├── .dockerignore ├── .gitattributes ├── .github └── ISSUE_TEMPLATE │ └── general-issue.md ├── .gitignore ├── CMakeLists.txt ├── CTestConfig.cmake ├── Dockerfile ├── LICENSE ├── README.md ├── agent.refs ├── ci ├── CTestJenkins.cmake ├── linux │ └── CMakeLists.txt ├── valgrind.supp └── windows │ └── CMakeLists.txt ├── cmake ├── Soversion.cmake ├── SuperBuild.cmake ├── common │ ├── check_configuration.cmake │ ├── eprosima_libraries.cmake │ └── gtest.cmake ├── modules │ ├── FindAsio.cmake │ ├── FindGMock.cmake │ ├── FindTinyXML2.cmake │ └── Findandroid-ifaddrs.cmake └── packaging │ ├── Config.cmake.in │ ├── eProsimaPackaging.cmake │ └── windows │ ├── InstallRedistributables.nsh.in │ ├── NSIS.template.in │ └── NSISPackaging.cmake.in ├── colcon.pkg ├── docs ├── Agent.png └── General.png ├── examples └── custom_agent │ ├── CMakeLists.txt │ └── custom_agent.cpp ├── include └── uxr │ └── agent │ ├── Agent.hpp │ ├── AgentInstance.hpp │ ├── Root.hpp │ ├── client │ ├── ProxyClient.hpp │ └── session │ │ ├── Session.hpp │ │ ├── SessionInfo.hpp │ │ └── stream │ │ ├── InputStream.hpp │ │ └── OutputStream.hpp │ ├── config.hpp.in │ ├── datareader │ └── DataReader.hpp │ ├── datawriter │ └── DataWriter.hpp │ ├── logger │ └── Logger.hpp │ ├── message │ ├── InputMessage.hpp │ ├── OutputMessage.hpp │ └── Packet.hpp │ ├── middleware │ ├── Middleware.hpp │ ├── ced │ │ ├── CedEntities.hpp │ │ └── CedMiddleware.hpp │ ├── fastdds │ │ ├── FastDDSEntities.hpp │ │ └── FastDDSMiddleware.hpp │ └── utils │ │ └── Callbacks.hpp │ ├── object │ └── XRCEObject.hpp │ ├── p2p │ ├── InternalClient.hpp │ └── InternalClientManager.hpp │ ├── participant │ └── Participant.hpp │ ├── processor │ └── Processor.hpp │ ├── publisher │ └── Publisher.hpp │ ├── reader │ └── Reader.hpp │ ├── replier │ └── Replier.hpp │ ├── requester │ └── Requester.hpp │ ├── scheduler │ ├── PacketScheduler.hpp │ └── Scheduler.hpp │ ├── subscriber │ └── Subscriber.hpp │ ├── topic │ └── Topic.hpp │ ├── transport │ ├── Server.hpp │ ├── SessionManager.hpp │ ├── TransportRc.hpp │ ├── can │ │ └── CanAgentLinux.hpp │ ├── custom │ │ └── CustomAgent.hpp │ ├── discovery │ │ ├── DiscoveryServer.hpp │ │ ├── DiscoveryServerLinux.hpp │ │ └── DiscoveryServerWindows.hpp │ ├── endpoint │ │ ├── CanEndPoint.hpp │ │ ├── CustomEndPoint.hpp │ │ ├── IPv4EndPoint.hpp │ │ ├── IPv6EndPoint.hpp │ │ ├── MultiSerialEndPoint.hpp │ │ └── SerialEndPoint.hpp │ ├── p2p │ │ ├── AgentDiscoverer.hpp │ │ └── AgentDiscovererLinux.hpp │ ├── serial │ │ ├── MultiSerialAgentLinux.hpp │ │ ├── MultiTermiosAgentLinux.hpp │ │ ├── PseudoTerminalAgentLinux.hpp │ │ ├── SerialAgentLinux.hpp │ │ ├── TermiosAgentLinux.hpp │ │ └── baud_rate_table_linux.h │ ├── stream_framing │ │ └── StreamFramingProtocol.hpp │ ├── tcp │ │ ├── TCPConnection.hpp │ │ ├── TCPServerBase.hpp │ │ ├── TCPv4AgentLinux.hpp │ │ ├── TCPv4AgentWindows.hpp │ │ ├── TCPv6AgentLinux.hpp │ │ └── TCPv6AgentWindows.hpp │ ├── udp │ │ ├── UDPv4AgentLinux.hpp │ │ ├── UDPv4AgentWindows.hpp │ │ ├── UDPv6AgentLinux.hpp │ │ └── UDPv6AgentWindows.hpp │ └── util │ │ ├── InterfaceLinux.hpp │ │ └── InterfaceWindows.hpp │ ├── types │ ├── MessageHeader.hpp │ ├── Optional.hpp │ ├── SubMessageHeader.hpp │ ├── TopicPubSubType.hpp │ └── XRCETypes.hpp │ ├── utils │ ├── ArgumentParser.hpp │ ├── Color.hpp │ ├── Conversion.hpp │ ├── Functions.hpp │ ├── SeqNum.hpp │ ├── SharedMutex.hpp │ ├── SharedMutexPriority.hpp │ ├── Time.hpp │ └── TokenBucket.hpp │ └── visibility.hpp ├── microxrce_agent.cpp ├── snap ├── hooks │ ├── configure │ └── install ├── local │ └── MicroXRCEAgent-daemon └── snapcraft.yaml ├── src └── cpp │ ├── Agent.cpp │ ├── AgentInstance.cpp │ ├── Root.cpp │ ├── client │ └── ProxyClient.cpp │ ├── datareader │ └── DataReader.cpp │ ├── datawriter │ └── DataWriter.cpp │ ├── message │ ├── InputMessage.cpp │ └── OutputMessage.cpp │ ├── middleware │ ├── ced │ │ ├── CedEntities.cpp │ │ └── CedMiddleware.cpp │ └── fastdds │ │ ├── FastDDSEntities.cpp │ │ └── FastDDSMiddleware.cpp │ ├── object │ └── XRCEObject.cpp │ ├── p2p │ ├── InternalClient.cpp │ └── InternalClientManager.cpp │ ├── participant │ └── Participant.cpp │ ├── processor │ └── Processor.cpp │ ├── publisher │ └── Publisher.cpp │ ├── replier │ └── Replier.cpp │ ├── requester │ └── Requester.cpp │ ├── subscriber │ └── Subscriber.cpp │ ├── topic │ └── Topic.cpp │ ├── transport │ ├── Server.cpp │ ├── can │ │ └── CanAgentLinux.cpp │ ├── custom │ │ └── CustomAgent.cpp │ ├── discovery │ │ ├── DiscoveryServer.cpp │ │ ├── DiscoveryServerLinux.cpp │ │ └── DiscoveryServerWindows.cpp │ ├── p2p │ │ ├── AgentDiscoverer.cpp │ │ └── AgentDiscovererLinux.cpp │ ├── serial │ │ ├── MultiSerialAgentLinux.cpp │ │ ├── MultiTermiosAgentLinux.cpp │ │ ├── PseudoTerminalAgentLinux.cpp │ │ ├── SerialAgentLinux.cpp │ │ └── TermiosAgentLinux.cpp │ ├── stream_framing │ │ └── StreamFramingProtocol.cpp │ ├── tcp │ │ ├── TCPv4AgentLinux.cpp │ │ ├── TCPv4AgentWindows.cpp │ │ ├── TCPv6AgentLinux.cpp │ │ └── TCPv6AgentWindows.cpp │ └── udp │ │ ├── UDPv4AgentLinux.cpp │ │ ├── UDPv4AgentWindows.cpp │ │ ├── UDPv6AgentLinux.cpp │ │ └── UDPv6AgentWindows.cpp │ ├── types │ ├── MessageHeader.cpp │ ├── SubMessageHeader.cpp │ ├── TopicPubSubType.cpp │ └── XRCETypes.cpp │ └── utils │ └── ArgumentParser.cpp ├── test ├── agent.refs ├── blackbox │ └── tree │ │ ├── CMakeLists.txt │ │ └── TreeTests.cpp ├── case │ ├── CMakeLists.txt │ ├── installation │ │ └── InstallationTest.cmake │ └── packaging │ │ ├── CMakeLists.txt │ │ ├── Packaging.cmake │ │ └── main.cpp ├── cmake │ ├── CMakeLists.txt │ └── main.cpp ├── mock │ ├── Middleware │ │ └── uxr │ │ │ └── agent │ │ │ └── middleware │ │ │ ├── Middleware.hpp │ │ │ └── fast │ │ │ └── FastMiddleware.hpp │ └── ProxyClient │ │ └── uxr │ │ └── agent │ │ └── client │ │ └── ProxyClient.hpp └── unittest │ ├── CMakeLists.txt │ ├── Common.cpp │ ├── Common.h │ ├── RootTests.cpp │ ├── agent │ ├── AgentUnitTests.cpp │ └── CMakeLists.txt │ ├── client │ └── session │ │ └── stream │ │ ├── CMakeLists.txt │ │ ├── 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