::signal_all()
(13532|8344) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13532|8344) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000003c7(d0dac62e) <--> with remote publication  01030050.37c00008.35c40000.000003c2(382be096).
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000004c7(9f9b50e9) <--> with remote publication  01030050.37c00008.35c40000.000004c2(776a7651).
(13532|8344) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.000200c7(f8734183) <--> with remote publication  01030050.37c00008.35c40000.000200c2(1082673b).
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13532|13428) Sedp::Task::svc got message from queue type 0
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000003c2(a0b032a1) <--> with remote subscription 01030050.37c00008.35c40000.000003c7(48411419).
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000004c2(eff1a466) <--> with remote subscription 01030050.37c00008.35c40000.000004c7(70082de).
(13532|13428) DataLink::make_reservation() - creating association local publication  01030050.37c00008.34dc0000.000200c2(8819b50c) <--> with remote subscription 01030050.37c00008.35c40000.000200c7(60e893b4).
(13532|13428) Sedp::Task::svc done with message
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B5B4 1 heap allocs with 1 outstanding
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B5F0 1 heap allocs with 1 outstanding
(13532|6612) Cached_Allocator_With_Overflow::malloc 03B6B644 1 heap allocs with 1 outstanding
2018-02-09 17:18:36.114022 (13532|6612) Sedp::write_subscription_data - subscriptions_writer_.write_sample.result=0
(13532|6612) EndpointManager::add_subscription - calling match_endpoints
(13532|6612) SubscriberImpl::reader_enabled, datareader(topic_name=DCHJData) enabled
(13532|6612) ConditionImpl::signal_all()
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
(13532|13444) DataLink::data_received_i: from publication 01030050.37c00008.35c40000.000003c2(382be096) received sample: SAMPLE_DATA (0x00), Length: 124, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x01, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.35c40000.000003c2(382be096) to readerId 01030050.37c00008.34dc0000.000003c7(d0dac62e) (SET_EXCLUDED).
2018-02-09 17:18:36.618222 (13532|13428) Sedp::Task::svc got message from queue type 1
(13532|13428) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13532|13428) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13532|13428) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
2018-02-09 17:18:36.618222 (13532|13428) Sedp::data_received(dwd) - calling match_endpoints new
2018-02-09 17:18:36.618222 (13532|13428) EndpointManager::match - adding reader association
(13532|13428) DataReaderImpl::add_new_association - bit 0 local 01030050.37c00008.34dc0000.00000004(f99a06e7) remote 01030050.37c00008.35c40000.00000003(ff654173)
(13532|13428) WriterInfo::WriterInfo: writer 01030050.37c00008.35c40000.00000003(ff654173) added to reader 01030050.37c00008.34dc0000.00000004(f99a06e7).
(13532|13428) DataReaderImpl::add_association: inserted writer 01030050.37c00008.35c40000.00000003(ff654173).return 1 
(13532|13428) DataReaderImpl::add_association: reader 01030050.37c00008.34dc0000.00000004(f99a06e7) is associated with writer 01030050.37c00008.35c40000.00000003(ff654173).
(13532|13428) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.34dc0000.00000004(f99a06e7) <--> with remote publication  01030050.37c00008.35c40000.00000003(ff654173).
(13532|13428) DataReaderImpl::transport_assoc_done: id_to_handle_map_[ 01030050.37c00008.35c40000.00000003(ff654173)] = 0x4.
(13532|13428) ConditionImpl::signal_all()
(13532|13428) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x4000.
(13532|13428) ConditionImpl::signal_all() - number of sets: 1, locally: 1.
(13532|13428) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13532|6612) StatusConditionImpl::get_trigger_value() - mask==0x4000, changes==0x0.
2018-02-09 17:18:36.633822 (13532|13428) Sedp::write_subscription_data - subscriptions_writer_.write_sample.result=0
(13532|13428) Sedp::Task::svc done with message
2018-02-09 17:18:38.011622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:38.011622 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.011622 (13532|8344) Spdp::data received() - update an existing remote participant <01030050.37c00008.35c40000.000001c1(9314d3ae)> last_seen_.sec=1518167918
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:38.120822 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7910(unicast or multicast), socketid=488
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.11:7900(unicast or multicast), socketid=488
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7910->0.0.0.0:7912)
2018-02-09 17:18:40.115622 (13532|8344) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7910->0.0.0.0:7912) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7912->0.0.0.0:7900)
2018-02-09 17:18:40.115622 (13532|8344) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21

（2）pub方
配置文件

[common]
DCPSGlobalTransportConfig=$file
ORBDebugLevel=0
DCPSDebugLevel=10
DCPSTransportDebugLevel=0
ORBLogFile=pub.log

