DomainParticipant

Class astutedds::dcps::DomainParticipant

ClassList > astutedds > dcps > DomainParticipant

Entry point for DDS communication in a domain. More...

  • #include <dcps.hpp>

Public Types

Type Name
typedef std::function< DataReader *(Topic *, Subscriber *)> DataReaderFactory
typedef std::function< void(const std::string &topic, const ReceivedSample &)> DataReceivedCallback
Set callback for received data.
typedef std::function< DataWriter *(Topic *, Publisher *)> DataWriterFactory
Factory function types for creating typed DataWriter/DataReader subclasses.
typedef std::function< void(const std::string &topic_name, const std::vector< uint8_t > &data)> SendDataCallback
Set callback for sending data (used by transport layer)
typedef std::function< void(const std::string &topic_name)> SubscribeCallback
Set callback for subscribing to topics (used by transport layer)

Public Functions

Type Name
DomainParticipant (uint32_t domain_id, uint32_t participant_id)
ContentFilteredTopic * create_contentfilteredtopic (const char * name, Topic * related_topic, const char * filter_expression, const StringSeq & expression_parameters)
Create a content-filtered topic.
Publisher * create_publisher (const PublisherQos & qos=PublisherQos{})
Create a publisher.
Publisher * create_publisher (const PublisherQos & qos, PublisherListener * listener, StatusMask mask=STATUS_MASK_ALL)
Create a publisher with listener and status mask (PSM overload)
Subscriber * create_subscriber (const SubscriberQos & qos=SubscriberQos{})
Create a subscriber.
Subscriber * create_subscriber (const SubscriberQos & qos, SubscriberListener * listener, StatusMask mask=STATUS_MASK_ALL)
Create a subscriber with listener and status mask (PSM overload)
Topic * create_topic (const std::string & topic_name, const std::string & type_name, const TopicQos & qos=TopicQos{})
Create a topic in this domain.
Topic * create_topic (const char * topic_name, const char * type_name, const TopicQos & qos, TopicListener * listener, StatusMask mask=STATUS_MASK_ALL)
Create a topic with listener and status mask (PSM overload)
ReturnCode_t delete_contained_entities ()
Delete all contained entities (topics, publishers, subscribers)
bool delete_contentfilteredtopic (ContentFilteredTopic * cft)
Delete a content-filtered topic.
bool delete_publisher (Publisher * publisher)
Delete a publisher.
bool delete_subscriber (Subscriber * subscriber)
Delete a subscriber.
bool delete_topic (Topic * topic)
Delete a topic.
void deliver_data (const std::string & topic_name, const std::vector< uint8_t > & data, const rtps::GUID_t & writer_guid=rtps::GUID_t{}, int32_t ownershipStrength=0, const rtps::SequenceNumber_t & sequenceNumber=rtps::SequenceNumber_t{})
Deliver received data to appropriate DataReaders.
uint32_t domain_id () const
bool enable ()
Enable the participant (start discovery)
ReturnCode_t get_default_publisher_qos (PublisherQos & qos) const
ReturnCode_t get_default_subscriber_qos (SubscriberQos & qos) const
ReturnCode_t get_default_topic_qos (TopicQos & qos) const
DomainParticipantListener * get_listener () const
StatusMask get_listener_mask () const
const DomainParticipantQos & get_qos () const
DataReaderFactory get_reader_factory (const std::string & type_name) const
Look up a registered reader factory for the given type name.
DataWriterFactory get_writer_factory (const std::string & type_name) const
Look up a registered writer factory for the given type name.
const rtps::GuidPrefix_t & guid_prefix () const
bool is_enabled () const
void match_reader_to_discovered_writers (DataReader * reader, const std::vector< std::string > & subPartitions)
Match a newly created reader against already-discovered remote writers. Fires on_subscription_matched or on_requested_incompatible_qos as appropriate.
void match_writer_to_discovered_readers (DataWriter * writer, const std::vector< std::string > & pubPartitions)
Match a newly created writer against already-discovered remote readers. Fires on_publication_matched or on_offered_incompatible_qos as appropriate.
void notify_subscription (const std::string & topic_name)
Notify that a subscription was created.
uint32_t participant_id () const
void register_reader (const std::string & topic_name, const std::string & type_name, const std::vector< std::string > & partitions={}, const DataReaderQos & qos={})
Register a reader with the transport layer.
void register_type_factory (const std::string & type_name, DataWriterFactory wf, DataReaderFactory rf)
Register typed DataWriter/DataReader factories for a type name.
void register_writer (const std::string & topic_name, const std::string & type_name, const std::vector< std::string > & partitions={}, const DataWriterQos & qos={})
Register a writer with the transport layer.
void replay_history_to_reader (DataWriter * writer)
Replay TRANSIENT_LOCAL writer history to a newly matched reader. Called when a new remote reader matches a local writer with TRANSIENT_LOCAL durability.
void send_data (const std::string & topic_name, const std::vector< uint8_t > & data)
Send data via the transport layer.
void send_data (const std::string & topic_name, const std::vector< uint8_t > & xcdr1Data, const std::vector< uint8_t > & xcdr2Data)
Send dual-encoded data via the transport layer.
void set_data_received_callback (DataReceivedCallback callback)
void set_listener (DomainParticipantListener * listener, StatusMask mask=STATUS_MASK_ALL)
void set_qos (const DomainParticipantQos & qos)
void set_send_data_callback (SendDataCallback callback)
void set_subscribe_callback (SubscribeCallback callback)
void stop ()
Stop the participant.
~DomainParticipant ()

