DDSI concepts

The DDSI specification is related to the OMG DDS specification, with a clear correspondence between the entities in DDSI and those in DCPS. However, this correspondence is not one-to-one.

To help explain where the DDSI specification ends and the Eclipse Cyclone DDS implementation begins, this section provides a high-level description of the concepts of the DDSI specification, with few references to the specifics of the Eclipse Cyclone DDS implementation.