In this chapter is described basic steps how to makes installation and setup process of the ORTE. The process includes next steps: Downloading the ORTE distribution Compilation Installing the ORTE library and utilities Testing the installation Note: On windows systems we are recommend to use Mingw or Cygwin systems. The ORTE support also MSVC compilation, but this kind of installation is not described here.

The ORTE component can be obtained from OCERA SourceForge web page (). Here is the component located also in self distribution branch as well as in OCERA distribution. Before developing any application check if there is a new file release. The CVS version of ORTE repository can be checked out be anonymous (pserver) CVS with the following commands. cvs -d:pserver:anonymous@cvs.ocera.sourceforge.net:/cvsroot/ocera login cvs -z3 -d:pserver:anonymous@cvs.ocera.sourceforge.net:/cvsroot/ocera co ocera/components/comm/eth/orte/ Attention, there is developing version and can't be stable!

Before the compilation process is necessary to prepare the source. Create a new directory for ORTE distribution. We will assume name of this directory /orte for Linux case. Copy or move downloaded ORTE sources to /orte (assume the name of sources orte-0.2.3.tar.gz). Untar and unzip this files by using next commands: gunzip orte-0.2.3.tar.gz tar xvf orte-0.2.3.tar Now is the source prepared for compilation. Infrastructure of the ORTE is designed to support GNU make (needs version 3.81) as well as autoconf compilation. In next we will continue with description of autoconf compilation, which is more general. The compilation can follows with commands: mkdir build cd build ../configure make This is the case of outside autoconf compilation. In directory build are all changes made over ORTE project. The source can be easy move to original state be removing of directory build.

The result of compilation process are binary programs and ORTE library. For the next developing is necessary to install this result. It can be easy done be typing: make install All developing support is transferred into directories with direct access of design tools. name target path ortemanager, orteping, ortespy /usr/local/bin library /usr/local/lib include /usr/local/include The installation prefix /usr/local/ can be changed during configuration. Use command ../configure --help for check more autoconf options.

To check of correct installation of ORTE open three shells. In first shell type ortemanager In second shell type orteping -s This command will invoked creation of a subscription. You should see: deadline occurred deadline occurred ... In third shell type orteping -p This command will invoked creation of a publication. You should see: sent issue 1 sent issue 2 sent issue 3 sent issue 4 ... If the ORTE installation is properly, you will see incoming messages in second shell (orteping -s). received fresh issue 1 received fresh issue 2 received fresh issue 3 received fresh issue 4 ... It's sign, that communication is working correctly.

A manager is special application that helps applications automatically discover each other on the Network. Each time an object is created or destroyed, the manager propagate new information to the objects that are internally registered. Every application precipitate in communication is managed by least one manager. The manager should be designed like separated application as well as part of designed application.

The ORTE provides one instance of a manager. Name of this utility is ortemanager and is located in directory orte/ortemanager. Normally is necessary to start ortemanager manually or use a script on UNIX systems. For Mandrake and Red-hat distribution is this script created in subdirectory rc. Windows users can install ortemanager like service by using option /install_service. Note: Don't forget to run a manager (ortemanager) on each RTPS participate node. During live of applications is necessary to be running this manager.

Each manager has to know where are other managers in the network. Their IP addresses are therefore specified as IPAddressX parameters of ortemanager. All managers participate in one kind of communication use the same domain number. The domain number is transferred to port number by equation defined in RTPS specification (normally domain 0 is transferred to 7400 port). Let's want to distribute the RTPS communication of nodes with IP addresses 192.168.0.2 and 192.168.0.3. Private IP address is 192.168.0.1. The ortemanager can be execute with parameters: ortemanager -p 192.168.0.2:192.168.0.3 To communicate in different domain use (parameter -d): ortemanager -d 1 -p 192.168.0.2:192.168.0.3 Very nice feature of ortemanager is use event system to inform of creation/destruction objects (parameter -e). ortemanager -e -p 192.168.0.2:192.168.0.3 Now, you can see messages: [smolik@localhost smolik]$ortemanager -e -p 192.168.0.2:192.168.0.3 manager 0xc0a80001-0x123402 was accepted application 0xc0a80002-0x800301 was accepted application 0xc0a80002-0x800501 was accepted application 0xc0a80002-0x800501 was deleted manager 0xc0a80001-0x123402 was deleted &orte_ortemanager;

The simple utilities can be found in the orte/examples subdirectory of the ORTE source subtree. These utilities are useful for testing and monitoring RTPS communication. The utilities provided directly by ORTE are: orteping the utility for easy creating of publications and subscriptions. ortespy monitors issues produced by other application in specific domain. &orte_orteping; &orte_ortespy;