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Refs #20629: Update CLI and examples
Signed-off-by: cferreiragonz <carlosferreira@eprosima.com>
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‎docs/fastddscli/cli/cli.rst‎

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@@ -51,9 +51,9 @@ discovery
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This command launches a |SERVER| (or |BACKUP|) for :ref:`Discovery Server <discovery_server>`. This *server* will manage
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the discovery phases of the |CLIENTS| which are connected to it.
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*Clients* must know how to reach the *server*, which is accomplished by specifying an IP address, the *servers* GUID
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prefix, and a transport protocol like UDP or TCP.
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*Servers* do not need any prior knowledge of their *clients*, but require a GUID prefix, and the listening IP address
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*Clients* must know how to reach the *server*, which is accomplished by specifying an IP address, a port and
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a transport protocol like UDP or TCP.
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*Servers* do not need any prior knowledge of their *clients*, but require the listening IP address and port
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where they may be reached.
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For more information on the different *Fast DDS* discovery mechanisms and how to configure them, please refer to
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:ref:`discovery`.
@@ -72,29 +72,26 @@ On a shell, execute:
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.. code-block:: bash
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fastdds discovery -i {0-255} [optional parameters]
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fastdds discovery [optional parameters]
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Where the parameters are:
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+--------------------------+-------------------------------------------------------------------------------------------+
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| Option | Description |
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+==========================+===========================================================================================+
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| ``-h -help`` | Produce help message. |
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+--------------------------+-------------------------------------------------------------------------------------------+
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| ``-i --server-id`` | Unique server identifier. Specifies zero based server position in |br| |
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| | ``ROS_DISCOVERY_SERVER`` environment variable. Must be an integer in range [0, 255] |br| |
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| | If not specified, it must be defined using a XML configuration file. |
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| ``-h --help`` | Produce help message with examples. |
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+--------------------------+-------------------------------------------------------------------------------------------+
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| ``-l --udp-address`` | IPv4/IPv6 address chosen to listen the clients using UDP transport. Defaults to any |br| |
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| | (0.0.0.0/::0). Instead of an address, a DNS domain name can be specified. |
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+--------------------------+-------------------------------------------------------------------------------------------+
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| ``-p --udp-port`` | UDP port chosen to listen the clients. Defaults to '11811'. |
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| ``-p --udp-port`` | UDP port chosen to listen the clients. Defaults to '11811'. Only one server can be |br| |
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| | configured using the default UDP port. |
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+--------------------------+-------------------------------------------------------------------------------------------+
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| ``-t --tcp-address`` | IPv4/IPv6 address chosen to listen the clients using TCP transport. Instead of an |br| |
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| | address, a DNS domain name can be specified. Defaults to localhost (127.0.0.1). |
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| | address, a DNS domain name can be specified. Defaults to any (0.0.0.0). |
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+--------------------------+-------------------------------------------------------------------------------------------+
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| ``-q --tcp-port`` | TCP port chosen to listen the clients. Defaults to '42100'. Only one server can be |br| |
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| | configured using the default port. |
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| | configured using the default TCP port. |
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+--------------------------+-------------------------------------------------------------------------------------------+
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| ``-b --backup`` | Creates a BACKUP *server* (see :ref:`discovery_protocol`) |
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+--------------------------+-------------------------------------------------------------------------------------------+
@@ -103,6 +100,11 @@ Where the parameters are:
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| | that specific parameter. The default profile in the XML file is loaded except if |br| |
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| | a specific profile name is specified: ``profile_name@xml_file`` |
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+--------------------------+-------------------------------------------------------------------------------------------+
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| ``-i --server-id`` | Unique server identifier. Its functionality its deprecated. It can be used to select |br| |
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| | a fixed GUID in the form shown below. Must be an integer in range [0, 255]. |
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+--------------------------+-------------------------------------------------------------------------------------------+
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Executing the command without parameters will launch a *server* with default UDP values.
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The output is:
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@@ -111,8 +113,7 @@ The output is:
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### Server is running ###
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Participant Type: <SERVER|BACKUP>
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Security: <YES|NO>
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Server ID: <server-id>
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Server GUID prefix: 44.53.<server-id-in-hex>.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default>|44.53.<server-id-in-hex>.5f.45.50.52.4f.53.49.4d.41
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Server Addresses: UDPv4:[<ip-address>]:<port>
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UDPv6:[<ip-address>]:<port>
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TCPv4:[<ip-address>]:<physical-port>-<logical-port>
@@ -131,13 +132,12 @@ Once the *server* is instantiated, the *clients* can be configured either progra
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Examples
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^^^^^^^^
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1. Launch a **default server** with id 0 (first on ``ROS_DISCOVERY_SERVER``)
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listening on all available interfaces on UDP port '11811'. Only one
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server can use default values per machine.