[domain/2]
DiscoveryConfig=fast_rtps

[rtps_discovery/fast_rtps]
ResendPeriod=2
InteropMulticastOverride=239.255.0.12

#SpdpSendAddrs=10.1.4.32:7910
SpdpSendAddrs=192.168.102.1:7912
##PB=30000
##DX=0
##D1=0
SedpMulticast=0
SedpLocalAddress=192.168.102.1:
TTL=20

[transport/the_rtps_transport]
transport_type=rtps_udp
use_multicast=0
local_address=192.168.179.1:
ttl=20

日志文件

(13764|15312) NOTICE: using DCPSDebugLevel value from command option (overrides value if it's in config file).
(13764|15312) NOTICE: using DCPSTransportDebugLevel value from command option (overrides value if it's in config file).
(13764|15312) NOTICE: using ORBLogFile value from command option, overriding config file
Configuration InteropMulticastOverride=239.255.0.12
Configuration SedpMulticast=0
Configuration ResendPeriod=2
Configuration SedpLocalAddress=192.168.102.1:
Configuration SpdpSendAddrs=192.168.102.1:7912
Configuration TTL=20
Configuration transport_type=rtps_udp
Configuration use_multicast=0
Configuration local_address=192.168.179.1:
Configuration ttl=20
Configuration DiscoveryConfig=fast_rtps
2018-02-09 17:18:33.928322 (13764|15312) Service_Participant::set_repo_domain: Domain[ 2] = Repo[ fast_rtps].
(13764|15312) NOTICE: StaticDiscovery::parse_topics no [topic] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_datawriterqos no [datawriterqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_datareaderqos no [datareaderqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_publisherqos no [publisherqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_subscriberqos no [subscriberqos] sections.
(13764|15312) NOTICE: StaticDiscovery::parse_endpoints no [endpoint] sections.
(13764|15312) NOTICE: Service_Participant::intializeScheduling() - no scheduling policy specified, not setting policy.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:33.943922 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 488, local[0.0.0.0:7910], port=7910
2018-02-09 17:18:33.943922 (13764|15312) Spdp::SpdpTransport::open_unicast_socket() - opened unicast socket on port 7910
(13764|15312) Spdp::SpdpTransport::SpdpTransport joining group  239.255.0.12:7900
2018-02-09 17:18:33.990722 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 692, local[192.168.102.1:0], port=50697
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) DDS::ParticipantBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c6f0 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c738 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSParticipant) enabled
(13764|15312) DDS::TopicBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c780 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c7c8 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSTopic) enabled
(13764|15312) DDS::PublicationBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c810 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c858 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSPublication) enabled
(13764|15312) DDS::SubscriptionBuiltinTopicDataDataReaderImpl::enable_specific-data Cached_Allocator_With_Overflow 54c8a0 with 20 chunks
(13764|15312) DataReaderImpl::enable Cached_Allocator_With_Overflow 54c8e8 with 20 chunks
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) SubscriberImpl::reader_enabled, datareader(topic_name=DCPSSubscription) enabled
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific is unbounded data - allocate from heap
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific-mb Cached_Allocator_With_Overflow 5aee60 with 10 chunks
(13764|15312) Ocean::OceanMsgDataWriterImpl::enable_specific-db Cached_Allocator_With_Overflow 5af058 with 1 chunks
(13764|15312) WriteDataContainer sample_list_element_allocator 5af21c with 1 chunks
(13764|15312) WriteDataContainer transport_send_element_allocator 5af258 with 1 chunks
(13764|15312) DataWriterImpl::enable-mb Cached_Allocator_With_Overflow 5af598 with 1 chunks
(13764|15312) DataWriterImpl::enable-db Cached_Allocator_With_Overflow 5af790 with 1 chunks
(13764|15312) DataWriterImpl::enable-header Cached_Allocator_With_Overflow 54c930 with 1 chunks
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:34.006322 (13764|14332) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7912->0.0.0.0:7910) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
(13764|15312) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:34.006322 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:34.006322 (13764|15312) SUCCESS:open_appropriate_socket_type: socket open successful(SPDP or SEDP or transport): socketid: 1180, local[192.168.179.1:0], port=50698
(13764|15312) Sedp::write_publication_data - not currently associated, dropping msg.
(13764|15312) EndpointManager::add_publication - calling match_endpoints
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=-1, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.020422 (13764|14332) ERROR: Spdp::SpdpTransport::handle_input() - error reading (192.168.102.1:7912->0.0.0.0:7910) for unicast socket ACE_SOCK_Dgram::recv: connection reset, attempt to receive again
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:36.020422 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::data_received() - add a new participant local <01030050.37c00008.35c40000.000001c1(9314d3ae)> discovered remote <01030050.37c00008.34dc0000.000001c1(b8f0199)> createTime=1518167916, leaseDuration=20s.
(13764|14332) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|14332) ConditionImpl::signal_all()