Detailed Description

The DomainParticipant provides: * Factory methods for Topics, Publishers, Subscribers * SPDP participant discovery * SEDP endpoint discovery * Transport management

Public Types Documentation

typedef DataReaderFactory

using astutedds::dcps::DomainParticipant::DataReaderFactory =  std::function<DataReader *(Topic *, Subscriber *)>;

typedef DataReceivedCallback

Set callback for received data. 

using astutedds::dcps::DomainParticipant::DataReceivedCallback =  std::function<void(const std::string &topic, const ReceivedSample &)>;

typedef DataWriterFactory

Factory function types for creating typed DataWriter/DataReader subclasses. 

using astutedds::dcps::DomainParticipant::DataWriterFactory =  std::function<DataWriter *(Topic *, Publisher *)>;

Registered via register_type_factory(); used by Publisher::create_datawriter() and Subscriber::create_datareader() so that dynamic_cast to the typed subclass succeeds (required by the OMG interop test suite's shape_main.cxx).

typedef SendDataCallback

Set callback for sending data (used by transport layer) 

using astutedds::dcps::DomainParticipant::SendDataCallback =  std::function<void(const std::string &topic_name, const std::vector<uint8_t> &data)>;

typedef SubscribeCallback

Set callback for subscribing to topics (used by transport layer) 

using astutedds::dcps::DomainParticipant::SubscribeCallback =  std::function<void(const std::string &topic_name)>;

Public Functions Documentation

function DomainParticipant

astutedds::dcps::DomainParticipant::DomainParticipant (
    uint32_t domain_id,
    uint32_t participant_id
)

function create_contentfilteredtopic

Create a content-filtered topic. 

ContentFilteredTopic * astutedds::dcps::DomainParticipant::create_contentfilteredtopic (
    const char * name,
    Topic * related_topic,
    const char * filter_expression,
    const StringSeq & expression_parameters
)

Parameters:

  • name The name of the filtered topic
  • related_topic The related Topic
  • filter_expression SQL-like filter expression
  • expression_parameters Parameters for the filter expression

Returns:

Pointer to the new ContentFilteredTopic, or nullptr on error

function create_publisher [1/2]

Create a publisher. 

Publisher * astutedds::dcps::DomainParticipant::create_publisher (
    const PublisherQos & qos=PublisherQos {}
)

function create_publisher [2/2]

Create a publisher with listener and status mask (PSM overload) 

inline Publisher * astutedds::dcps::DomainParticipant::create_publisher (
    const PublisherQos & qos,
    PublisherListener * listener,
    StatusMask mask=STATUS_MASK_ALL
)

function create_subscriber [1/2]

Create a subscriber. 