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1. Launch a **default server** listening on all available interfaces on UDP port '11811'.
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Only one server can use default values per machine.
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.. code-block:: bash
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fastdds discovery -i 0
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fastdds discovery
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Output:
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### Server is running ###
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Participant Type: SERVER
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Security: NO
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Server ID: 0
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Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default GUID>
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Server Addresses: UDPv4:[0.0.0.0]:11811
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2. Launch a default server with id 1 (second on ``ROS_DISCOVERY_SERVER``)
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listening on localhost with UDP port 14520. Only localhost clients
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can reach the server defining as `ROS_DISCOVERY_SERVER=;127.0.0.1:14520` .
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2. Launch a default server listening on localhost with UDP port 14520.
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Only localhost clients can reach the server defining as `ROS_DISCOVERY_SERVER=127.0.0.1:14520`.
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.. code-block:: bash
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fastdds discovery -i 1 -l 127.0.0.1 -p 14520
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fastdds discovery -l 127.0.0.1 -p 14520
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Output:
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### Server is running ###
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Participant Type: SERVER
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Security: NO
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Server ID: 1
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Server GUID prefix: 44.53.01.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default GUID>
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Server Addresses: UDPv4:[127.0.0.1]:14520
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This same output can be obtained loading the following XML configuration file ``DiscoveryServerCLI.xml``:
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fastdds discovery -x [PATH_TO_FILE]/DiscoveryServerCLI.xml
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3. Launch a default server with id 1 (second on ``ROS_DISCOVERY_SERVER``)
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3. Launch a default server listening on all available interfaces on TCP port '42100'.
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Only one server can use default values per machine.
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.. code-block:: bash
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fastdds discovery -t
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Output:
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.. code-block:: bash
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### Server is running ###
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Participant Type: SERVER
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Security: NO
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Server GUID prefix: <Default GUID>
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Server Addresses: TCPv4:[0.0.0.0]:42100
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.. _Deprecated_CLI: https://fast-dds.docs.eprosima.com/en/v2.14.0/fastddscli/cli/cli.html
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4. Launch a default server with GUID corresponding to id 1 (see `Deprecated_CLI`_)
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listening on IPv6 address ``2a02:ec80:600:ed1a::3`` with UDP port 14520.
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.. code-block:: bash
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fast-discovery-serverd-1.0.1.exe -i 1 -l 2a02:ec80:600:ed1a::3 -p 14520
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fastdds discovery -i 1 -l 2a02:ec80:600:ed1a::3 -p 14520
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Output:
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### Server is running ###
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Participant Type: SERVER
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Security: NO
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Server ID: 1
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Server GUID prefix: 44.53.01.5f.45.50.52.4f.53.49.4d.41
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Server Addresses: UDPv6:[2a02:ec80:600:ed1a::3]:14520
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4. Launch a default server with id 2 (third on ``ROS_DISCOVERY_SERVER``)
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listening on WiFi (192.168.36.34) and Ethernet (172.20.96.1) local
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interfaces with UDP ports 8783 and 51083 respectively
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5. Launch a default server listening on WiFi (192.168.36.34) and Ethernet (172.20.96.1)
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local interfaces with UDP ports 8783 and 51083 respectively
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(addresses and ports are made up for the example).
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.. code-block:: bash
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fastdds discovery -i 2 -l 192.168.36.34 -p 8783 -l 172.20.96.1 -p 51083
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fastdds discovery -l 192.168.36.34 -p 8783 -l 172.20.96.1 -p 51083
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Output:
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### Server is running ###
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Participant Type SERVER
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Security: NO
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Server ID: 2
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Server GUID prefix: 44.53.02.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default GUID>
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Server Addresses: UDPv4:[192.168.36.34]:8783
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UDPv4:[172.20.96.1]:51083
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@@ -226,14 +239,12 @@ Examples
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fastdds discovery -x second_participant_profile_discovery_server_cli@[PATH_TO_FILE]/DiscoveryServerCLI.xml
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5. Launch a default server with id 3 (fourth on ``ROS_DISCOVERY_SERVER``)
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listening on 172.30.144.1 with UDP port 12345 and provided with a
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backup file. If the server crashes it will automatically restore its
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previous state when re-enacted.