(13764|14332) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13764|14332) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|14332) ConditionImpl::signal_all()
(13764|14332) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13764|14332) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000003c7(48411419) <--> with remote publication  01030050.37c00008.34dc0000.000003c2(a0b032a1).
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000004c7(70082de) <--> with remote publication  01030050.37c00008.34dc0000.000004c2(eff1a466).
(13764|14332) DataLink::make_reservation() - creating association local subscription 01030050.37c00008.35c40000.000200c7(60e893b4) <--> with remote publication  01030050.37c00008.34dc0000.000200c2(8819b50c).
2018-02-09 17:18:36.114022 (13764|9740) Sedp::Task::svc got message from queue type 0
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000003c2(382be096) <--> with remote subscription 01030050.37c00008.34dc0000.000003c7(d0dac62e).
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000004c2(776a7651) <--> with remote subscription 01030050.37c00008.34dc0000.000004c7(9f9b50e9).
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:36.114022 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:36.114022 (13764|14332) Spdp::data received() - update an existing remote participant <01030050.37c00008.34dc0000.000001c1(b8f0199)> last_seen_.sec=1518167916
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.000200c2(1082673b) <--> with remote subscription 01030050.37c00008.34dc0000.000200c7(f8734183).
2018-02-09 17:18:36.114022 (13764|9740) Sedp::write_publication_data - publications_writer_.write_sample. result=0
(13764|9740) Sedp::Task::svc done with message
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 132, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x03, Timestamp: 1518167916.633822000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 00000000.00000000.00000000.00000000(ecbb4b55) (SET_INCLUDED).
(13764|2808) DataLink::data_received_i - normal data received to each subscription in listener_set include ids:
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 112, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x02, Timestamp: 1518167916.114022000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 01030050.37c00008.35c40000.000004c7(70082de) (SET_EXCLUDED).
(13764|2808) DataLink::data_received_i: from publication 01030050.37c00008.34dc0000.000004c2(eff1a466) received sample: SAMPLE_DATA (0x00), Length: 132, Byte order: Little Endian, CDR Encapsulation, Sequence: 0x03, Timestamp: 1518167916.633822000, Publication: 01030050.37c00008.34dc0000.000004c2(eff1a466) to readerId 01030050.37c00008.35c40000.000004c7(70082de) (SET_EXCLUDED).
2018-02-09 17:18:36.821022 (13764|9740) Sedp::Task::svc got message from queue type 2
(13764|9740) Service_Participant::get_discovery: returning repository for domain 2, repo fast_rtps.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x200.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x400.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
2018-02-09 17:18:36.821022 (13764|9740) Sedp::data_received(drd) - calling match_endpoints new
2018-02-09 17:18:36.821022 (13764|9740) EndpointManager::match - adding writer association
2018-02-09 17:18:36.821022 (13764|9740) DataWriterImpl::add_new_association - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::add_association(): adding subscription to publication 01030050.37c00008.35c40000.00000003(ff654173) with priority 0.
(13764|9740) DataLink::make_reservation() - creating association local publication  01030050.37c00008.35c40000.00000003(ff654173) <--> with remote subscription 01030050.37c00008.34dc0000.00000004(f99a06e7).
(13764|9740) DataWriterImpl::transport_assoc_done:  writer 01030050.37c00008.35c40000.00000003(ff654173) succeeded in associating with reader 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::transport_assoc_done: marked remote reader 01030050.37c00008.34dc0000.00000004(f99a06e7) as pending.
(13764|9740) Sedp::Task::svc done with message
2018-02-09 17:18:36.821022 (13764|9740) Sedp::Task::svc got message from queue type 2
(13764|9740) DataWriterImpl::association_complete - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::association_complete_i - bit 0 local 01030050.37c00008.35c40000.00000003(ff654173) remote 01030050.37c00008.34dc0000.00000004(f99a06e7)
(13764|9740) DataWriterImpl::association_complete_i: id_to_handle_map_01030050.37c00008.34dc0000.00000004(f99a06e7) = 0x4.
(13764|9740) ConditionImpl::signal_all()
(13764|9740) StatusConditionImpl::get_trigger_value() - mask==0xffffffff, changes==0x2000.
(13764|9740) ConditionImpl::signal_all() - number of sets: 0, locally: 0.
(13764|9740) Sedp::Task::svc done with message
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 192.168.102.1:7912(unicast or multicast), socketid=488
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::write_i send SPDPdiscoveredParticipantData to 239.255.0.12:7900(unicast or multicast), socketid=488
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.179.1:7910->0.0.0.0:7900)
2018-02-09 17:18:38.011622 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.120822 (13764|14332) Spdp::SpdpTransport::handle_input() - recvBytes=208, (192.168.102.1:7912->0.0.0.0:7910)
2018-02-09 17:18:38.120822 (13764|14332) Spdp::SpdpTransport::handle_input() - received subMsgType[DATA]=21
2018-02-09 17:18:38.120822 (13764|14332) Spdp::data received() - update an existing remote participant <01030050.37c00008.34dc0000.000001c1(b8f0199)> last_seen_.sec=1518167918