Subscriber * astutedds::dcps::DomainParticipant::create_subscriber (
    const SubscriberQos & qos=SubscriberQos {}
)

function create_subscriber [2/2]

Create a subscriber with listener and status mask (PSM overload) 

inline Subscriber * astutedds::dcps::DomainParticipant::create_subscriber (
    const SubscriberQos & qos,
    SubscriberListener * listener,
    StatusMask mask=STATUS_MASK_ALL
)

function create_topic [1/2]

Create a topic in this domain. 

Topic * astutedds::dcps::DomainParticipant::create_topic (
    const std::string & topic_name,
    const std::string & type_name,
    const TopicQos & qos=TopicQos {}
)

function create_topic [2/2]

Create a topic with listener and status mask (PSM overload) 

inline Topic * astutedds::dcps::DomainParticipant::create_topic (
    const char * topic_name,
    const char * type_name,
    const TopicQos & qos,
    TopicListener * listener,
    StatusMask mask=STATUS_MASK_ALL
)

function delete_contained_entities

Delete all contained entities (topics, publishers, subscribers) 

ReturnCode_t astutedds::dcps::DomainParticipant::delete_contained_entities ()

function delete_contentfilteredtopic

Delete a content-filtered topic. 

bool astutedds::dcps::DomainParticipant::delete_contentfilteredtopic (
    ContentFilteredTopic * cft
)

function delete_publisher

Delete a publisher. 

bool astutedds::dcps::DomainParticipant::delete_publisher (
    Publisher * publisher
)

function delete_subscriber

Delete a subscriber. 

bool astutedds::dcps::DomainParticipant::delete_subscriber (
    Subscriber * subscriber
)

function delete_topic

Delete a topic. 

bool astutedds::dcps::DomainParticipant::delete_topic (
    Topic * topic
)

function deliver_data

Deliver received data to appropriate DataReaders. 

void astutedds::dcps::DomainParticipant::deliver_data (
    const std::string & topic_name,
    const std::vector< uint8_t > & data,
    const rtps::GUID_t & writer_guid=rtps::GUID_t {},
    int32_t ownershipStrength=0,
    const rtps::SequenceNumber_t & sequenceNumber=rtps::SequenceNumber_t {}
)

function domain_id

inline uint32_t astutedds::dcps::DomainParticipant::domain_id () const

function enable

Enable the participant (start discovery) 

bool astutedds::dcps::DomainParticipant::enable ()

function get_default_publisher_qos

inline ReturnCode_t astutedds::dcps::DomainParticipant::get_default_publisher_qos (
    PublisherQos & qos
) const

function get_default_subscriber_qos

inline ReturnCode_t astutedds::dcps::DomainParticipant::get_default_subscriber_qos (
    SubscriberQos & qos
) const

function get_default_topic_qos

inline ReturnCode_t astutedds::dcps::DomainParticipant::get_default_topic_qos (
    TopicQos & qos
) const

function get_listener

inline DomainParticipantListener * astutedds::dcps::DomainParticipant::get_listener () const

function get_listener_mask

inline StatusMask astutedds::dcps::DomainParticipant::get_listener_mask () const

function get_qos

inline const DomainParticipantQos & astutedds::dcps::DomainParticipant::get_qos () const

function get_reader_factory

Look up a registered reader factory for the given type name. 

DataReaderFactory astutedds::dcps::DomainParticipant::get_reader_factory (
    const std::string & type_name
) const

function get_writer_factory

Look up a registered writer factory for the given type name. 