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6. Launch a default server listening on 172.30.144.1 with UDP port 12345 and provided with a
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backup file. If the server crashes it will automatically restore its previous state when re-enacted.
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.. code-block:: bash
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fastdds discovery -i 3 -l 172.30.144.1 -p 12345 -b
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fastdds discovery -l 172.30.144.1 -p 12345 -b
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Output:
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### Server is running ###
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Participant Type BACKUP
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Security: NO
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Server ID: 3
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Server GUID prefix: 44.53.03.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default GUID>
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Server Addresses: UDPv4:[172.30.144.1]:12345
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6. Launch a default server with id 0 (first on ``ROS_DISCOVERY_SERVER``)
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listening on localhost with UDP port 14520. Only localhost clients
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can reach the server defining as `ROS_DISCOVERY_SERVER=localhost:14520`.
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.. code-block:: bash
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fastdds discovery -i 0 -l localhost -p 14520
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Output:
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.. code-block:: bash
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### Server is running ###
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Participant Type: SERVER
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Security: NO
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Server ID: 0
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Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
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Server Addresses: UDPv4:[127.0.0.1]:14520
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7. Launch a secure server with id 0 (first on ``ROS_DISCOVERY_SERVER``)
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listening on all available interfaces on UDP port '11811'.
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7. Launch a secure server listening on all available interfaces on UDP port '11811'.
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.. code-block:: bash
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### Server is running ###
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Participant Type: SERVER
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Security: YES
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Server ID: 0
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Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default GUID>
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Server Addresses: UDPv4:[0.0.0.0]:11811
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8. Launch a server with id 0 (first on ``ROS_DISCOVERY_SERVER``) reading
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specific `profile_name` configuration from XML file.
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8. Launch a server reading specific `profile_name` configuration from XML file.
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.. code-block:: bash
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fastdds discovery -i 0 -x profile_name@[PATH_TO_FILE]/config.xml
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fastdds discovery -x profile_name@[PATH_TO_FILE]/config.xml
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Output:
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### Server is running ###
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Participant Type: SERVER
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Security: NO
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Server ID: 0
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Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default GUID>
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Server Addresses: UDPv4:[127.0.0.1]:56542
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9. Launch a server with id 0 (first on ``ROS_DISCOVERY_SERVER``) listening
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on localhost on default TCP port '42100'.
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9. Launch a server listening on localhost on default TCP port '42100'.
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.. code-block:: bash
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fastdds discovery -i 0 -t 127.0.0.1
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fastdds discovery -t 127.0.0.1
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Output:
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### Server is running ###
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Participant Type: SERVER
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Security: NO
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Server ID: 0
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Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default GUID>
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Server Addresses: TCPv4:[127.0.0.1]:42100-42100
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10. Launch a server with id 0 (first on ``ROS_DISCOVERY_SERVER``) listening
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on localhost and WiFi (192.163.6.34). Two TCP ports need to be
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specified because TCP transports cannot share ports.
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10. Launch a server listening on localhost and WiFi (192.163.6.34). Two TCP ports need to be
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specified because transports cannot share ports.
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.. code-block:: bash
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fastdds discovery -i 0 -t 127.0.0.1 -q 42100 -t 192.163.6.34 -q 42101
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fastdds discovery -t 127.0.0.1 -q 42100 -t 192.163.6.34 -q 42101
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Output:
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### Server is running ###
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Participant Type: SERVER
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Security: NO
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Server ID: 0
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Server GUID prefix: 44.53.00.5f.45.50.52.4f.53.49.4d.41
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Server GUID prefix: <Default GUID>
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Server Addresses: TCPv4:[127.0.0.1]:42100-42100
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TCPv4:[192.163.6.34]:42101-42101
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.. note::
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A server can be instantiated just by passing the port arguments ``-p``
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and ``-q``. Fast DDS CLI will use the default values of the IP addresses,
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that is, ``0.0.0.0`` for UDP and ``127.0.0.1`` for TCP.
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that is, ``0.0.0.0`` for UDP and ``0.0.0.0`` for TCP.
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.. _cli_shm:
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