DataWriterFactory astutedds::dcps::DomainParticipant::get_writer_factory (
    const std::string & type_name
) const

Returns:

The factory, or nullptr-wrapping empty std::function if not registered.

function guid_prefix

inline const rtps::GuidPrefix_t & astutedds::dcps::DomainParticipant::guid_prefix () const

function is_enabled

inline bool astutedds::dcps::DomainParticipant::is_enabled () const

function match_reader_to_discovered_writers

Match a newly created reader against already-discovered remote writers. Fires on_subscription_matched or on_requested_incompatible_qos as appropriate. 

void astutedds::dcps::DomainParticipant::match_reader_to_discovered_writers (
    DataReader * reader,
    const std::vector< std::string > & subPartitions
)

function match_writer_to_discovered_readers

Match a newly created writer against already-discovered remote readers. Fires on_publication_matched or on_offered_incompatible_qos as appropriate. 

void astutedds::dcps::DomainParticipant::match_writer_to_discovered_readers (
    DataWriter * writer,
    const std::vector< std::string > & pubPartitions
)

function notify_subscription

Notify that a subscription was created. 

void astutedds::dcps::DomainParticipant::notify_subscription (
    const std::string & topic_name
)

function participant_id

inline uint32_t astutedds::dcps::DomainParticipant::participant_id () const

function register_reader

Register a reader with the transport layer. 

void astutedds::dcps::DomainParticipant::register_reader (
    const std::string & topic_name,
    const std::string & type_name,
    const std::vector< std::string > & partitions={},
    const DataReaderQos & qos={}
)

Parameters:

  • topic_name The topic the reader is subscribing to
  • type_name The IDL type name for the topic
  • partitions Partition names for this reader's subscriber

function register_type_factory

Register typed DataWriter/DataReader factories for a type name. 

void astutedds::dcps::DomainParticipant::register_type_factory (
    const std::string & type_name,
    DataWriterFactory wf,
    DataReaderFactory rf
)

When create_datawriter()/create_datareader() sees a topic whose type_name() matches, it delegates object construction to these factories instead of allocating a plain DataWriter/DataReader.

function register_writer

Register a writer with the transport layer. 

void astutedds::dcps::DomainParticipant::register_writer (
    const std::string & topic_name,
    const std::string & type_name,
    const std::vector< std::string > & partitions={},
    const DataWriterQos & qos={}
)

Parameters:

  • topic_name The topic the writer is publishing to
  • partitions Partition names for this writer's publisher

function replay_history_to_reader

Replay TRANSIENT_LOCAL writer history to a newly matched reader. Called when a new remote reader matches a local writer with TRANSIENT_LOCAL durability. 

void astutedds::dcps::DomainParticipant::replay_history_to_reader (
    DataWriter * writer
)

function send_data [1/2]

Send data via the transport layer. 

void astutedds::dcps::DomainParticipant::send_data (
    const std::string & topic_name,
    const std::vector< uint8_t > & data
)

Parameters:

  • topic_name The topic to send on
  • data The serialized data

function send_data [2/2]

Send dual-encoded data via the transport layer. 

void astutedds::dcps::DomainParticipant::send_data (
    const std::string & topic_name,
    const std::vector< uint8_t > & xcdr1Data,
    const std::vector< uint8_t > & xcdr2Data
)

Parameters:

  • topic_name The topic to send on
  • xcdr1Data XCDR1 serialized data
  • xcdr2Data XCDR2 serialized data

function set_data_received_callback

inline void astutedds::dcps::DomainParticipant::set_data_received_callback (
    DataReceivedCallback callback
)

function set_listener

inline void astutedds::dcps::DomainParticipant::set_listener (
    DomainParticipantListener * listener,
    StatusMask mask=STATUS_MASK_ALL
)

function set_qos

inline void astutedds::dcps::DomainParticipant::set_qos (
    const DomainParticipantQos & qos
)

function set_send_data_callback

inline void astutedds::dcps::DomainParticipant::set_send_data_callback (
    SendDataCallback callback
)

function set_subscribe_callback

inline void astutedds::dcps::DomainParticipant::set_subscribe_callback (
    SubscribeCallback callback
)

function stop

Stop the participant. 

void astutedds::dcps::DomainParticipant::stop ()

function ~DomainParticipant

astutedds::dcps::DomainParticipant::~DomainParticipant ()

The documentation for this class was generated from the following file include/astutedds/dcps/dcps.hpp